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

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

internal class SubSimplexClosestResult
{
	public IndexedVector3 m_closestPointOnSimplex;
	//MASK for m_usedVertices
	//stores the simplex vertex-usage, using the MASK,
	// if m_usedVertices & MASK then the related vertex is used
	public BitArray m_usedVertices = new BitArray(4);
	//public float[] m_barycentricCoords = new float[4];
	public IndexedVector4 m_barycentricCoords = new IndexedVector4();
	public bool m_degenerate;
	public void Reset()
	{
		m_degenerate = false;
		SetBarycentricCoordinates(0f, 0f, 0f, 0f);
		m_usedVertices.SetAll(false);
	}

	public bool IsValid()
	{
		bool valid = (m_barycentricCoords.X >= 0f) && (m_barycentricCoords.Y >= 0f) && (m_barycentricCoords.Z >= 0f) && (m_barycentricCoords.W >= 0f);
		return valid;
	}

	public void SetBarycentricCoordinates(float a, float b, float c, float d)
	{
		m_barycentricCoords.X = a;
		m_barycentricCoords.Y = b;
		m_barycentricCoords.Z = c;
		m_barycentricCoords.W = d;
	}
}