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

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

internal class SupportVertexCallback : ITriangleCallback
{
	private IndexedVector3 m_supportVertexLocal;
	public IndexedMatrix m_worldTrans;
	public float m_maxDot;
	public IndexedVector3 m_supportVecLocal;
	public virtual bool graphics()
	{
		return false;
	}

	public SupportVertexCallback(ref IndexedVector3 supportVecWorld, ref IndexedMatrix trans)
	{
		m_supportVertexLocal = IndexedVector3.Zero;
		m_worldTrans = trans;
		m_maxDot = -MathUtil.BT_LARGE_FLOAT;
		m_supportVecLocal = supportVecWorld * m_worldTrans._basis;
	//m_supportVecLocal = IndexedVector3.TransformNormal(supportVecWorld, m_worldTrans);
	}

	public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
	{
		for (int i = 0; i < 3; i++)
		{
			float dot = IndexedVector3.Dot(ref m_supportVecLocal, ref triangle[i]);
			if (dot > m_maxDot)
			{
				m_maxDot = dot;
				m_supportVertexLocal = triangle[i];
			}
		}
	}

	public IndexedVector3 GetSupportVertexWorldSpace()
	{
		return m_worldTrans * m_supportVertexLocal;
	}

	public IndexedVector3 GetSupportVertexLocal()
	{
		return m_supportVertexLocal;
	}

	public virtual void Cleanup()
	{
	}
}