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 Copyright (c) 2020-2023 Xiamen Yaji Software Co., Ltd.

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#include "physics/physx/PhysXSharedBody.h"
#include <cmath>
#include "base/memory/Memory.h"
#include "physics/physx/PhysXInc.h"
#include "physics/physx/PhysXUtils.h"
#include "physics/physx/PhysXWorld.h"
#include "physics/physx/joints/PhysXJoint.h"
#include "physics/physx/shapes/PhysXShape.h"

using physx::PxFilterData;
using physx::PxForceMode;
using physx::PxIdentity;
using physx::PxJointActorIndex;
using physx::PxPhysics;
using physx::PxQuat;
using physx::PxRigidActor;
using physx::PxRigidBodyExt;
using physx::PxRigidBodyFlag;
using physx::PxTransform;
using physx::PxVec3;

namespace cc {
namespace physics {
ccstd::unordered_map<Node *, PhysXSharedBody *> PhysXSharedBody::sharedBodesMap;

static int idCounter = 0;
PhysXSharedBody::PhysXSharedBody(
    Node *node,
    PhysXWorld *const world,
    PhysXRigidBody *const body) : _mID(idCounter++),
                                  _mRef(0),
                                  _mType(ERigidBodyType::STATIC),
                                  _mIsStatic(true),
                                  _mIndex(-1),
                                  _mFilterData(1, 1, 1, 0),
                                  _mStaticActor(nullptr),
                                  _mDynamicActor(nullptr),
                                  _mWrappedWorld(world),
                                  _mWrappedBody(body) {
    _mImpl.ptr = 0;
    _mNode = node;
};

PhysXSharedBody *PhysXSharedBody::getSharedBody(const Node *node, PhysXWorld *const world, PhysXRigidBody *const body) {
    auto iter = sharedBodesMap.find(const_cast<Node *>(node));
    PhysXSharedBody *newSB;
    if (iter != sharedBodesMap.end()) {
        newSB = iter->second;
    } else {
        newSB = ccnew PhysXSharedBody(const_cast<Node *>(node), world, body);
        newSB->_mFilterData.word0 = 1;
        newSB->_mFilterData.word1 = world->getMaskByIndex(0);
        sharedBodesMap.insert(std::pair<Node *, PhysXSharedBody *>(const_cast<Node *>(node), newSB));
    }
    if (body != nullptr) {
        auto g = body->getInitialGroup();
        newSB->_mFilterData.word0 = g;
        newSB->_mFilterData.word1 = world->getMaskByIndex(static_cast<uint32_t>(log2(g)));
    }
    return newSB;
}

PhysXSharedBody::~PhysXSharedBody() {
    sharedBodesMap.erase(_mNode);
    if (_mStaticActor != nullptr) PX_RELEASE(_mStaticActor);
    if (_mDynamicActor != nullptr) PX_RELEASE(_mDynamicActor);
}

PhysXSharedBody::UActor PhysXSharedBody::getImpl() {
    initActor();
    _mImpl.ptr = isStatic() ? reinterpret_cast<uintptr_t>(_mStaticActor) : reinterpret_cast<uintptr_t>(_mDynamicActor);
    return _mImpl;
}

void PhysXSharedBody::setType(ERigidBodyType v) {
    if (_mType == v) return;
    _mType = v;
    initActor();
    if (isStatic()) {
        _mImpl.ptr = reinterpret_cast<uintptr_t>(_mStaticActor);
    } else {
        _mImpl.ptr = reinterpret_cast<uintptr_t>(_mDynamicActor);
        _mImpl.rigidDynamic->setRigidBodyFlag(physx::PxRigidBodyFlag::eKINEMATIC, _mType == ERigidBodyType::KINEMATIC);
    }
}

void PhysXSharedBody::reference(bool v) {
    v ? _mRef++ : _mRef--;
    if (_mRef == 0) delete this;
}

void PhysXSharedBody::enabled(bool v) {
    if (v) {
        if (_mIndex < 0) {
            _mIndex = 1;
            _mWrappedWorld->addActor(*this);
        }
    } else {
        auto *wb = _mWrappedBody;
        auto ws = _mWrappedShapes;
        auto isRemove = ws.empty() && (wb == nullptr || (wb != nullptr && !wb->isEnabled()));
        if (isRemove) {
            _mIndex = -1;
            if (!isStaticOrKinematic()) {
                clearVelocity();
            }
            _mWrappedWorld->removeActor(*this);
        }
    }
}

void PhysXSharedBody::initActor() {
    const bool temp = _mIsStatic;
    if (isStatic()) {
        _mIsStatic = true;
        initStaticActor();
    } else {
        _mIsStatic = false;
        initDynamicActor();
    }
    if (temp != _mIsStatic) switchActor(temp);
}

void PhysXSharedBody::switchActor(const bool isStaticBefore) {
    if (_mStaticActor == nullptr || _mDynamicActor == nullptr) return;
    PxRigidActor &a0 = isStaticBefore ? *reinterpret_cast<PxRigidActor *>(_mStaticActor) : *reinterpret_cast<PxRigidActor *>(_mDynamicActor);
    PxRigidActor &a1 = !isStaticBefore ? *reinterpret_cast<PxRigidActor *>(_mStaticActor) : *reinterpret_cast<PxRigidActor *>(_mDynamicActor);
    if (_mIndex >= 0) {
        _mWrappedWorld->getScene().removeActor(a0, false);
        _mWrappedWorld->getScene().addActor(a1);
    }
    for (auto const &ws : _mWrappedShapes) {
        a0.detachShape(ws->getShape(), false);
        a1.attachShape(ws->getShape());
    }
    if (isStaticBefore) {
        if (isDynamic()) _mDynamicActor->wakeUp();
        _mDynamicActor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, isKinematic());
        PxRigidBodyExt::setMassAndUpdateInertia(*_mDynamicActor, _mMass);
    }
}

void PhysXSharedBody::initStaticActor() {
    if (_mStaticActor == nullptr) {
        PxTransform transform{PxIdentity};
        getNode()->updateWorldTransform();
        pxSetVec3Ext(transform.p, getNode()->getWorldPosition());
        pxSetQuatExt(transform.q, getNode()->getWorldRotation());
        if (!transform.p.isFinite()) transform.p = PxVec3{PxIdentity};
        if (!transform.q.isUnit()) transform.q = PxQuat{PxIdentity};
        PxPhysics &phy = PxGetPhysics();
        _mStaticActor = phy.createRigidStatic(transform);
    }
}

void PhysXSharedBody::initDynamicActor() {
    if (_mDynamicActor == nullptr) {
        PxTransform transform{PxIdentity};
        getNode()->updateWorldTransform();
        pxSetVec3Ext(transform.p, getNode()->getWorldPosition());
        pxSetQuatExt(transform.q, getNode()->getWorldRotation());
        if (!transform.p.isFinite()) transform.p = PxVec3{PxIdentity};
        if (!transform.q.isUnit()) transform.q = PxQuat{PxIdentity};
        PxPhysics &phy = PxGetPhysics();
        _mDynamicActor = phy.createRigidDynamic(transform);
        _mDynamicActor->setRigidBodyFlag(PxRigidBodyFlag::eKINEMATIC, isKinematic());
    }
}

void PhysXSharedBody::syncScale() {
    for (auto const &sb : _mWrappedShapes) {
        sb->updateScale();
    }

    for (auto const &sb : _mWrappedJoints0) {
        sb->updateScale0();
    }

    for (auto const &sb : _mWrappedJoints1) {
        sb->updateScale1();
    }
}

void PhysXSharedBody::syncSceneToPhysics() {
    uint32_t getChangedFlags = getNode()->getChangedFlags();
    if (getChangedFlags) {
        if (getChangedFlags & static_cast<uint32_t>(TransformBit::SCALE)) syncScale();
        auto wp = getImpl().rigidActor->getGlobalPose();
        if (getChangedFlags & static_cast<uint32_t>(TransformBit::POSITION)) {
            getNode()->updateWorldTransform();
            pxSetVec3Ext(wp.p, getNode()->getWorldPosition());
        }
        if (getChangedFlags & static_cast<uint32_t>(TransformBit::ROTATION)) {
            getNode()->updateWorldTransform();
            pxSetQuatExt(wp.q, getNode()->getWorldRotation());
        }

        if (isKinematic()) {
            getImpl().rigidDynamic->setKinematicTarget(wp);
        } else {
            getImpl().rigidActor->setGlobalPose(wp, true);
        }
    }
}

void PhysXSharedBody::syncSceneWithCheck() {
    if (getNode()->getChangedFlags() & static_cast<uint32_t>(TransformBit::SCALE)) syncScale();
    auto wp = getImpl().rigidActor->getGlobalPose();
    bool needUpdate = false;
    getNode()->updateWorldTransform();
    if (wp.p != getNode()->getWorldPosition()) {
        pxSetVec3Ext(wp.p, getNode()->getWorldPosition());
        needUpdate = true;
    }
    const auto nr = getNode()->getWorldRotation();
    if (wp.q.x != nr.x && wp.q.y != nr.y && wp.q.z != nr.z) {
        pxSetQuatExt(wp.q, getNode()->getWorldRotation());
        needUpdate = true;
    }
    if (needUpdate) {
        getImpl().rigidActor->setGlobalPose(wp, true);
    }
}

void PhysXSharedBody::syncPhysicsToScene() {
    if (isStaticOrKinematic()) return;
    if (_mDynamicActor->isSleeping()) return;
    const PxTransform &wp = getImpl().rigidActor->getGlobalPose();
    getNode()->setWorldPosition(wp.p.x, wp.p.y, wp.p.z);
    getNode()->setWorldRotation(wp.q.x, wp.q.y, wp.q.z, wp.q.w);
    getNode()->setChangedFlags(getNode()->getChangedFlags() | static_cast<uint32_t>(TransformBit::POSITION) | static_cast<uint32_t>(TransformBit::ROTATION));
}

void PhysXSharedBody::addShape(const PhysXShape &shape) {
    auto beg = _mWrappedShapes.begin();
    auto end = _mWrappedShapes.end();
    auto iter = find(beg, end, &shape);
    if (iter == end) {
        shape.getShape().setSimulationFilterData(_mFilterData);
        shape.getShape().setQueryFilterData(_mFilterData);
        getImpl().rigidActor->attachShape(shape.getShape());
        _mWrappedShapes.push_back(&const_cast<PhysXShape &>(shape));
        if (!shape.isTrigger()) {
            if (isDynamic()) PxRigidBodyExt::setMassAndUpdateInertia(*getImpl().rigidDynamic, _mMass);
        }
    }
}

void PhysXSharedBody::removeShape(const PhysXShape &shape) {
    auto beg = _mWrappedShapes.begin();
    auto end = _mWrappedShapes.end();
    auto iter = find(beg, end, &shape);
    if (iter != end) {
        _mWrappedShapes.erase(iter);
        getImpl().rigidActor->detachShape(shape.getShape(), true);
        if (!const_cast<PhysXShape &>(shape).isTrigger()) {
            if (isDynamic()) PxRigidBodyExt::setMassAndUpdateInertia(*getImpl().rigidDynamic, _mMass);
        }
    }
}

void PhysXSharedBody::addJoint(const PhysXJoint &joint, const PxJointActorIndex::Enum index) {
    if (index == PxJointActorIndex::eACTOR1) {
        auto beg = _mWrappedJoints1.begin();
        auto end = _mWrappedJoints1.end();
        auto iter = find(beg, end, &joint);
        if (iter == end) _mWrappedJoints1.push_back(&const_cast<PhysXJoint &>(joint));
    } else {
        auto beg = _mWrappedJoints0.begin();
        auto end = _mWrappedJoints0.end();
        auto iter = find(beg, end, &joint);
        if (iter == end) _mWrappedJoints0.push_back(&const_cast<PhysXJoint &>(joint));
    }
}

void PhysXSharedBody::removeJoint(const PhysXJoint &joint, const PxJointActorIndex::Enum index) {
    if (index == PxJointActorIndex::eACTOR1) {
        auto beg = _mWrappedJoints1.begin();
        auto end = _mWrappedJoints1.end();
        auto iter = find(beg, end, &joint);
        if (iter != end) _mWrappedJoints1.erase(iter);
    } else {
        auto beg = _mWrappedJoints0.begin();
        auto end = _mWrappedJoints0.end();
        auto iter = find(beg, end, &joint);
        if (iter != end) _mWrappedJoints0.erase(iter);
    }
}

void PhysXSharedBody::setMass(float v) {
    if (v <= 0) v = 1e-7F;
    _mMass = v;
    if (isDynamic()) PxRigidBodyExt::setMassAndUpdateInertia(*getImpl().rigidDynamic, _mMass);
}

void PhysXSharedBody::setGroup(uint32_t v) {
    _mFilterData.word0 = v;
    setCollisionFilter(_mFilterData);
}

void PhysXSharedBody::setMask(uint32_t v) {
    _mFilterData.word1 = v;
    setCollisionFilter(_mFilterData);
}

void PhysXSharedBody::setCollisionFilter(const PxFilterData &data) {
    if (isDynamic()) _mDynamicActor->wakeUp();
    for (auto const &ws : _mWrappedShapes) {
        ws->getShape().setQueryFilterData(data);
        ws->getShape().setSimulationFilterData(data);
    }
}

void PhysXSharedBody::clearForces() {
    if (!isInWorld()) return;
    if (isStaticOrKinematic()) return;
    _mDynamicActor->clearForce(PxForceMode::eFORCE);
    _mDynamicActor->clearForce(PxForceMode::eIMPULSE);
    _mDynamicActor->clearTorque(PxForceMode::eFORCE);
    _mDynamicActor->clearTorque(PxForceMode::eIMPULSE);
}

void PhysXSharedBody::clearVelocity() {
    if (isStaticOrKinematic()) return;
    _mDynamicActor->setLinearVelocity(PxVec3{PxIdentity}, false);
    _mDynamicActor->setAngularVelocity(PxVec3{PxIdentity}, false);
}

} // namespace physics
} // namespace cc