/*
* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
* its licensors.
*
* For complete copyright and license terms please see the LICENSE at the root of this
* distribution (the "License"). All use of this software is governed by the License,
* or, if provided, by the license below or the license accompanying this file. Do not
* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*
*/
// Original file Copyright Crytek GMBH or its affiliates, used under license.

// Description : RigidBody class declaration


#ifndef CRYINCLUDE_CRYPHYSICS_RIGIDBODY_H
#define CRYINCLUDE_CRYPHYSICS_RIGIDBODY_H
#pragma once

#if ENABLE_CRY_PHYSICS

struct entity_contact;
const int MAX_CONTACTS = 9984;

class RigidBody
{
public:
    RigidBody();
    void Create(const Vec3& center, const Vec3& Ibody0, const quaternionf& q0, float volume, float mass,
        const quaternionf& qframe, const Vec3& posframe);
    void Add(const Vec3& center, const Vec3 Ibodyop, const quaternionf& qop, float volume, float mass);
    void zero();

    void Step(float dt);
    void UpdateState();
    void GetContactMatrix(const Vec3& r, Matrix33& K);

    Vec3 pos;
    quaternionf q;
    Vec3 P, L;
    Vec3 w, v;

    float M, Minv; // mass, 1.0/mass (0 for static objects)
    float V; // volume
    Diag33 Ibody; // diagonalized inertia tensor (aligned with body's axes of inertia)
    Diag33 Ibody_inv; // { 1/Ibody.ii }
    quaternionf qfb; // frame->body rotation
    Vec3 offsfb; // frame->body offset
    int integrator; // 0 - explicit Euler, otherwise Runge-Kutta

    Matrix33 Iinv; // I^-1(t)

    Vec3 Fcollision, Tcollision;
    short bProcessed[MAX_PHYS_THREADS - ((MAX_PHYS_THREADS - 1) >> 31)];
    float Eunproj;
};

enum contactflags
{
    contact_count_mask = 0x3F, contact_new = 0x40, contact_2b_verified = 0x80, contact_2b_verified_log2 = 7,
    contact_angular = 0x100, contact_constraint_3dof = 0x200, contact_constraint_2dof = 0x400,
    contact_constraint_1dof = 0x800, contact_solve_for = 0x1000,
    contact_constraint = contact_constraint_3dof | contact_constraint_2dof | contact_constraint_1dof,
    contact_angular_log2 = 8, contact_bidx = 0x2000, contact_bidx_log2 = 13, contact_maintain_count = 0x4000,
    contact_wheel = 0x8000, contact_use_C_1dof = 0x10000, contact_use_C_2dof = 0x20000,
    contact_use_C = contact_use_C_1dof | contact_use_C_2dof,
    contact_inexact = 0x40000,
    contact_last = 0x80000, contact_remove = 0x100000, contact_archived = 0x200000,
    contact_rope = 0x400000, contact_preserve_Pspare = 0x800000, contact_area = 0x1000000, contact_rope_stretchy = 0x2000000
};

struct rope_solver_vtx
{
    Vec3 r, v, P;
    RigidBody* pbody;
    int iBody;
    int ivtx;
};

class CPhysicalEntity;


struct entity_contact
{
    entity_contact* next, * prev;
    entity_contact* nextAux;

    Vec3 pt[2];
    Vec3 n;
    CPhysicalEntity* pent[2];
    two_ints_in_one ipart;
    RigidBody* pbody[2];
    Vec3 nloc;
    float friction;
    int flags;
    float vrel;
    Vec3 vreq;
    float Pspare;
    float penetration;
    unsigned int iNormal : 2;
    unsigned int id0     : 15;
    unsigned int id1     : 15;
    unsigned int bProcessed  : 16;
    unsigned int iConstraint : 14;
    unsigned int bConstraint : 1;
    unsigned int bChunkStart : 1;
    int iCount;
    int* pBounceCount;
};

void DisablePreCG();
void InitContactSolver(float time_interval);
void CleanupContactSolvers();
void RegisterContact(entity_contact* pcontact);
int InvokeContactSolver(float time_interval, SolverSettings* pss, float Ebefore, entity_contact**& pContacts, int& nContacts);
char* AllocSolverTmpBuf(int size);

#endif // ENABLE_CRY_PHYSICS

#endif // CRYINCLUDE_CRYPHYSICS_RIGIDBODY_H