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

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

internal abstract class PolyhedralConvexAabbCachingShape : PolyhedralConvexShape
{
	public PolyhedralConvexAabbCachingShape()
	{
		m_localAabbMin = new IndexedVector3(1);
		m_localAabbMax = new IndexedVector3(-1);
		m_isLocalAabbValid = false;
	//m_optionalHull = null;
	}

	protected void SetCachedLocalAabb(ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
	{
		m_isLocalAabbValid = true;
		m_localAabbMin = aabbMin;
		m_localAabbMax = aabbMax;
	}

	protected void GetCachedLocalAabb(out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		{
		}

		aabbMin = m_localAabbMin;
		aabbMax = m_localAabbMax;
	}

	public void GetNonvirtualAabb(ref IndexedMatrix trans, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax, float margin)
	{
		{
		}

		AabbUtil2.TransformAabb(ref m_localAabbMin, ref m_localAabbMax, margin, ref trans, out aabbMin, out aabbMax);
	}

	public override void GetAabb(ref IndexedMatrix trans, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		GetNonvirtualAabb(ref trans, out aabbMin, out aabbMax, GetMargin());
	}

	public override void SetLocalScaling(ref IndexedVector3 scaling)
	{
		base.SetLocalScaling(ref scaling);
		RecalcLocalAabb();
	}

	public void RecalcLocalAabb()
	{
		m_isLocalAabbValid = true;
		IndexedVector3[] _directions = new IndexedVector3[6];
		_directions[0] = new IndexedVector3(1, 0, 0);
		_directions[1] = new IndexedVector3(0, 1, 0);
		_directions[2] = new IndexedVector3(0, 0, 1);
		_directions[3] = new IndexedVector3(-1, 0, 0);
		_directions[4] = new IndexedVector3(0, -1, 0);
		_directions[5] = new IndexedVector3(0, 0, -1);
		IndexedVector4[] _supporting = new IndexedVector4[6];
		BatchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
		for (int i = 0; i < 3; ++i)
		{
			IndexedVector3 temp = new IndexedVector3(_supporting[i]);
			m_localAabbMax[i] = temp[i] + m_collisionMargin;
			temp = new IndexedVector3(_supporting[i + 3]);
			m_localAabbMin[i] = temp[i] - m_collisionMargin;
		}

		int ibreak = 0;
	}

	protected IndexedVector3 m_localAabbMin;
	protected IndexedVector3 m_localAabbMax;
	protected bool m_isLocalAabbValid;
}