/*
 * 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 StaticPlaneShape : ConcaveShape
{
	public StaticPlaneShape(IndexedVector3 planeNormal, float planeConstant) : this(ref planeNormal, planeConstant)
	{
	}

	public StaticPlaneShape(ref IndexedVector3 planeNormal, float planeConstant)
	{
		m_shapeType = BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE;
		m_planeNormal = planeNormal;
		m_planeConstant = planeConstant;
		m_localScaling = IndexedVector3.Zero;
	}

	public override void Cleanup()
	{
		base.Cleanup();
	}

	public override void GetAabb(ref IndexedMatrix t, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		aabbMin = MathUtil.MIN_VECTOR;
		aabbMax = MathUtil.MAX_VECTOR;
	}

	public override void ProcessAllTriangles(ITriangleCallback callback, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
	{
		IndexedVector3 halfExtents = (aabbMax - aabbMin) * .5f;
		float radius = halfExtents.Length();
		IndexedVector3 center = (aabbMax + aabbMin) * 0.5f;
		//this is where the triangles are generated, given AABB and plane equation (normal/constant)
		IndexedVector3 tangentDir0;
		IndexedVector3 tangentDir1;
		//tangentDir0/tangentDir1 can be precalculated
		TransformUtil.PlaneSpace1(ref m_planeNormal, out tangentDir0, out tangentDir1);
		IndexedVector3 supVertex0 = IndexedVector3.Zero;
		IndexedVector3 supVertex1 = IndexedVector3.Zero;
		IndexedVector3 projectedCenter = center - (IndexedVector3.Dot(m_planeNormal, center) - m_planeConstant) * m_planeNormal;
		IndexedVector3[] triangle = new IndexedVector3[3];
		triangle[0] = (projectedCenter + tangentDir0 * radius + tangentDir1 * radius);
		triangle[1] = (projectedCenter + tangentDir0 * radius - tangentDir1 * radius);
		triangle[2] = (projectedCenter - tangentDir0 * radius - tangentDir1 * radius);
		callback.ProcessTriangle(triangle, 0, 0);
		triangle[0] = projectedCenter - tangentDir0 * radius - tangentDir1 * radius;
		triangle[1] = projectedCenter - tangentDir0 * radius + tangentDir1 * radius;
		triangle[2] = projectedCenter + tangentDir0 * radius + tangentDir1 * radius;
		callback.ProcessTriangle(triangle, 0, 1);
	}

	public override void CalculateLocalInertia(float mass, out IndexedVector3 inertia)
	{
		inertia = IndexedVector3.Zero;
	}

	public override void SetLocalScaling(ref IndexedVector3 scaling)
	{
		m_localScaling = scaling;
	}

	public override IndexedVector3 GetLocalScaling()
	{
		return m_localScaling;
	}

	public IndexedVector3 GetPlaneNormal()
	{
		return m_planeNormal;
	}

	public float GetPlaneConstant()
	{
		return m_planeConstant;
	}

	//debugging
	public override String GetName()
	{
		return "STATICPLANE";
	}

	protected IndexedVector3 m_localAabbMin;
	protected IndexedVector3 m_localAabbMax;
	protected IndexedVector3 m_planeNormal;
	protected float m_planeConstant;
	protected IndexedVector3 m_localScaling;
}