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#include "geomutils/GuContactBuffer.h"
#include "GuVecBox.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuPersistentContactManifold.h"

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

	using namespace Ps::aos;

	Gu::PersistentContactManifold& manifold = cache.getManifold();
	Ps::prefetchLine(&manifold, 256);

	// Get actual shape data
	const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();

	const PsTransformV transf0 = loadTransformA(transform1);//box transform
	const PsTransformV transf1 = loadTransformA(transform0);//plane transform

	//box to plane
	const PsTransformV curTransf(transf1.transformInv(transf0));

	//in world space
	const Vec3V negPlaneNormal = V3Normalize(V3Neg(QuatGetBasisVector0(transf1.q)));
	
	const FloatV contactDist = FLoad(params.mContactDistance);

	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);

	const PxReal toleranceLength = params.mToleranceLength;
	const FloatV boxMargin = CalculatePCMBoxMargin(boxExtents, toleranceLength);
	const FloatV projectBreakingThreshold = FMul(boxMargin, FLoad(0.2f));
	const PxU32 initialContacts = manifold.mNumContacts;
	
	manifold.refreshContactPoints(curTransf, projectBreakingThreshold, contactDist);

	const PxU32 newContacts = manifold.mNumContacts;
	const bool bLostContacts = (newContacts != initialContacts);//((initialContacts == 0) || (newContacts != initialContacts));

	if(bLostContacts || manifold.invalidate_PrimitivesPlane(curTransf, boxMargin, FLoad(0.2f)))
	{
		//ML:localNormal is the local space of plane normal, however, because shape1 is box and shape0 is plane, we need to use the reverse of contact normal(which will be the plane normal) to make the refreshContactPoints
		//work out the correct pentration for points
		const Vec3V localNormal = V3UnitX();

		manifold.mNumContacts = 0;
		manifold.setRelativeTransform(curTransf);

		const PsMatTransformV aToB(curTransf);
		const FloatV bx = V3GetX(boxExtents);
		const FloatV by = V3GetY(boxExtents);
		const FloatV bz = V3GetZ(boxExtents);

		const FloatV nbx = FNeg(bx);
		const FloatV nby = FNeg(by);
		const FloatV nbz = FNeg(bz);

		const Vec3V temp0 = V3Scale(aToB.getCol0(), bx);
		const Vec3V temp1 = V3Scale(aToB.getCol1(), by);
		const Vec3V temp2 = V3Scale(aToB.getCol2(), bz);

		const Vec3V ntemp2 = V3Neg(temp2);

		const FloatV px = V3GetX(aToB.p);

		//box's points in the local space of plane
		const Vec3V temp01 = V3Add(temp0, temp1);//(x, y)
		const Vec3V temp02 = V3Sub(temp0, temp1);//(x, -y)

		const FloatV s0 = V3GetX(V3Add(temp2,	temp01));//(x, y, z)
		const FloatV s1 = V3GetX(V3Add(ntemp2,	temp01));//(x, y, -z)
		const FloatV s2 = V3GetX(V3Add(temp2,	temp02));//(x, -y, z)
		const FloatV s3 = V3GetX(V3Add(ntemp2,	temp02));//(x, -y, -z)
		const FloatV s4 = V3GetX(V3Sub(temp2,	temp02));//(-x, y, z)
		const FloatV s5 = V3GetX(V3Sub(ntemp2,	temp02));//(-x, y, -z)
		const FloatV s6 = V3GetX(V3Sub(temp2,	temp01));//(-x, -y, z)
		const FloatV s7 = V3GetX(V3Sub(ntemp2,	temp01));//(-x, -y, -z)

		const FloatV acceptanceDist = FSub(contactDist, px);

		Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
		PxU32 numContacts = 0;

		if(FAllGrtr(acceptanceDist, s0))
		{
			const FloatV pen = FAdd(s0, px);
			//(x, y, z)
			manifoldContacts[numContacts].mLocalPointA = boxExtents;//aToB.transformInv(p); 
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(boxExtents)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}
	
		if(FAllGrtr(acceptanceDist, s1))
		{
			const FloatV pen = FAdd(s1, px);
			//(x, y, -z)
			const Vec3V p = V3Merge(bx, by, nbz);
			//add to contact stream
			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}

		if(FAllGrtr(acceptanceDist, s2))
		{
			const FloatV pen = FAdd(s2, px);
			//(x, -y, z)
			const Vec3V p = V3Merge(bx, nby, bz);
			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}

		if(FAllGrtr(acceptanceDist, s3))
		{
			const FloatV pen = FAdd(s3, px);
			//(x, -y, -z)
			const Vec3V p = V3Merge(bx, nby, nbz);
			manifoldContacts[numContacts].mLocalPointA = p; 
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}
	
		if(FAllGrtr(acceptanceDist, s4))
		{
			const FloatV pen = FAdd(s4, px);
			//(-x, y, z)
			const Vec3V p =V3Merge(nbx, by, bz);
			manifoldContacts[numContacts].mLocalPointA = p;
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}

		if(FAllGrtr(acceptanceDist, s5))
		{
			const FloatV pen = FAdd(s5, px);
			//(-x, y, -z)
			const Vec3V p = V3Merge(nbx, by, nbz);
			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}

	
		if(FAllGrtr(acceptanceDist, s6))
		{
			const FloatV pen = FAdd(s6, px);
			//(-x, -y, z)
			const Vec3V p = V3Merge(nbx, nby, bz);
			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}
	
		if(FAllGrtr(acceptanceDist, s7))
		{
			const FloatV pen = FAdd(s7, px);
			//(-x, -y, -z)
			const Vec3V p = V3Merge(nbx, nby, nbz);
			manifoldContacts[numContacts].mLocalPointA = p;
			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
		}
		
		//reduce contacts
		manifold.addBatchManifoldContactsCluster(manifoldContacts, numContacts);
		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);

		return manifold.getNumContacts() > 0;
	}
	else
	{
		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
		
		//manifold.drawManifold(*gRenderOutPut, transf0, transf1);
		return manifold.getNumContacts() > 0;
	}	
}

}//Gu
}//physx
