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#include "GuGeometryUnion.h"
#include "GuPCMShapeConvex.h"
#include "GuVecConvexHull.h"
#include "GuPCMContactGen.h"
#include "CmRenderOutput.h"

using namespace physx;
using namespace Gu;

namespace physx
{
namespace Gu
{
	const PxU8 gPCMBoxPolygonData[24] = 
	{
		0, 3, 2, 1,
		1, 2, 6, 5,
		5, 6, 7, 4,
		4, 7, 3, 0,
		3, 7, 6, 2,
		4, 0, 1, 5,
	};


   Gu::PCMPolygonalBox::PCMPolygonalBox(const PxVec3& halfSide) : mHalfSide(halfSide)
	{
		//Precompute the convex data
		//     7+------+6			0 = ---
		//     /|     /|			1 = +--
		//    / |    / |			2 = ++-
		//   / 4+---/--+5			3 = -+-
		// 3+------+2 /    y   z	4 = --+
		//  | /    | /     |  /		5 = +-+
		//  |/     |/      |/		6 = +++
		// 0+------+1      *---x	7 = -++

		PxVec3 minimum = -mHalfSide;
		PxVec3 maximum = mHalfSide;
		// Generate 8 corners of the bbox
		mVertices[0] = PxVec3(minimum.x, minimum.y, minimum.z);
		mVertices[1] = PxVec3(maximum.x, minimum.y, minimum.z);
		mVertices[2] = PxVec3(maximum.x, maximum.y, minimum.z);
		mVertices[3] = PxVec3(minimum.x, maximum.y, minimum.z);
		mVertices[4] = PxVec3(minimum.x, minimum.y, maximum.z);
		mVertices[5] = PxVec3(maximum.x, minimum.y, maximum.z);
		mVertices[6] = PxVec3(maximum.x, maximum.y, maximum.z);
		mVertices[7] = PxVec3(minimum.x, maximum.y, maximum.z);

		//Setup the polygons
		for(PxU8 i=0; i < 6; i++)
		{
			mPolygons[i].mNbVerts = 4;
			mPolygons[i].mVRef8 = PxU16(i*4);
		}

		// ### planes needs *very* careful checks
		// X axis
		mPolygons[1].mPlane.n = PxVec3(1.0f, 0.0f, 0.0f);
		mPolygons[1].mPlane.d = -mHalfSide.x;
		mPolygons[3].mPlane.n = PxVec3(-1.0f, 0.0f, 0.0f);
		mPolygons[3].mPlane.d = -mHalfSide.x;
		
		mPolygons[1].mMinIndex = 0;
		mPolygons[3].mMinIndex = 1;

		PX_ASSERT(mPolygons[1].getMin(mVertices) == -mHalfSide.x); 
		PX_ASSERT(mPolygons[3].getMin(mVertices) == -mHalfSide.x);


		// Y axis
		mPolygons[4].mPlane.n = PxVec3(0.f, 1.0f, 0.0f);
		mPolygons[4].mPlane.d = -mHalfSide.y;
		mPolygons[5].mPlane.n = PxVec3(0.0f, -1.0f, 0.0f);
		mPolygons[5].mPlane.d = -mHalfSide.y;

		mPolygons[4].mMinIndex = 0;
		mPolygons[5].mMinIndex = 2;


		PX_ASSERT(mPolygons[4].getMin(mVertices) == -mHalfSide.y); 
		PX_ASSERT(mPolygons[5].getMin(mVertices) == -mHalfSide.y);

		// Z axis
		mPolygons[2].mPlane.n = PxVec3(0.f, 0.0f, 1.0f);
		mPolygons[2].mPlane.d = -mHalfSide.z;
		mPolygons[0].mPlane.n = PxVec3(0.0f, 0.0f, -1.0f);
		mPolygons[0].mPlane.d = -mHalfSide.z;

		mPolygons[2].mMinIndex = 0;
		mPolygons[0].mMinIndex = 4;
		PX_ASSERT(mPolygons[2].getMin(mVertices) == -mHalfSide.z); 
		PX_ASSERT(mPolygons[0].getMin(mVertices) == -mHalfSide.z);
	}

   void Gu::PCMPolygonalBox::getPolygonalData(Gu::PolygonalData* PX_RESTRICT dst) const
	{
		dst->mCenter				= PxVec3(0.0f, 0.0f, 0.0f);
		dst->mNbVerts				= 8;
		dst->mNbPolygons			= 6;
		dst->mPolygons				= mPolygons;
		dst->mNbEdges				= 0;
		dst->mVerts					= mVertices;
		dst->mPolygonVertexRefs		= gPCMBoxPolygonData;
		dst->mFacesByEdges			= NULL;
		dst->mVerticesByEdges		= NULL;
		dst->mInternal.mRadius		= 0.0f;
		dst->mInternal.mExtents[0]	= 0.0f;
		dst->mInternal.mExtents[1]	= 0.0f;
		dst->mInternal.mExtents[2]	= 0.0f;
	}

	static void getPCMPolygonalData_Convex(Gu::PolygonalData* PX_RESTRICT dst, const Gu::ConvexHullData* PX_RESTRICT src, const Ps::aos::Mat33V& vertexToShape)
	{
		using namespace Ps::aos;
		const Vec3V vertexSpaceCenterOfMass = V3LoadU(src->mCenterOfMass);
		const Vec3V shapeSpaceCenterOfMass = M33MulV3(vertexToShape, vertexSpaceCenterOfMass);
		V3StoreU(shapeSpaceCenterOfMass, dst->mCenter);
		dst->mNbVerts			= src->mNbHullVertices;
		dst->mNbPolygons		= src->mNbPolygons;
		dst->mNbEdges			= src->mNbEdges;
		dst->mPolygons			= src->mPolygons;
		dst->mVerts				= src->getHullVertices();
		dst->mPolygonVertexRefs	= src->getVertexData8();
		dst->mFacesByEdges		= src->getFacesByEdges8();
		dst->mVerticesByEdges   = src->getVerticesByEdges16();

		dst->mBigData			= src->mBigConvexRawData;

		dst->mInternal			= src->mInternal;
	}


	static void getPCMPolygonalData_Convex(Gu::PolygonalData* PX_RESTRICT dst, const Gu::ConvexHullData* PX_RESTRICT src, const Cm::FastVertex2ShapeScaling& scaling)
	{
		dst->mCenter			= scaling * src->mCenterOfMass;
		dst->mNbVerts			= src->mNbHullVertices;
		dst->mNbPolygons		= src->mNbPolygons;
		dst->mNbEdges			= src->mNbEdges;
		dst->mPolygons			= src->mPolygons;
		dst->mVerts				= src->getHullVertices();
		dst->mPolygonVertexRefs	= src->getVertexData8();
		dst->mFacesByEdges		= src->getFacesByEdges8();
		dst->mVerticesByEdges   = src->getVerticesByEdges16();

		dst->mBigData			= src->mBigConvexRawData;
		dst->mInternal			= src->mInternal;
	}


	void getPCMConvexData(const Gu::ConvexHullV& convexHull, const bool idtScale, PolygonalData& polyData)
	{
	
		PX_ASSERT(!convexHull.hullData->mAABB.isEmpty());  

		//this is used to calculate the convex hull's center of mass
		getPCMPolygonalData_Convex(&polyData, convexHull.hullData, convexHull.vertex2Shape);

		if(!idtScale)
			polyData.mInternal.reset();

	}
     
	bool getPCMConvexData(const Gu::GeometryUnion& shape, Cm::FastVertex2ShapeScaling& scaling, PxBounds3& bounds, PolygonalData& polyData)
	{
		const PxConvexMeshGeometryLL& shapeConvex = shape.get<const PxConvexMeshGeometryLL>();

		const bool idtScale = shapeConvex.scale.isIdentity();
		if(!idtScale)
			scaling.init(shapeConvex.scale);

		PX_ASSERT(!shapeConvex.hullData->mAABB.isEmpty());
		bounds = shapeConvex.hullData->mAABB.transformFast(scaling.getVertex2ShapeSkew());

		getPCMPolygonalData_Convex(&polyData, shapeConvex.hullData, scaling);

		return idtScale;
	}

}
}
	
