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#include "geomutils/GuContactBuffer.h"

#include "GuContactMethodImpl.h"
#include "GuInternal.h"
#include "GuSegment.h"
#include "GuGeometryUnion.h"

namespace physx
{
namespace Gu
{
bool contactPlaneCapsule(GU_CONTACT_METHOD_ARGS)
{
	PX_UNUSED(renderOutput);
	PX_UNUSED(cache);
	PX_UNUSED(shape0);

	// Get actual shape data
	//const PxPlaneGeometry& shapePlane = shape.get<const PxPlaneGeometry>();
	const PxCapsuleGeometry& shapeCapsule = shape1.get<const PxCapsuleGeometry>();

	const PxTransform capsuleToPlane = transform0.transformInv(transform1);

	//Capsule in plane space
	Segment segment;
	getCapsuleSegment(capsuleToPlane, shapeCapsule, segment);
	
	const PxVec3 negPlaneNormal = transform0.q.getBasisVector0();
	
	bool contact = false;

	const PxReal separation0 = segment.p0.x - shapeCapsule.radius;
	const PxReal separation1 = segment.p1.x - shapeCapsule.radius;
	if(separation0 <= params.mContactDistance)
	{
		const PxVec3 temp(segment.p0.x - shapeCapsule.radius, segment.p0.y, segment.p0.z);
		const PxVec3 point = transform0.transform(temp);
		contactBuffer.contact(point, -negPlaneNormal, separation0);
		contact = true;
	}

	if(separation1 <= params.mContactDistance)
	{
		const PxVec3 temp(segment.p1.x - shapeCapsule.radius, segment.p1.y, segment.p1.z);
		const PxVec3 point = transform0.transform(temp);
		contactBuffer.contact(point, -negPlaneNormal, separation1);
		contact = true;
	}
	return contact;
}
}//Gu
}//physx
