/*
 * 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 TriangleMeshShape : ConcaveShape
{
	public TriangleMeshShape(StridingMeshInterface meshInterface)
	{
		m_inConstructor = true;
		m_meshInterface = meshInterface;
		m_shapeType = BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE;
		if (meshInterface.HasPremadeAabb())
		{
			meshInterface.GetPremadeAabb(out m_localAabbMin, out m_localAabbMax);
		}
		else
		{
			RecalcLocalAabb();
		}

		m_inConstructor = false;
	}

	public virtual IndexedVector3 LocalGetSupportingVertex(ref IndexedVector3 vec)
	{
		IndexedVector3 supportVertex;
		IndexedMatrix ident = IndexedMatrix.Identity;
		SupportVertexCallback supportCallback = new SupportVertexCallback(ref vec, ref ident);
		IndexedVector3 aabbMax = MathUtil.MAX_VECTOR;
		IndexedVector3 aabbMin = MathUtil.MIN_VECTOR;
		// URGGHHH!
		if (m_inConstructor)
		{
			this.ProcessAllTrianglesCtor(supportCallback, ref aabbMin, ref aabbMax);
		}
		else
		{
			ProcessAllTriangles(supportCallback, ref aabbMin, ref aabbMax);
		}

		supportVertex = supportCallback.GetSupportVertexLocal();
		supportCallback.Cleanup();
		return supportVertex;
	}

	public virtual IndexedVector3 LocalGetSupportingVertexWithoutMargin(ref IndexedVector3 vec)
	{
		{
		}

		return LocalGetSupportingVertex(ref vec);
	}

	public void RecalcLocalAabb()
	{
		IndexedVector3 vec = new IndexedVector3(1, 0, 0);
		IndexedVector3 tmp = LocalGetSupportingVertex(ref vec);
		m_localAabbMax.X = tmp.X + m_collisionMargin;
		vec = new IndexedVector3(-1, 0, 0);
		tmp = LocalGetSupportingVertex(ref vec);
		m_localAabbMin.X = tmp.X - m_collisionMargin;
		vec = new IndexedVector3(0, 1, 0);
		tmp = LocalGetSupportingVertex(ref vec);
		m_localAabbMax.Y = tmp.Y + m_collisionMargin;
		vec = new IndexedVector3(0, -1, 0);
		tmp = LocalGetSupportingVertex(ref vec);
		m_localAabbMin.Y = tmp.Y - m_collisionMargin;
		vec = new IndexedVector3(0, 0, 1);
		tmp = LocalGetSupportingVertex(ref vec);
		m_localAabbMax.Z = tmp.Z + m_collisionMargin;
		vec = new IndexedVector3(0, 0, -1);
		tmp = LocalGetSupportingVertex(ref vec);
		m_localAabbMin.Z = tmp.Z - m_collisionMargin;
	}

	public override void GetAabb(ref IndexedMatrix trans, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		IndexedVector3 localHalfExtents = 0.5f * (m_localAabbMax - m_localAabbMin);
		float margin = GetMargin();
		localHalfExtents += new IndexedVector3(margin);
		IndexedVector3 localCenter = 0.5f * (m_localAabbMax + m_localAabbMin);
		IndexedBasisMatrix abs_b = trans._basis.Absolute();
		IndexedVector3 center = trans * localCenter;
		IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref localHalfExtents), abs_b._el1.Dot(ref localHalfExtents), abs_b._el2.Dot(ref localHalfExtents));
		aabbMin = center - extent;
		aabbMax = center + extent;
	}

	// yuck yuck yuck
	public void ProcessAllTrianglesCtor(ITriangleCallback callback, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
	{
		FilteredCallback filterCallback = new FilteredCallback(callback, ref aabbMin, ref aabbMax);
		m_meshInterface.InternalProcessAllTriangles(filterCallback, ref aabbMin, ref aabbMax);
		filterCallback.Cleanup();
	}

	public override void ProcessAllTriangles(ITriangleCallback callback, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
	{
		FilteredCallback filterCallback = new FilteredCallback(callback, ref aabbMin, ref aabbMax);
		m_meshInterface.InternalProcessAllTriangles(filterCallback, ref aabbMin, ref aabbMax);
		filterCallback.Cleanup();
	}

	public override void CalculateLocalInertia(float mass, out IndexedVector3 inertia)
	{
		{
		}

		inertia = IndexedVector3.Zero;
	}

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

	public override IndexedVector3 GetLocalScaling()
	{
		return m_meshInterface.GetScaling();
	}

	public StridingMeshInterface GetMeshInterface()
	{
		return m_meshInterface;
	}

	public IndexedVector3 GetLocalAabbMin()
	{
		return m_localAabbMin;
	}

	public IndexedVector3 GetLocalAabbMax()
	{
		return m_localAabbMax;
	}

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

	private bool m_inConstructor; // hacky attempt to get correct callback in construction
	protected IndexedVector3 m_localAabbMin;
	protected IndexedVector3 m_localAabbMax;
	protected StridingMeshInterface m_meshInterface;
}