#ifndef CONVEX_DECOMPOSITION_H

#define CONVEX_DECOMPOSITION_H

/*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org
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INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// http://codesuppository.blogspot.com
//
// mailto: jratcliff@infiniplex.net
//
// http://www.amillionpixels.us
//

#ifdef _WIN32
#include <memory.h>  //memcpy
#endif
#include <string.h>
#include <stdio.h>
#include "LinearMath/btAlignedObjectArray.h"

extern unsigned int MAXDEPTH;
extern float CONCAVE_PERCENT;
extern float MERGE_PERCENT;

typedef btAlignedObjectArray<unsigned int> UintVector;

namespace ConvexDecomposition
{
class ConvexResult
{
public:
	ConvexResult(void)
	{
		mHullVcount = 0;
		mHullVertices = 0;
		mHullTcount = 0;
		mHullIndices = 0;
	}

	ConvexResult(unsigned int hvcount, const float *hvertices, unsigned int htcount, const unsigned int *hindices)
	{
		mHullVcount = hvcount;
		if (mHullVcount)
		{
			mHullVertices = new float[mHullVcount * sizeof(float) * 3];
			memcpy(mHullVertices, hvertices, sizeof(float) * 3 * mHullVcount);
		}
		else
		{
			mHullVertices = 0;
		}

		mHullTcount = htcount;

		if (mHullTcount)
		{
			mHullIndices = new unsigned int[sizeof(unsigned int) * mHullTcount * 3];
			memcpy(mHullIndices, hindices, sizeof(unsigned int) * mHullTcount * 3);
		}
		else
		{
			mHullIndices = 0;
		}
	}

	ConvexResult(const ConvexResult &r)
	{
		mHullVcount = r.mHullVcount;
		if (mHullVcount)
		{
			mHullVertices = new float[mHullVcount * sizeof(float) * 3];
			memcpy(mHullVertices, r.mHullVertices, sizeof(float) * 3 * mHullVcount);
		}
		else
		{
			mHullVertices = 0;
		}
		mHullTcount = r.mHullTcount;
		if (mHullTcount)
		{
			mHullIndices = new unsigned int[sizeof(unsigned int) * mHullTcount * 3];
			memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int) * mHullTcount * 3);
		}
		else
		{
			mHullIndices = 0;
		}
	}

	~ConvexResult(void)
	{
		delete[] mHullVertices;
		delete[] mHullIndices;
	}

	// the convex hull.
	unsigned int mHullVcount;
	float *mHullVertices;
	unsigned int mHullTcount;
	unsigned int *mHullIndices;

	float mHullVolume;  // the volume of the convex hull.

	float mOBBSides[3];        // the width, height and breadth of the best fit OBB
	float mOBBCenter[3];       // the center of the OBB
	float mOBBOrientation[4];  // the quaternion rotation of the OBB.
	float mOBBTransform[16];   // the 4x4 transform of the OBB.
	float mOBBVolume;          // the volume of the OBB

	float mSphereRadius;  // radius and center of best fit sphere
	float mSphereCenter[3];
	float mSphereVolume;  // volume of the best fit sphere
};

class ConvexDecompInterface
{
public:
	virtual ~ConvexDecompInterface(){};
	virtual void ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color){};
	virtual void ConvexDebugPoint(const float *p, float dist, unsigned int color){};
	virtual void ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color){};
	virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){};

	virtual void ConvexDecompResult(ConvexResult &result) = 0;
};

// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
	DecompDesc(void)
	{
		mVcount = 0;
		mVertices = 0;
		mTcount = 0;
		mIndices = 0;
		mDepth = 5;
		mCpercent = 5;
		mPpercent = 5;
		mMaxVertices = 32;
		mSkinWidth = 0;
		mCallback = 0;
	}

	// describes the input triangle.
	unsigned int mVcount;    // the number of vertices in the source mesh.
	const float *mVertices;  // start of the vertex position array.  Assumes a stride of 3 floats.
	unsigned int mTcount;    // the number of triangles in the source mesh.
	unsigned int *mIndices;  // the indexed triangle list array (zero index based)

	// options
	unsigned int mDepth;  // depth to split, a maximum of 10, generally not over 7.
	float mCpercent;      // the concavity threshold percentage.  0=20 is reasonable.
	float mPpercent;      // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.

	// hull output limits.
	unsigned int mMaxVertices;  // maximum number of vertices in the output hull. Recommended 32 or less.
	float mSkinWidth;           // a skin width to apply to the output hulls.

	ConvexDecompInterface *mCallback;  // the interface to receive back the results.
};

// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc);  // returns the number of hulls produced.

void calcConvexDecomposition(unsigned int vcount,
							 const float *vertices,
							 unsigned int tcount,
							 const unsigned int *indices,
							 ConvexDecompInterface *callback,
							 float masterVolume,
							 unsigned int depth);

}  // namespace ConvexDecomposition

#endif