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/*
 * Java port of Bullet (c) 2008 Martin Dvorak 
 *
 * 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.
 */

package com.bulletphysics.collision.shapes;

import com.bulletphysics.collision.broadphase.BroadphaseNativeType;
import com.bulletphysics.linearmath.MatrixUtil;
import com.bulletphysics.linearmath.Transform;
import cz.advel.stack.Stack;
import javax.vecmath.Vector3f;

/**
 * MinkowskiSumShape is only for advanced users. This shape represents implicit
 * based minkowski sum of two convex implicit shapes.
 * 
 * @author jezek2
 */
public class MinkowskiSumShape extends ConvexInternalShape {

	private final Transform transA = new Transform();
	private final Transform transB = new Transform();
	private ConvexShape shapeA;
	private ConvexShape shapeB;

	public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB) {
		this.shapeA = shapeA;
		this.shapeB = shapeB;
		this.transA.setIdentity();
		this.transB.setIdentity();
	}
	
	@Override
	public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out) {
		Vector3f tmp = Stack.alloc(Vector3f.class);
		Vector3f supVertexA = Stack.alloc(Vector3f.class);
		Vector3f supVertexB = Stack.alloc(Vector3f.class);

		// btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
		tmp.negate(vec);
		MatrixUtil.transposeTransform(tmp, tmp, transA.basis);
		shapeA.localGetSupportingVertexWithoutMargin(tmp, supVertexA);
		transA.transform(supVertexA);

		// btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
		MatrixUtil.transposeTransform(tmp, vec, transB.basis);
		shapeB.localGetSupportingVertexWithoutMargin(tmp, supVertexB);
		transB.transform(supVertexB);

		//return supVertexA - supVertexB;
		out.sub(supVertexA, supVertexB);
		return out;
	}

	@Override
	public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors) {
		//todo: could make recursive use of batching. probably this shape is not used frequently.
		for (int i = 0; i < numVectors; i++) {
			localGetSupportingVertexWithoutMargin(vectors[i], supportVerticesOut[i]);
		}
	}

	@Override
	public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
		throw new UnsupportedOperationException("Not supported yet.");
	}

	@Override
	public BroadphaseNativeType getShapeType() {
		return BroadphaseNativeType.MINKOWSKI_SUM_SHAPE_PROXYTYPE;
	}

	@Override
	public void calculateLocalInertia(float mass, Vector3f inertia) {
		assert (false);
		inertia.set(0, 0, 0);
	}

	@Override
	public String getName() {
		return "MinkowskiSum";
	}
	
	@Override
	public float getMargin() {
		return shapeA.getMargin() + shapeB.getMargin();
	}

	public void setTransformA(Transform transA) {
		this.transA.set(transA);
	}

	public void setTransformB(Transform transB) {
		this.transB.set(transB);
	}

	public void getTransformA(Transform dest) {
		dest.set(transA);
	}

	public void getTransformB(Transform dest) {
		dest.set(transB);
	}

}