/*
 * 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 HumanoidRetargeter.Core.Formats.Mmd.Bullet.LinearMath;

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

internal class PointCollector : IDiscreteCollisionDetectorInterfaceResult
{
	public PointCollector()
	{
		m_distance = float.MaxValue;
		m_hasResult = false;
	}

	public virtual void SetShapeIdentifiersA(int partId0, int index0)
	{
	}

	public virtual void SetShapeIdentifiersB(int partId1, int index1)
	{
	}

	public virtual void AddContactPoint(IndexedVector3 normalOnBInWorld, IndexedVector3 pointInWorld, float depth)
	{
		AddContactPoint(ref normalOnBInWorld, ref pointInWorld, depth);
	}

	public virtual void AddContactPoint(ref IndexedVector3 normalOnBInWorld, ref IndexedVector3 pointInWorld, float depth)
	{
		if (depth < m_distance)
		{
			m_hasResult = true;
			m_normalOnBInWorld = normalOnBInWorld;
			m_pointInWorld = pointInWorld;
			//negative means penetration
			m_distance = depth;
		}
	}

	public IndexedVector3 m_normalOnBInWorld;
	public IndexedVector3 m_pointInWorld;
	public float m_distance; //negative means penetration
	public bool m_hasResult;
}