/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
* 
* 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.
*/

#if !defined(AFX_DGCOLLISIONCAPSULE_H__AS235640FER__INCLUDED_)
#define AFX_DGCOLLISIONCAPSULE_H__AS235640FER__INCLUDED_



#include "dgCollisionConvex.h"

#define DG_CAP_SEGMENTS 4
#define DG_CAPSULE_SEGMENTS 6

class dgCollisionCapsule: public dgCollisionConvex  
{
	public:
	dgCollisionCapsule (dgMemoryAllocator* const allocator, dgUnsigned32 signature, dgFloat32 radius, dgFloat32 height, const dgMatrix& matrix);
	dgCollisionCapsule(dgWorld* const world, dgDeserialize deserialization, void* const userData);
	virtual ~dgCollisionCapsule();

	dgFloat32 GetRadius() const {return m_radius;}
	dgFloat32 GetHeight() const {return m_height[0];}
	

	private:
	void Init (dgFloat32 radius, dgFloat32 height);
	void TesselateTriangle (dgInt32 level, dgFloat32 side, const dgVector& p0, const dgVector& p1, const dgVector& p2, dgInt32& count, dgVector* ouput) const;

	virtual dgFloat32 RayCast (const dgVector& localP0, const dgVector& localP1, dgContactPoint& contactOut, OnRayPrecastAction preFilter, const dgBody* const body, void* const userData) const;
	virtual dgFloat32 RayCastSimd (const dgVector& localP0, const dgVector& localP1, dgContactPoint& contactOut, OnRayPrecastAction preFilter, const dgBody* const body, void* const userData) const;

	virtual dgVector SupportVertex (const dgVector& dir) const;
	virtual dgVector SupportVertexSimd (const dgVector& dir) const;

	virtual dgInt32 CalculatePlaneIntersection (const dgVector& normal, const dgVector& point, dgVector* const contactsOut) const;
	virtual dgInt32 CalculatePlaneIntersectionSimd (const dgVector& normal, const dgVector& point, dgVector* const contactsOut) const;

//	virtual void DebugCollision (const dgBody& myBody, DebugCollisionMeshCallback callback) const;
	virtual void DebugCollision (const dgMatrix& matrix, OnDebugCollisionMeshCallback callback, void* const userData) const;

	virtual dgInt32 CalculateSignature () const;
	virtual void SetCollisionBBox (const dgVector& p0, const dgVector& p1);
	virtual dgFloat32 CalculateMassProperties (dgVector& inertia, dgVector& crossInertia, dgVector& centerOfMass) const;

	virtual void GetCollisionInfo(dgCollisionInfo* info) const;
	virtual void Serialize(dgSerialize callback, void* const userData) const;

	dgFloat32 m_height[2];
	dgFloat32 m_radius;

	dgFloat32 m_tethaStep;
	dgFloat32 m_tethaStepInv;
	dgFloat32 m_delCosTetha;
	dgFloat32 m_delSinTetha;

	dgVector m_silhuette[4];
	dgVector m_vertex[2 * DG_CAP_SEGMENTS * DG_CAPSULE_SEGMENTS];
	static dgInt32 m_shapeRefCount;
	static dgConvexSimplexEdge m_edgeArray[];

	friend class dgWorld;
};

#endif