/*
 * 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;

internal class DefaultMotionState : IMotionState
{
	public DefaultMotionState() : this(IndexedMatrix.Identity, IndexedMatrix.Identity)
	{
	}

	public DefaultMotionState(IndexedMatrix startTrans, IndexedMatrix centerOfMassOffset)
	{
		m_graphicsWorldTrans = startTrans;
		m_startWorldTrans = startTrans;
		m_centerOfMassOffset = centerOfMassOffset;
		m_userPointer = null;
	}

	public virtual void GetWorldTransform(out IndexedMatrix centerOfMassWorldTrans)
	{
		centerOfMassWorldTrans = m_centerOfMassOffset.Inverse() * m_graphicsWorldTrans;
	}

	public virtual void SetWorldTransform(IndexedMatrix centerOfMassWorldTrans)
	{
		SetWorldTransform(ref centerOfMassWorldTrans);
	}

	public virtual void SetWorldTransform(ref IndexedMatrix centerOfMassWorldTrans)
	{
		m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset;
	}

	public virtual void Rotate(IndexedQuaternion iq)
	{
		IndexedMatrix im = IndexedMatrix.CreateFromQuaternion(iq);
		im._origin = m_graphicsWorldTrans._origin;
		SetWorldTransform(ref im);
	}

	public virtual void Translate(IndexedVector3 v)
	{
		m_graphicsWorldTrans._origin += v;
	}

	public IndexedMatrix m_graphicsWorldTrans;
	public IndexedMatrix m_centerOfMassOffset;
	public IndexedMatrix m_startWorldTrans;
	public Object m_userPointer;
}