/*
 * 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 SphereTriangleCollisionAlgorithm : ActivatingCollisionAlgorithm
{
	public SphereTriangleCollisionAlgorithm()
	{
	} // for pool

	public SphereTriangleCollisionAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped) : base(ci, body0, body1)
	{
		m_ownManifold = false;
		m_manifoldPtr = mf;
		m_swapped = swapped;
	}

	public virtual void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, bool swapped)
	{
		base.Initialize(ci, body0, body1);
		m_ownManifold = false;
		m_manifoldPtr = mf;
		m_swapped = swapped;
	}

	public SphereTriangleCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci) : base(ci)
	{
	}

	public override void Initialize(CollisionAlgorithmConstructionInfo ci)
	{
		base.Initialize(ci);
	}

	public override void Cleanup()
	{
		base.Cleanup();
		if (m_ownManifold)
		{
			if (m_manifoldPtr != null)
			{
				m_dispatcher.ReleaseManifold(m_manifoldPtr);
				m_manifoldPtr = null;
			}
		}

		m_ownManifold = false;
		BulletGlobals.SphereTriangleCollisionAlgorithmPool.Free(this);
	}

	public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
	{
		//resultOut = new ManifoldResult();
		if (m_manifoldPtr == null)
		{
			return;
		}

		CollisionObject sphereObj = m_swapped ? body1 : body0;
		CollisionObject triObj = m_swapped ? body0 : body1;
		SphereShape sphere = sphereObj.GetCollisionShape() as SphereShape;
		TriangleShape triangle = triObj.GetCollisionShape() as TriangleShape;
		resultOut.SetPersistentManifold(m_manifoldPtr);
		using (SphereTriangleDetector detector = BulletGlobals.SphereTriangleDetectorPool.Get())
		{
			detector.Initialize(sphere, triangle, m_manifoldPtr.GetContactBreakingThreshold());
			ClosestPointInput input = ClosestPointInput.Default();
			input.m_maximumDistanceSquared = float.MaxValue;
			sphereObj.GetWorldTransform(out input.m_transformA);
			triObj.GetWorldTransform(out input.m_transformB);
			bool swapResults = m_swapped;
			detector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), swapResults);
			if (m_ownManifold)
			{
				resultOut.RefreshContactPoints();
			}
		}
	}

	public override float CalculateTimeOfImpact(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
	{
		return 1f;
	}

	public override void GetAllContactManifolds(PersistentManifoldArray manifoldArray)
	{
		if (m_manifoldPtr != null && m_ownManifold)
		{
			manifoldArray.Add(m_manifoldPtr);
		}
	}

	private bool m_ownManifold;
	private PersistentManifold m_manifoldPtr;
	private bool m_swapped;
}