/*
 * C# / XNA  port of Bullet (c) 2011 Mark Neale <[email protected]>
 *
 * Bullet Continuous Collision Detection and Physics Library
 * Copyright (c) 2003-2008 Erwin Coumans  http://www.bulletphysics.com/
 *
 * This software is provided 'as-is', without any express or implied warranty.
 * In no event will the authors be held liable for any damages arising from
 * the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
// Adapted from BulletXNA 73b2e1b9: namespace isolation, no XNA rendering, one type per file.
#nullable disable
#pragma warning disable CS1591, CS0168, CS0219, CS0414, CS0660, CS0661, CS0659, CS0693, CS8981, CS0108, CS0114
using System;
using HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath;

namespace HumanoidRetargeter.Core.Formats.Mmd.Bullet.BulletCollision;

internal class ManifoldPoint
{
	public ManifoldPoint()
	{
	}

	public void Initialise(ref IndexedVector3 pointA, ref IndexedVector3 pointB, ref IndexedVector3 normal, float distance)
	{
		/* Don't initialize default values twice in C# */
		m_lateralFrictionDir1 = IndexedVector3.Zero;
		m_lateralFrictionDir2 = IndexedVector3.Zero;
		m_lifeTime = 0;
		m_appliedImpulseLateral1 = 0f;
		m_appliedImpulseLateral2 = 0f;
		m_contactMotion1 = 0f;
		m_contactMotion2 = 0f;
		m_contactCFM1 = 0f;
		m_contactCFM2 = 0f;
		m_lateralFrictionInitialized = false;
		m_userPersistentData = null;
		m_appliedImpulse = 0f;
		m_partId0 = 0;
		m_partId1 = 0;
		m_index0 = 0;
		m_index1 = 0;
		m_combinedRestitution = 0f;
		m_combinedFriction = 0f;
		m_positionWorldOnA = IndexedVector3.Zero;
		m_positionWorldOnB = IndexedVector3.Zero;
		m_localPointA = pointA;
		m_localPointB = pointB;
		m_normalWorldOnB = normal;
		m_distance1 = distance;
		m_constraintRow[0].Reset();
		m_constraintRow[1].Reset();
		m_constraintRow[2].Reset();
	}

	public float GetDistance()
	{
		return m_distance1;
	}

	public void SetDistance(float value)
	{
		m_distance1 = value;
	}

	public int GetLifeTime()
	{
		return m_lifeTime;
	}

	public void SetLifeTime(int value)
	{
		m_lifeTime = value;
	}

	public void SetPositionWorldOnA(IndexedVector3 value)
	{
		m_positionWorldOnA = value;
	}

	public void SetPositionWorldOnA(ref IndexedVector3 value)
	{
		m_positionWorldOnA = value;
	}

	public IndexedVector3 GetPositionWorldOnA()
	{
		return m_positionWorldOnA;
	//				return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
	}

	public void SetPositionWorldOnB(IndexedVector3 value)
	{
		m_positionWorldOnB = value;
	}

	public void SetPositionWorldOnB(ref IndexedVector3 value)
	{
		m_positionWorldOnB = value;
	}

	public IndexedVector3 GetPositionWorldOnB()
	{
		return m_positionWorldOnB;
	}

	public float GetAppliedImpulse()
	{
		return m_appliedImpulse;
	}

	public IndexedVector3 GetLocalPointA()
	{
		return m_localPointA;
	}

	public void SetLocalPointA(ref IndexedVector3 value)
	{
		m_localPointA = value;
	}

	public IndexedVector3 GetLocalPointB()
	{
		return m_localPointB;
	}

	public void SetLocalPointB(ref IndexedVector3 value)
	{
		m_localPointB = value;
	}

	public Object GetUserPersistentData()
	{
		return m_userPersistentData;
	}

	public void SetUserPersistentData(Object o)
	{
		m_userPersistentData = o;
	}

	public void SetAppliedImpulse(float value)
	{
		if (value > 30)
		{
			int ibreak = 0;
		}

		m_appliedImpulse = value;
	}

	public IndexedVector3 GetNormalWorldOnB()
	{
		return m_normalWorldOnB;
	}

	public void SetNormalWorldOnB(ref IndexedVector3 value)
	{
		m_normalWorldOnB = value;
	}

	public float GetCombinedFriction()
	{
		return m_combinedFriction;
	}

	public void SetCombinedFriction(float value)
	{
		m_combinedFriction = value;
	}

	public float GetCombinedResitution()
	{
		return m_combinedRestitution;
	}

	public void SetCombinedRestitution(float value)
	{
		m_combinedRestitution = value;
	}

	public bool GetLateralFrictionInitialized()
	{
		return m_lateralFrictionInitialized;
	}

	public void SetLateralFrictionInitalised(bool value)
	{
		m_lateralFrictionInitialized = value;
	}

	public float GetAppliedImpulseLateral1()
	{
		return m_appliedImpulseLateral1;
	}

	public void SetAppliedImpulseLateral1(float value)
	{
		m_appliedImpulseLateral1 = value;
	}

	public float GetAppliedImpulseLateral2()
	{
		return m_appliedImpulseLateral2;
	}

	public void SetAppliedImpulseLateral2(float value)
	{
		m_appliedImpulseLateral2 = value;
	}

	public IndexedVector3 GetLateralFrictionDir1()
	{
		return m_lateralFrictionDir1;
	}

	public void SetLateralFrictionDir1(ref IndexedVector3 value)
	{
		m_lateralFrictionDir1 = value;
	}

	public IndexedVector3 GetLateralFrictionDir2()
	{
		return m_lateralFrictionDir2;
	}

	public void SetLateralFrictionDir2(ref IndexedVector3 value)
	{
		m_lateralFrictionDir2 = value;
	}

	public int GetPartId0()
	{
		return m_partId0;
	}

	public int GetPartId1()
	{
		return m_partId1;
	}

	public int GetIndex0()
	{
		return m_index0;
	}

	public int GetIndex1()
	{
		return m_index1;
	}

	public void SetPartId0(int id)
	{
		m_partId0 = id;
	}

	public void SetPartId1(int id)
	{
		m_partId1 = id;
	}

	public void SetIndex0(int index)
	{
		m_index0 = index;
	}

	public void SetIndex1(int index)
	{
		m_index1 = index;
	}

	public IndexedVector3 m_localPointA;
	public IndexedVector3 m_localPointB;
	public IndexedVector3 m_positionWorldOnA;
	public IndexedVector3 m_positionWorldOnB;
	public IndexedVector3 m_normalWorldOnB;
	public float m_distance1;
	public float m_combinedFriction;
	public float m_combinedRestitution;
	//BP mod, store contact triangles.
	public int m_partId0;
	public int m_partId1;
	public int m_index0;
	public int m_index1;
	public Object m_userPersistentData;
	public float m_appliedImpulse;
	public bool m_lateralFrictionInitialized;
	public float m_appliedImpulseLateral1;
	public float m_appliedImpulseLateral2;
	public float m_contactMotion1;
	public float m_contactMotion2;
	public float m_contactCFM1;
	public float m_contactCFM2;
	public int m_lifeTime; //lifetime of the contactpoint in frames
	public IndexedVector3 m_lateralFrictionDir1;
	public IndexedVector3 m_lateralFrictionDir2;
	public ConstraintRow[] m_constraintRow = new ConstraintRow[3];
}