/*
 * 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 UniformScalingShape : ConvexShape
{
	public UniformScalingShape(ConvexShape childConvexShape, float uniformScalingFactor)
	{
		m_childConvexShape = childConvexShape;
		m_uniformScalingFactor = uniformScalingFactor;
		m_shapeType = BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE;
	}

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

	public override IndexedVector3 LocalGetSupportingVertexWithoutMargin(ref IndexedVector3 vec)
	{
		IndexedVector3 tmpVertex = m_childConvexShape.LocalGetSupportingVertexWithoutMargin(ref vec);
		return tmpVertex * m_uniformScalingFactor;
	}

	public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(IndexedVector3[] vectors, IndexedVector4[] supportVerticesOut, int numVectors)
	{
		m_childConvexShape.BatchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
		for (int i = 0; i < numVectors; i++)
		{
			supportVerticesOut[i] = (supportVerticesOut[i] * m_uniformScalingFactor);
		}
	}

	public override IndexedVector3 LocalGetSupportingVertex(ref IndexedVector3 vec)
	{
		IndexedVector3 tmpVertex = m_childConvexShape.LocalGetSupportingVertex(ref vec);
		return tmpVertex * m_uniformScalingFactor;
	}

	public override void CalculateLocalInertia(float mass, out IndexedVector3 inertia)
	{
		IndexedVector3 tmpInertia;
		m_childConvexShape.CalculateLocalInertia(mass, out tmpInertia);
		inertia = tmpInertia * m_uniformScalingFactor;
	}

	public override void GetAabb(ref IndexedMatrix t, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		GetAabbSlow(ref t, out aabbMin, out aabbMax);
	}

	public override void GetAabbSlow(ref IndexedMatrix t, out IndexedVector3 aabbMin, out IndexedVector3 aabbMax)
	{
		IndexedVector3[] _directions = new IndexedVector3[]
		{
			new IndexedVector3(1.0f, 0.0f, 0.0f),
			new IndexedVector3(0.0f, 1.0f, 0.0f),
			new IndexedVector3(0.0f, 0.0f, 1.0f),
			new IndexedVector3(-1.0f, 0.0f, 0.0f),
			new IndexedVector3(0.0f, -1.0f, 0.0f),
			new IndexedVector3(0.0f, 0.0f, -1.0f)
		};
		IndexedVector4[] _supporting = new IndexedVector4[]
		{
			IndexedVector4.Zero,
			IndexedVector4.Zero,
			IndexedVector4.Zero,
			IndexedVector4.Zero,
			IndexedVector4.Zero,
			IndexedVector4.Zero
		};
		for (int i = 0; i < 6; i++)
		{
			_directions[i] = _directions[i] * t._basis;
		}

		ObjectArray<IndexedVector4> tempSupporting = new ObjectArray<IndexedVector4>(6);
		BatchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
		IndexedVector3 aabbMin1 = new IndexedVector3(0, 0, 0), aabbMax1 = new IndexedVector3(0, 0, 0);
		for (int i = 0; i < 3; ++i)
		{
			IndexedVector3 temp = new IndexedVector3(_supporting[i].X, _supporting[i].Y, _supporting[i].Z);
			aabbMax1[i] = (t * temp)[i];
			temp = new IndexedVector3(_supporting[i + 3].X, _supporting[i + 3].Y, _supporting[i + 3].Z);
			aabbMin1[i] = (t * temp)[i];
		}

		IndexedVector3 marginVec = new IndexedVector3(GetMargin());
		aabbMin = aabbMin1 - marginVec;
		aabbMax = aabbMax1 + marginVec;
	}

	public override void SetLocalScaling(ref IndexedVector3 scaling)
	{
		m_childConvexShape.SetLocalScaling(ref scaling);
	}

	public override IndexedVector3 GetLocalScaling()
	{
		return m_childConvexShape.GetLocalScaling();
	}

	public override void SetMargin(float margin)
	{
		m_childConvexShape.SetMargin(margin);
	}

	public override float GetMargin()
	{
		return m_childConvexShape.GetMargin() * m_uniformScalingFactor;
	}

	public override int GetNumPreferredPenetrationDirections()
	{
		return m_childConvexShape.GetNumPreferredPenetrationDirections();
	}

	public override void GetPreferredPenetrationDirection(int index, out IndexedVector3 penetrationVector)
	{
		m_childConvexShape.GetPreferredPenetrationDirection(index, out penetrationVector);
	}

	public float GetUniformScalingFactor()
	{
		return m_uniformScalingFactor;
	}

	public ConvexShape GetChildShape()
	{
		return m_childConvexShape;
	}

	public override String GetName()
	{
		return "UniformScalingShape";
	}

	private ConvexShape m_childConvexShape;
	private float m_uniformScalingFactor;
}