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#include "physics/physx/PhysXRigidBody.h"
#include "physics/physx/PhysXInc.h"
#include "physics/physx/PhysXUtils.h"
#include "physics/physx/PhysXWorld.h"

using physx::PxActorFlag;
using physx::PxForceMode;
using physx::PxReal;
using physx::PxTransform;
using physx::PxVec3;

namespace cc {
namespace physics {

PhysXRigidBody::PhysXRigidBody() {
    _mObjectID = PhysXWorld::getInstance().addWrapperObject(reinterpret_cast<uintptr_t>(this));
}

void PhysXRigidBody::initialize(Node *node, ERigidBodyType t, uint32_t g) {
    _mGroup = g;
    PhysXWorld &ins = PhysXWorld::getInstance();
    _mSharedBody = ins.getSharedBody(node, this);
    getSharedBody().reference(true);
    getSharedBody().setType(t);
}

void PhysXRigidBody::onEnable() {
    _mEnabled = true;
    getSharedBody().enabled(true);
}

void PhysXRigidBody::onDisable() {
    _mEnabled = false;
    getSharedBody().enabled(false);
}

void PhysXRigidBody::onDestroy() {
    getSharedBody().reference(false);
    PhysXWorld::getInstance().removeWrapperObject(_mObjectID);
}

bool PhysXRigidBody::isAwake() {
    if (!getSharedBody().isInWorld() || getSharedBody().isStatic()) return false;
    return !getSharedBody().getImpl().rigidDynamic->isSleeping();
}

bool PhysXRigidBody::isSleepy() {
    return false;
}

bool PhysXRigidBody::isSleeping() {
    if (!getSharedBody().isInWorld() || getSharedBody().isStatic()) return true;
    return getSharedBody().getImpl().rigidDynamic->isSleeping();
}

void PhysXRigidBody::setType(ERigidBodyType v) {
    getSharedBody().setType(v);
}

void PhysXRigidBody::setMass(float v) {
    getSharedBody().setMass(v);
}

void PhysXRigidBody::setLinearDamping(float v) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setLinearDamping(v);
}

void PhysXRigidBody::setAngularDamping(float v) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setAngularDamping(v);
}

void PhysXRigidBody::useGravity(bool v) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setActorFlag(PxActorFlag::eDISABLE_GRAVITY, !v);
}

void PhysXRigidBody::useCCD(bool v) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setRigidBodyFlag(physx::PxRigidBodyFlag::eENABLE_CCD, v);
}

void PhysXRigidBody::setLinearFactor(float x, float y, float z) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_X, x == 0.);
    getSharedBody().getImpl().rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Y, y == 0.);
    getSharedBody().getImpl().rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_LINEAR_Z, z == 0.);
}

void PhysXRigidBody::setAngularFactor(float x, float y, float z) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_X, x == 0.);
    getSharedBody().getImpl().rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y, y == 0.);
    getSharedBody().getImpl().rigidDynamic->setRigidDynamicLockFlag(physx::PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z, z == 0.);
}

void PhysXRigidBody::setAllowSleep(bool v) {
    if (!getSharedBody().isDynamic()) return;
    PxReal wc = v ? 0.0001F : FLT_MAX;
    getSharedBody().getImpl().rigidDynamic->setWakeCounter(wc);
}

void PhysXRigidBody::wakeUp() {
    if (!getSharedBody().isInWorld() || getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->wakeUp();
}

void PhysXRigidBody::sleep() {
    if (!getSharedBody().isInWorld() || getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->putToSleep();
}

void PhysXRigidBody::clearState() {
    if (!getSharedBody().isInWorld()) return;
    clearForces();
    clearVelocity();
}

void PhysXRigidBody::clearForces() {
    if (!getSharedBody().isInWorld()) return;
    getSharedBody().clearForces();
}

void PhysXRigidBody::clearVelocity() {
    getSharedBody().clearVelocity();
}

void PhysXRigidBody::setSleepThreshold(float v) {
    if (getSharedBody().isStatic()) return;
    //(approximated) mass-normalized kinetic energy
    float ke = 0.5F * v * v;
    getSharedBody().getImpl().rigidDynamic->setSleepThreshold(ke);
}

float PhysXRigidBody::getSleepThreshold() {
    float ke = getSharedBody().getImpl().rigidDynamic->getSleepThreshold();
    float v = sqrtf(2.F * ke);
    return v;
}

cc::Vec3 PhysXRigidBody::getLinearVelocity() {
    if (getSharedBody().isStatic()) return cc::Vec3::ZERO;
    cc::Vec3 cv;
    pxSetVec3Ext(cv, getSharedBody().getImpl().rigidDynamic->getLinearVelocity());
    return cv;
}

void PhysXRigidBody::setLinearVelocity(float x, float y, float z) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setLinearVelocity(PxVec3{x, y, z});
}

cc::Vec3 PhysXRigidBody::getAngularVelocity() {
    if (getSharedBody().isStatic()) return cc::Vec3::ZERO;
    cc::Vec3 cv;
    pxSetVec3Ext(cv, getSharedBody().getImpl().rigidDynamic->getAngularVelocity());
    return cv;
}

void PhysXRigidBody::setAngularVelocity(float x, float y, float z) {
    if (getSharedBody().isStatic()) return;
    getSharedBody().getImpl().rigidDynamic->setAngularVelocity(PxVec3{x, y, z});
}

void PhysXRigidBody::applyForce(float x, float y, float z, float rx, float ry, float rz) {
    if (!getSharedBody().isInWorld() || getSharedBody().isStaticOrKinematic()) return;
    const PxVec3 force{x, y, z};
    if (force.isZero()) return;
    auto *body = getSharedBody().getImpl().rigidDynamic;
    body->addForce(force, PxForceMode::eFORCE, true);
    const PxVec3 torque = (PxVec3{rx, ry, rz}).cross(force);
    if (!torque.isZero()) body->addTorque(torque, PxForceMode::eFORCE, true);
}

void PhysXRigidBody::applyLocalForce(float x, float y, float z, float rx, float ry, float rz) {
    if (!getSharedBody().isInWorld() || getSharedBody().isStaticOrKinematic()) return;
    const PxVec3 force{x, y, z};
    if (force.isZero()) return;
    auto *body = getSharedBody().getImpl().rigidDynamic;
    const PxTransform bodyPose = body->getGlobalPose();
    const PxVec3 worldForce = bodyPose.rotate(force);
    const PxVec3 worldPos = bodyPose.rotate(PxVec3{rx, ry, rz});
    body->addForce(worldForce, PxForceMode::eFORCE, true);
    const PxVec3 torque = worldPos.cross(worldForce);
    if (!torque.isZero()) body->addTorque(torque, PxForceMode::eFORCE, true);
}

void PhysXRigidBody::applyImpulse(float x, float y, float z, float rx, float ry, float rz) {
    if (!getSharedBody().isInWorld() || getSharedBody().isStaticOrKinematic()) return;
    const PxVec3 impulse{x, y, z};
    if (impulse.isZero()) return;
    auto *body = getSharedBody().getImpl().rigidDynamic;
    const PxVec3 torque = (PxVec3{rx, ry, rz}).cross(impulse);
    body->addForce(impulse, PxForceMode::eIMPULSE, true);
    if (!torque.isZero()) body->addTorque(torque, PxForceMode::eIMPULSE, true);
}

void PhysXRigidBody::applyLocalImpulse(float x, float y, float z, float rx, float ry, float rz) {
    if (!getSharedBody().isInWorld() || getSharedBody().isStaticOrKinematic()) return;
    const PxVec3 impulse{x, y, z};
    if (impulse.isZero()) return;
    auto *body = getSharedBody().getImpl().rigidDynamic;
    const PxTransform bodyPose = body->getGlobalPose();
    const PxVec3 worldImpulse = bodyPose.rotate(impulse);
    const PxVec3 worldPos = bodyPose.rotate(PxVec3{rx, ry, rz});
    body->addForce(worldImpulse, PxForceMode::eIMPULSE, true);
    const PxVec3 torque = worldPos.cross(worldImpulse);
    if (!torque.isZero()) body->addTorque(torque, PxForceMode::eIMPULSE, true);
}

void PhysXRigidBody::applyTorque(float x, float y, float z) {
    if (!getSharedBody().isInWorld() || getSharedBody().isStaticOrKinematic()) return;
    PxVec3 torque{x, y, z};
    if (torque.isZero()) return;
    getSharedBody().getImpl().rigidDynamic->addTorque(torque, PxForceMode::eFORCE, true);
}

void PhysXRigidBody::applyLocalTorque(float x, float y, float z) {
    if (!getSharedBody().isInWorld() || getSharedBody().isStaticOrKinematic()) return;
    PxVec3 torque{x, y, z};
    if (torque.isZero()) return;
    auto *body = getSharedBody().getImpl().rigidDynamic;
    const PxTransform bodyPose = body->getGlobalPose();
    body->addTorque(bodyPose.rotate(PxVec3{x, y, z}), PxForceMode::eFORCE, true);
}

uint32_t PhysXRigidBody::getGroup() {
    return getSharedBody().getGroup();
}

void PhysXRigidBody::setGroup(uint32_t g) {
    getSharedBody().setGroup(g);
}

uint32_t PhysXRigidBody::getMask() {
    return getSharedBody().getMask();
}

void PhysXRigidBody::setMask(uint32_t m) {
    getSharedBody().setMask(m);
}

} // namespace physics
} // namespace cc