/* 
    OgreNewt Library

    Ogre implementation of Newton Game Dynamics SDK

    OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.

        by Walaber
        some changes by melven

*/

#ifndef _INCLUDE_OGRENEWT_RAYCAST
#define _INCLUDE_OGRENEWT_RAYCAST


#include "OgreNewt_Prerequisites.h"
#include "OgreNewt_CollisionPrimitives.h"

// OgreNewt namespace.  all functions and classes use this namespace.
namespace OgreNewt
{


//! general raycast
/*!
    General class representing a raycast query in the Newton world.  this class should be inherited to create specific raycast behavior.
*/
class _OgreNewtExport Raycast
{
public:

    //! constructor
    Raycast();
    
    //! destuctor.
    virtual ~Raycast();

    //! performs the raycast.  
    /*!
        call after creating the object.
        \param world pointer to the OgreNewt::World
        \param startpt starting point of ray in global space
        \param endpt ending point of ray in global space
    */
    void go( const OgreNewt::World* world, const Ogre::Vector3& startpt, const Ogre::Vector3& endpt );


    //! user callback pre-filter function.
    /*!
        This function is an optional pre-filter to completely ignore specific bodies during the raycast.
        return false from this function to ignore this body, return true (default) to accept it.
    */
    virtual bool userPreFilterCallback( OgreNewt::Body* body ) { return true; }

    //! user callback filter function
    /*! user callback function.  
        This function must be implemented by the user.
        Newton calls this function for each body intersected by the ray.  however it doesn't
        necessarily go perfect cloest-to-farthest order.
        return true and the callback will only be called for bodies closer to the start point than the current body.
        return false and the callback will call for any other bodies, even those farther than the current one.
    */
    virtual bool userCallback( OgreNewt::Body* body, Ogre::Real distance, const Ogre::Vector3& normal, int collisionID ) = 0;

    //Newton >= 2.30
    //friend float CollisionPrimitives::TreeCollision::newtonRayCastCallback(const NewtonBody* const body, const NewtonCollision* const treeCollision, float distance, float *normal, int faceId, void *userData);
    friend float CollisionPrimitives::TreeCollision::newtonRayCastCallback(float distance, float *normal, int faceId, void *userData);
protected:
    //! save the last OgreNewt::Body from the newtonRaycastPreFilter to use this for example the TreeCollisionRayCallback
    OgreNewt::Body *m_treecollisioncallback_lastbody;

    //! save if this body was already added by RayCastCallback from TreeCollision
    bool m_treecollisioncallback_bodyalreadyadded;

private:

    //! callback used for running the raycast itself... used internally
    static float _CDECL newtonRaycastFilter(const NewtonBody* body, const float* hitNormal, int collisionID, void* userData, float intersetParam);

    //! callback used for running the raycast prefilder... used internally
    static unsigned _CDECL newtonRaycastPreFilter( const NewtonBody* body, const NewtonCollision* collision, void* userData );
};




//! Basic implementation of the raycast
/*!
    This class is provided for general raycast use.  it returns information about all bodies hit by the ray.
*/
class _OgreNewtExport BasicRaycast : public Raycast
{
public:
    //! simple class that represents a single raycast rigid body intersection.
    class _OgreNewtExport BasicRaycastInfo
    {
    public:
		BasicRaycastInfo();
        ~BasicRaycastInfo();

		Ogre::Real getDistance() { return mDistance; };
		OgreNewt::Body* getBody() { return mBody; };
		int getCollisionId() { return mCollisionID; };
		Ogre::Vector3 getNormal() { return mNormal; };
		Ogre::Quaternion getNormalOrientation() { return OgreNewt::Converters::grammSchmidt(mNormal); };

        Ogre::Real        mDistance;     //!< dist from point1 of the raycast, in range [0,1].
        OgreNewt::Body*   mBody;         //!< pointer to body intersected with
        int               mCollisionID;  //!< collision ID of the primitive hit by the ray (for compound collision bodies)
        Ogre::Vector3     mNormal;       //!< normal of intersection.
        
        bool operator<(const BasicRaycastInfo& rhs) const
        {
            return mDistance < rhs.mDistance;
        }
    };


    //! empty constructor
    BasicRaycast();

    //! constructor
    /*!
        performs a raycast, then the results can be queried from the object after creation.
        \param world pointer to the OgreNewt::World
        \param startpt starting point of the ray in global space
        \param endpt ending point of the ray in global space
        \param sorted sort the results by distance
    */
    BasicRaycast( const OgreNewt::World* world, const Ogre::Vector3& startpt, const Ogre::Vector3& endpt, bool sorted);

    //! perform a raycast
    /*!
        performs a raycast, then the results can be queried from the object after creation.
        \param world pointer to the OgreNewt::World
        \param startpt starting point of the ray in global space
        \param endpt ending point of the ray in global space
        \param sorted sort the results by distance
    */
    void go( const OgreNewt::World* world, const Ogre::Vector3& startpt, const Ogre::Vector3& endpt, bool sorted);
    
    //! destuctor.
    ~BasicRaycast();

    //! the all-important custom callback function.
    bool userCallback( Body* body, Ogre::Real distance, const Ogre::Vector3& normal, int collisionID );

    // ------------------------------------------------------
    // the following functions can be used to retrieve information about the bodies collided by the ray.
    
    //! how many bodies did we hit?
    int getHitCount() const;

    //! retrieve the raycast info for a specific hit.
    BasicRaycastInfo getInfoAt( unsigned int hitnum ) const;

    //! get the closest body hit by the ray.
    BasicRaycastInfo getFirstHit() const;

private:


    // container for results.
    typedef std::vector<BasicRaycastInfo> RaycastInfoList;

    RaycastInfoList mRayList;
};


}    // end NAMESPACE OgreNewt
    




#endif    // _INCLUDE_OGRENEWT_RAYCAST