/*
 * 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.BulletDynamics;

internal class WheelInfo
{
	public WheelRaycastInfo m_raycastInfo;
	public IndexedMatrix m_worldTransform;
	public IndexedVector3 m_chassisConnectionPointCS; //const
	public IndexedVector3 m_wheelDirectionCS; //const
	public IndexedVector3 m_wheelAxleCS; // const or modified by steering
	public float m_suspensionRestLength1; //const
	public float m_maxSuspensionTravelCm;
	public float GetSuspensionRestLength()
	{
		return m_suspensionRestLength1;
	}

	public float m_wheelsRadius; //const
	public float m_suspensionStiffness; //const
	public float m_wheelsDampingCompression; //const
	public float m_wheelsDampingRelaxation; //const
	public float m_frictionSlip;
	public float m_steering;
	public float m_rotation;
	public float m_deltaRotation;
	public float m_rollInfluence;
	public float m_maxSuspensionForce;
	public float m_engineForce;
	public float m_brake;
	public bool m_bIsFrontWheel;
	public Object m_clientInfo; //can be used to store pointer to sync transforms...
	public WheelInfo(ref WheelInfoConstructionInfo ci)
	{
		m_suspensionRestLength1 = ci.m_suspensionRestLength;
		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
		m_wheelsRadius = ci.m_wheelRadius;
		m_suspensionStiffness = ci.m_suspensionStiffness;
		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
		m_wheelDirectionCS = ci.m_wheelDirectionCS;
		m_wheelAxleCS = ci.m_wheelAxleCS;
		m_frictionSlip = ci.m_frictionSlip;
		m_steering = 0f;
		m_engineForce = 0f;
		m_rotation = 0f;
		m_deltaRotation = 0f;
		m_brake = 0f;
		m_rollInfluence = .1f;
		m_bIsFrontWheel = ci.m_bIsFrontWheel;
		m_maxSuspensionForce = ci.m_maxSuspensionForce;
	}

	public void UpdateWheel(RigidBody chassis, ref WheelRaycastInfo raycastInfo)
	{
		if (m_raycastInfo.m_isInContact)
		{
			float project = IndexedVector3.Dot(m_raycastInfo.m_contactNormalWS, m_raycastInfo.m_wheelDirectionWS);
			IndexedVector3 chassis_velocity_at_contactPoint;
			IndexedVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.GetCenterOfMassPosition();
			chassis_velocity_at_contactPoint = chassis.GetVelocityInLocalPoint(ref relpos);
			float projVel = IndexedVector3.Dot(m_raycastInfo.m_contactNormalWS, chassis_velocity_at_contactPoint);
			if (project >= -0.1f)
			{
				m_suspensionRelativeVelocity = 0f;
				m_clippedInvContactDotSuspension = 1.0f / 0.1f;
			}
			else
			{
				float inv = -1f / project;
				m_suspensionRelativeVelocity = projVel * inv;
				m_clippedInvContactDotSuspension = inv;
			}
		}
		else // Not in contact : position wheel in a nice (rest length) position
		{
			m_raycastInfo.m_suspensionLength = this.GetSuspensionRestLength();
			m_suspensionRelativeVelocity = 0f;
			m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
			m_clippedInvContactDotSuspension = 1f;
		}
	}

	public float m_clippedInvContactDotSuspension;
	public float m_suspensionRelativeVelocity;
	//calculated by suspension
	public float m_wheelsSuspensionForce;
	public float m_skidInfo;
}