/*
 * 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 BU_Simplex1to4 : PolyhedralConvexAabbCachingShape
{
	public BU_Simplex1to4()
	{
		m_shapeType = BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE;
	}

	public BU_Simplex1to4(ref IndexedVector3 pt0)
	{
		m_shapeType = BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE;
		AddVertex(ref pt0);
	}

	public BU_Simplex1to4(ref IndexedVector3 pt0, ref IndexedVector3 pt1)
	{
		m_shapeType = BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE;
		AddVertex(ref pt0);
		AddVertex(ref pt1);
	}

	public BU_Simplex1to4(ref IndexedVector3 pt0, ref IndexedVector3 pt1, ref IndexedVector3 pt2)
	{
		m_shapeType = BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE;
		AddVertex(ref pt0);
		AddVertex(ref pt1);
		AddVertex(ref pt2);
	}

	public BU_Simplex1to4(ref IndexedVector3 pt0, ref IndexedVector3 pt1, ref IndexedVector3 pt2, ref IndexedVector3 pt3)
	{
		m_shapeType = BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE;
		AddVertex(ref pt0);
		AddVertex(ref pt1);
		AddVertex(ref pt2);
		AddVertex(ref pt3);
	}

	public void Reset()
	{
		m_numVertices = 0;
	}

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

	public void AddVertex(ref IndexedVector3 pt)
	{
		m_vertices[m_numVertices++] = pt;
		RecalcLocalAabb();
	}

	//PolyhedralConvexShape interface
	public override int GetNumVertices()
	{
		return m_numVertices;
	}

	public override int GetNumEdges()
	{
		//euler formula, F-E+V = 2, so E = F+V-2
		switch (m_numVertices)
		{
			case 0:
				return 0;
			case 1:
				return 0;
			case 2:
				return 1;
			case 3:
				return 3;
			case 4:
				return 6;
		}

		return 0;
	}

	public override void GetEdge(int i, out IndexedVector3 pa, out IndexedVector3 pb)
	{
		switch (m_numVertices)
		{
			case 2:
				pa = m_vertices[0];
				pb = m_vertices[1];
				return;
			case 3:
				switch (i)
				{
					case 0:
						pa = m_vertices[0];
						pb = m_vertices[1];
						return;
					case 1:
						pa = m_vertices[1];
						pb = m_vertices[2];
						return;
					case 2:
						pa = m_vertices[2];
						pb = m_vertices[0];
						return;
				}

				break;
			case 4:
				switch (i)
				{
					case 0:
						pa = m_vertices[0];
						pb = m_vertices[1];
						return;
					case 1:
						pa = m_vertices[1];
						pb = m_vertices[2];
						return;
					case 2:
						pa = m_vertices[2];
						pb = m_vertices[0];
						return;
					case 3:
						pa = m_vertices[0];
						pb = m_vertices[3];
						return;
					case 4:
						pa = m_vertices[1];
						pb = m_vertices[3];
						return;
					case 5:
						pa = m_vertices[2];
						pb = m_vertices[3];
						return;
				}

				break;
		}

		pa = IndexedVector3.Zero;
		pb = IndexedVector3.Zero;
	}

	public override void GetVertex(int i, out IndexedVector3 vtx)
	{
		vtx = m_vertices[i];
	}

	public override int GetNumPlanes()
	{
		switch (m_numVertices)
		{
			case 0:
				return 0;
			case 1:
				return 0;
			case 2:
				return 0;
			case 3:
				return 2;
			case 4:
				return 4;
			default:
			{
				return 0;
			}
		}
	}

	public override void GetPlane(out IndexedVector3 planeNormal, out IndexedVector3 planeSupport, int i)
	{
		planeNormal = new IndexedVector3(0, 1, 0);
		;
		planeSupport = IndexedVector3.Zero;
	}

	public virtual int GetIndex(int i)
	{
		return 0;
	}

	public override bool IsInside(ref IndexedVector3 pt, float tolerance)
	{
		return false;
	}

	public override String GetName()
	{
		return "btBU_Simplex1to4";
	}

	protected int m_numVertices;
	protected IndexedVector3[] m_vertices = new IndexedVector3[4];
}