/* 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_DGCOLLISIONCOMPOUND_H__E164CA46_D0ED_46EE_8130_46C4004940BA__INCLUDED_)
#define  AFX_DGCOLLISIONCOMPOUND_H__E164CA46_D0ED_46EE_8130_46C4004940BA__INCLUDED_


#include "dgCollision.h"
class dgCollisionConvex;


#define DG_COMPOUND_STACK_DEPTH	256

class dgCollisionCompound: public dgCollision
{
	protected:
	enum dgNodeType
	{
		m_leaf,
		m_node,
	};

	class OOBBTestData
	{
		public:
		OOBBTestData (const dgMatrix& matrix);
		OOBBTestData (const dgMatrix& matrix, const dgVector& p0, const dgVector& p1);

		dgMatrix m_matrix;
		dgMatrix m_absMatrix;
		dgVector m_origin;
		dgVector m_size;
		dgVector m_localP0;
		dgVector m_localP1;
		dgVector m_aabbP0;
		dgVector m_aabbP1;
		dgVector m_crossAxis[3][3];
		dgVector m_crossAxisAbs[3][3];
		dgVector m_crossAxisDotAbs[3][3];
		dgVector m_extends[3][3];
	};

	DG_MSC_VECTOR_ALIGMENT
	class dgNodeBase
	{
		public:
		DG_CLASS_ALLOCATOR(allocator)
		dgNodeBase ();
		dgNodeBase (dgCollisionConvex* const m_shape, dgInt32 id);
		dgNodeBase (dgNodeBase* const left, dgNodeBase* const right, dgInt32 id);
		~dgNodeBase();
		bool BoxTest (const OOBBTestData& data) const;
		bool BoxTest (const OOBBTestData& data, const dgNodeBase* const otherNode) const;

		dgFloat32 BoxClosestDistance (const dgVector* const points, dgInt32 count) const;

		dgVector m_p0;
		dgVector m_p1;
		dgVector m_size;
		dgVector m_origin;
		dgInt32 m_type;
		dgInt32 m_id;
		dgFloat32 m_area;
		dgNodeBase* m_left;
		dgNodeBase* m_right;
		dgNodeBase* m_parent;
		dgCollisionConvex* m_shape;
	} DG_GCC_VECTOR_ALIGMENT;

	class dgHeapNodePair
	{
		public:
		dgInt32 m_nodeA;
		dgInt32 m_nodeB;
	};


	public:
	dgCollisionCompound(dgWorld* world);
	dgCollisionCompound (const dgCollisionCompound& source);
	dgCollisionCompound (dgInt32 count, dgCollisionConvex* const shapeArray[], dgWorld* world);
	dgCollisionCompound (dgWorld* const world, dgDeserialize deserialization, void* const userData);
	virtual ~dgCollisionCompound();

	void AddCollision (dgCollisionConvex* part);
//	void RemoveCollision (dgCollisionConvex* part);
	void RemoveCollision (dgNodeBase* node);

	protected:
	void Init (dgInt32 count, dgCollisionConvex* const shapeArray[]);
	virtual dgFloat32 GetVolume () const;
	virtual dgFloat32 GetBoxMinRadius () const; 
	virtual dgFloat32 GetBoxMaxRadius () const;
	
	virtual dgVector SupportVertex (const dgVector& dir) const;
	virtual void CalcAABB (const dgMatrix &matrix, dgVector& p0, dgVector& p1) const;
	virtual void CalcAABBSimd (const dgMatrix &matrix, dgVector& p0, dgVector& p1) const;
	virtual bool OOBBTest (const dgMatrix& matrix, const dgCollisionConvex* const shape, void* const cacheOrder) const; 

	virtual void DebugCollision (const dgMatrix& matrix, OnDebugCollisionMeshCallback callback, void* const userData) const;
	virtual void CalculateInertia (dgVector& inertia, dgVector& origin) const;
	virtual dgVector CalculateVolumeIntegral (const dgMatrix& globalMatrix, GetBuoyancyPlane bouyancyPlane, void* const context) 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;

	dgNodeBase* BuildTree(dgInt32 count, dgCollisionConvex* const shapeArray[]);


	virtual dgInt32 CalculateSignature () const;
	virtual void SetCollisionBBox (const dgVector& p0, const dgVector& p1);
	virtual void GetCollisionInfo(dgCollisionInfo* info) const;
	virtual void Serialize(dgSerialize callback, void* const userData) const;
	void LinkParentNodes();


	
	dgInt32 CalculateContacts (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxy& proxy, dgInt32 useSimd) const;
	dgInt32 CalculateContactsToSingle (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxy& proxy, dgInt32 useSimd) const;
	dgInt32 CalculateContactsToCompound (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxy& proxy, dgInt32 useSimd) const;
	dgInt32 CalculateContactsToCollisionTree (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxy& proxy, dgInt32 useSimd) const;
	dgInt32 CalculateContactsToHightField (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxy& proxy, dgInt32 useSimd) const;
	dgInt32 CalculateContactsBruteForce (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxy& proxy, dgInt32 useSimd) const;


	dgInt32 ClosestDitance (dgBody* const bodyA, dgTriplex& contactA, dgBody* const bodyB, dgTriplex& contactB, dgTriplex& normalAB) const;


#ifdef _DEBUG
	dgVector IntenalSupportVertex (const dgVector& dir) const;
#endif
	
	protected:
//	dgInt32 GetAxis (dgNodeBase** const proxiArray, dgInt32 boxCount) const;
//	static dgInt32 CompareBox (const dgNodeBase* const boxA, const dgNodeBase* const boxB, void* const context);
//	dgNodeBase* BuildBottomUpTree(dgInt32 count, dgNodeBase** const proxiArray);

	void ImproveNodeFitness (dgNodeBase* const node) const;
	dgNodeBase* BuildTopDownTree(dgInt32 count, dgNodeBase** const proxiArray, dgInt32& id);
	void PushNodes (dgNodeBase* const root, dgNodeBase** const proxiArray, dgInt32& index) const;
	dgFloat32 CalculateSurfaceArea (dgNodeBase* const node0, dgNodeBase* const node1, dgVector& minBox, dgVector& maxBox) const;

	dgInt32 m_count;
	dgFloat32 m_boxMinRadius;
	dgFloat32 m_boxMaxRadius;
	dgWorld* m_world;	
	dgNodeBase* m_root;
	dgCollisionConvex** m_array;
	OnCompoundCollisionPrefilter* m_preCollisionFilter;
	friend class dgBody;
	friend class dgWorld;
};

#endif