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#ifndef GU_CONTACTMETHODIMPL_H
#define GU_CONTACTMETHODIMPL_H

#include "foundation/PxAssert.h"
#include "common/PxPhysXCommonConfig.h"
#include "collision/PxCollisionDefs.h"
#include "GuGeometryChecks.h"

namespace physx
{
	class PxGeometry;
	class PxRenderOutput;
	class PxContactBuffer;

namespace Gu
{
	class PersistentContactManifold;
	class MultiplePersistentContactManifold;

	struct NarrowPhaseParams
	{
		PX_FORCE_INLINE	NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
				mContactDistance(contactDistance),
				mMeshContactMargin(meshContactMargin),
				mToleranceLength(toleranceLength)	{}

		PxReal			mContactDistance;
		const PxReal	mMeshContactMargin;	// PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
		const PxReal	mToleranceLength;	// PT: copy of PxTolerancesScale::length
	};

	enum ManifoldFlags
	{
		IS_MANIFOLD			= (1<<0),
		IS_MULTI_MANIFOLD	= (1<<1)
	};

	struct Cache : public PxCache
	{
		Cache()
		{
		}

		PX_FORCE_INLINE void setManifold(void* manifold)
		{
			PX_ASSERT((size_t(manifold) & 0xF) == 0);
			mCachedData = reinterpret_cast<PxU8*>(manifold);
			mManifoldFlags |= IS_MANIFOLD;
		}

		PX_FORCE_INLINE void setMultiManifold(void* manifold)
		{
			PX_ASSERT((size_t(manifold) & 0xF) == 0);
			mCachedData = reinterpret_cast<PxU8*>(manifold);
			mManifoldFlags |= IS_MANIFOLD|IS_MULTI_MANIFOLD;
		}

		PX_FORCE_INLINE PxU8 isManifold()	const
		{
			return PxU8(mManifoldFlags & IS_MANIFOLD);
		}

		PX_FORCE_INLINE PxU8 isMultiManifold()	const
		{
			return PxU8(mManifoldFlags & IS_MULTI_MANIFOLD);
		}

		PX_FORCE_INLINE PersistentContactManifold& getManifold()
		{
			PX_ASSERT(isManifold());
			PX_ASSERT(!isMultiManifold());
			PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
			return *reinterpret_cast<PersistentContactManifold*>(mCachedData);
		}

		PX_FORCE_INLINE MultiplePersistentContactManifold& getMultipleManifold()
		{
			PX_ASSERT(isManifold());
			PX_ASSERT(isMultiManifold());
			PX_ASSERT((uintptr_t(mCachedData) & 0xf) == 0);
			return *reinterpret_cast<MultiplePersistentContactManifold*>(mCachedData);
		}
	};
}

template<class Geom> PX_CUDA_CALLABLE PX_FORCE_INLINE const Geom& checkedCast(const PxGeometry& geom)
{
	checkType<Geom>(geom);
	return static_cast<const Geom&>(geom);
}

#define GU_CONTACT_METHOD_ARGS				\
	const PxGeometry& shape0,				\
	const PxGeometry& shape1,				\
	const PxTransform32& transform0,		\
	const PxTransform32& transform1,		\
	const Gu::NarrowPhaseParams& params,	\
	Gu::Cache& cache,						\
	PxContactBuffer& contactBuffer,			\
	PxRenderOutput* renderOutput

#define GU_CONTACT_METHOD_ARGS_UNUSED	\
	const PxGeometry&,					\
	const PxGeometry&,					\
	const PxTransform32&,				\
	const PxTransform32&,				\
	const Gu::NarrowPhaseParams&,		\
	Gu::Cache&,							\
	PxContactBuffer&,					\
	PxRenderOutput*

namespace Gu
{
	PX_PHYSX_COMMON_API bool contactSphereSphere(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactSphereBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactCapsuleBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactBoxBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactBoxConvex(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactConvexConvex(GU_CONTACT_METHOD_ARGS);
	
	PX_PHYSX_COMMON_API bool contactSphereMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactBoxMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactConvexMesh(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool contactSphereHeightfield(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactCapsuleHeightfield(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactBoxHeightfield(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactConvexHeightfield(GU_CONTACT_METHOD_ARGS);
	
	PX_PHYSX_COMMON_API bool contactSpherePlane(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactPlaneBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactPlaneConvexCore(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactPlaneConvex(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactPlaneMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactMeshMesh(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool contactConvexCoreConvex(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactConvexCoreTrimesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactConvexCoreHeightfield(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool contactCustomGeometryGeometry(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool contactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool pcmContactSphereMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactCapsuleMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactBoxMesh(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactConvexMesh(GU_CONTACT_METHOD_ARGS);
	
	PX_PHYSX_COMMON_API bool pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactPlaneBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactPlaneConvex(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactSpherePlane(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactSphereCapsule(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS);
	
	PX_PHYSX_COMMON_API bool pcmContactCapsuleCapsule(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactBoxBox(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactBoxConvex(GU_CONTACT_METHOD_ARGS);
	PX_PHYSX_COMMON_API bool pcmContactConvexConvex(GU_CONTACT_METHOD_ARGS);

	PX_PHYSX_COMMON_API bool pcmContactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS);
}
}

#endif