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#ifndef DY_CORRELATIONBUFFER_H
#define DY_CORRELATIONBUFFER_H

#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "foundation/PxBounds3.h"
#include "geomutils/GuContactBuffer.h"

#include "PxvConfig.h"
#include "DyFrictionPatch.h"

namespace physx
{

struct PxcNpWorkUnit;
struct PxsMaterialInfo;

namespace Dy
{

struct CorrelationBuffer
{
	static const PxU32 MAX_FRICTION_PATCHES = 32;
	static const PxU16 LIST_END = 0xffff;

	struct ContactPatchData
	{
		PxU16 start;
		PxU16 next;
		PxU8 flags;
		PxU8 count;
		PxReal staticFriction, dynamicFriction, restitution;
		PxBounds3 patchBounds;
	};

	// we can have as many contact patches as contacts, unfortunately
	ContactPatchData	contactPatches[Gu::ContactBuffer::MAX_CONTACTS];

	FrictionPatch	PX_ALIGN(16, frictionPatches[MAX_FRICTION_PATCHES]);
	PxVec3				PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);
	PxBounds3		patchBounds[MAX_FRICTION_PATCHES];

	PxU32				frictionPatchContactCounts[MAX_FRICTION_PATCHES];
	PxU32				correlationListHeads[MAX_FRICTION_PATCHES+1];

	// contact IDs are only used to identify auxiliary contact data when velocity
	// targets have been set. 
	PxU16				contactID[MAX_FRICTION_PATCHES][2];

	PxU32 contactPatchCount, frictionPatchCount;

};

bool createContactPatches(CorrelationBuffer& fb, const Gu::ContactPoint* cb, PxU32 contactCount, PxReal normalTolerance);

bool correlatePatches(CorrelationBuffer& fb, 
					  const Gu::ContactPoint* cb,
					  const PxTransform& bodyFrame0,
					  const PxTransform& bodyFrame1,
					  PxReal normalTolerance,
					  PxU32 startContactPatchIndex,
					  PxU32 startFrictionPatchIndex);

void growPatches(CorrelationBuffer& fb,
				 const Gu::ContactPoint* buffer,
				 const PxTransform& bodyFrame0,
				 const PxTransform& bodyFrame1,
				 PxReal normalTolerance,
				 PxU32 frictionPatchStartIndex,
				 PxReal frictionOffsetThreshold);

}

}

#endif //DY_CORRELATIONBUFFER_H
