/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 * claim that you wrote the original software. If you use this software
 * in a product, an acknowledgment in the product documentation would be
 * appreciated but is not required.
 *
 * 2. Altered source versions must be plainly marked as such, and must not be
 * misrepresented as being the original software.
 *
 * 3. This notice may not be removed or altered from any source distribution.
 */

#include "dgCollisionCapsule.h"
#include "dgBody.h"
#include "dgContact.h"
#include "hpl1/engine/libraries/newton/core/dg.h"


//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

dgInt32 dgCollisionCapsule::m_shapeRefCount = 0;
dgConvexSimplexEdge dgCollisionCapsule::m_edgeArray[DG_CAPSULE_SEGMENTS * (6 + 8 * (DG_CAP_SEGMENTS - 1))];

dgCollisionCapsule::dgCollisionCapsule(dgMemoryAllocator *allocator,
                                       dgUnsigned32 signature, dgFloat32 radius, dgFloat32 height,
                                       const dgMatrix &matrix) : dgCollisionConvex(allocator, signature, matrix, m_capsuleCollision) {
	Init(radius, height);
}

dgCollisionCapsule::dgCollisionCapsule(dgWorld *const world,
                                       dgDeserialize deserialization, void *const userData) : dgCollisionConvex(world, deserialization, userData) {
	dgVector size;
	deserialization(userData, &size, sizeof(dgVector));
	Init(size.m_x, size.m_y);
}

dgCollisionCapsule::~dgCollisionCapsule() {
	m_shapeRefCount--;
	NEWTON_ASSERT(m_shapeRefCount >= 0);

	dgCollisionConvex::m_simplex = NULL;
	dgCollisionConvex::m_vertex = NULL;
}

void dgCollisionCapsule::Init(dgFloat32 radius, dgFloat32 height) {
	//  dgInt32 i;
	//  dgInt32 j;
	//  dgInt32 i0;
	//  dgInt32 i1;
	//  dgFloat32 x;
	//  dgFloat32 y;
	//  dgFloat32 z;
	//  dgFloat32 r;
	//  dgFloat32 angle;
	//  dgEdge *edge;

	m_rtti |= dgCollisionCapsule_RTTI;

	dgInt32 i0 = 0;
	dgInt32 i1 = DG_CAPSULE_SEGMENTS * DG_CAP_SEGMENTS * 2;

	m_radius = dgAbsf(radius);
	m_height[0] = GetMax(dgFloat32(0.01f),
	                     dgAbsf(height * dgFloat32(0.5f)) - m_radius);
	m_height[1] = -m_height[0];

	m_silhuette[0] = dgVector(m_height[0], -m_radius, dgFloat32(0.0f),
	                          dgFloat32(0.0f));
	m_silhuette[1] = dgVector(-m_height[0], -m_radius, dgFloat32(0.0f),
	                          dgFloat32(0.0f));
	m_silhuette[2] = dgVector(-m_height[0], m_radius, dgFloat32(0.0f),
	                          dgFloat32(0.0f));
	m_silhuette[3] = dgVector(m_height[0], m_radius, dgFloat32(0.0f),
	                          dgFloat32(0.0f));

	m_tethaStep = GetDiscretedAngleStep(m_radius);
	m_tethaStepInv = dgFloat32(1.0f) / m_tethaStep;
	m_delCosTetha = dgCos(m_tethaStep);
	m_delSinTetha = dgSin(m_tethaStep);

	//  dgFloat32 x = dgFloat32 (0.5f) * m_radius / DG_CAP_SEGMENTS;
	for (dgInt32 j = 0; j < DG_CAP_SEGMENTS; j++) {
		dgFloat32 angle = dgFloat32(0.0f);
		dgFloat32 x = (DG_CAP_SEGMENTS - j - 1) * m_radius / DG_CAP_SEGMENTS;
		dgFloat32 r = dgSqrt(m_radius * m_radius - x * x);
		i1 -= DG_CAPSULE_SEGMENTS;
		for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
			dgFloat32 z = dgSin(angle) * r;
			dgFloat32 y = dgCos(angle) * r;
			m_vertex[i0] = dgVector(-(m_height[0] + x), y, z, dgFloat32(1.0f));
			m_vertex[i1] = dgVector((m_height[0] + x), y, z, dgFloat32(1.0f));
			i0++;
			i1++;
			angle += dgPI2 / DG_CAPSULE_SEGMENTS;
		}
		i1 -= DG_CAPSULE_SEGMENTS;
	}

	m_vertexCount = DG_CAPSULE_SEGMENTS * DG_CAP_SEGMENTS * 2;
	m_edgeCount = DG_CAPSULE_SEGMENTS * (6 + 8 * (DG_CAP_SEGMENTS - 1));
	dgCollisionConvex::m_vertex = m_vertex;

	if (!m_shapeRefCount) {
		dgPolyhedra polyhedra(m_allocator);
		dgInt32 wireframe[DG_CAPSULE_SEGMENTS + 10];

		i1 = 0;
		i0 = DG_CAPSULE_SEGMENTS - 1;
		polyhedra.BeginFace();
		for (dgInt32 j = 0; j < DG_CAP_SEGMENTS * 2 - 1; j++) {
			for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
				wireframe[0] = i0;
				wireframe[1] = i1;
				wireframe[2] = i1 + DG_CAPSULE_SEGMENTS;
				wireframe[3] = i0 + DG_CAPSULE_SEGMENTS;
				i0 = i1;
				i1++;
				polyhedra.AddFace(4, wireframe);
			}
			i0 = i1 + DG_CAPSULE_SEGMENTS - 1;
		}

		for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
			wireframe[i] = DG_CAPSULE_SEGMENTS - 1 - i;
		}
		polyhedra.AddFace(DG_CAPSULE_SEGMENTS, wireframe);

		for (dgInt32 i = 0; i < DG_CAPSULE_SEGMENTS; i++) {
			wireframe[i] = i + DG_CAPSULE_SEGMENTS * (DG_CAP_SEGMENTS * 2 - 1);
		}
		polyhedra.AddFace(DG_CAPSULE_SEGMENTS, wireframe);
		polyhedra.EndFace();

		NEWTON_ASSERT(SanityCheck(polyhedra));

		dgUnsigned64 i = 0;
		dgPolyhedra::Iterator iter(polyhedra);
		for (iter.Begin(); iter; iter++) {
			dgEdge *const edge = &(*iter);
			edge->m_userData = i;
			i++;
		}

		for (iter.Begin(); iter; iter++) {
			dgEdge *const edge = &(*iter);

			dgConvexSimplexEdge *const ptr = &m_edgeArray[edge->m_userData];

			ptr->m_vertex = edge->m_incidentVertex;
			ptr->m_next = &m_edgeArray[edge->m_next->m_userData];
			ptr->m_prev = &m_edgeArray[edge->m_prev->m_userData];
			ptr->m_twin = &m_edgeArray[edge->m_twin->m_userData];
		}
	}

	m_shapeRefCount++;
	dgCollisionConvex::m_simplex = m_edgeArray;

	SetVolumeAndCG();

	dgVector inertia;
	dgVector centerOfMass;
	dgVector crossInertia;
	m_volume.m_w = CalculateMassProperties(inertia, crossInertia, centerOfMass);
}

dgInt32 dgCollisionCapsule::CalculateSignature() const {
	dgUnsigned32 buffer[2 * sizeof(dgMatrix) / sizeof(dgInt32)];

	memset(buffer, 0, sizeof(buffer));
	buffer[0] = m_capsuleCollision;
	buffer[1] = dgCollision::Quantize(m_radius);
	buffer[2] = dgCollision::Quantize(m_height[0]);
	memcpy(&buffer[3], &m_offset, sizeof(dgMatrix));
	return dgInt32(dgCollision::MakeCRC(buffer, sizeof(buffer)));
}

void dgCollisionCapsule::TesselateTriangle(dgInt32 level, dgFloat32 side,
        const dgVector &p0, const dgVector &p1, const dgVector &p2, dgInt32 &count,
        dgVector *ouput) const {
	if (level) {
		NEWTON_ASSERT(dgAbsf(p0 % p0 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
		NEWTON_ASSERT(dgAbsf(p1 % p1 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
		NEWTON_ASSERT(dgAbsf(p2 % p2 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
		dgVector p01(p0 + p1);
		dgVector p12(p1 + p2);
		dgVector p20(p2 + p0);

		p01 = p01.Scale(dgFloat32(1.0f) / dgSqrt(p01 % p01));
		p12 = p12.Scale(dgFloat32(1.0f) / dgSqrt(p12 % p12));
		p20 = p20.Scale(dgFloat32(1.0f) / dgSqrt(p20 % p20));

		NEWTON_ASSERT(dgAbsf(p01 % p01 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
		NEWTON_ASSERT(dgAbsf(p12 % p12 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));
		NEWTON_ASSERT(dgAbsf(p20 % p20 - dgFloat32(1.0f)) < dgFloat32(1.0e-4f));

		TesselateTriangle(level - 1, side, p0, p01, p20, count, ouput);
		TesselateTriangle(level - 1, side, p1, p12, p01, count, ouput);
		TesselateTriangle(level - 1, side, p2, p20, p12, count, ouput);
		TesselateTriangle(level - 1, side, p01, p12, p20, count, ouput);

	} else {
		ouput[count + 0] = p0.Scale(m_radius);
		ouput[count + 1] = p1.Scale(m_radius);
		ouput[count + 2] = p2.Scale(m_radius);
		ouput[count + 0].m_x += side;
		ouput[count + 1].m_x += side;
		ouput[count + 2].m_x += side;
		count += 3;
	}
}

void dgCollisionCapsule::DebugCollision(const dgMatrix &matrixPtr,
                                        OnDebugCollisionMeshCallback callback, void *const userData) const {
	dgInt32 i0;
	dgInt32 i1;
	dgInt32 j0;
	dgInt32 j1;

	dgInt32 count;
	dgFloat32 y;
	dgFloat32 z;
	dgFloat32 angle;
#define POWER 2
#define STEPS (4 * (1 << POWER))

	dgTriplex face[32];
	dgTriplex pool[1024];
	dgVector tmpVectex[1024];

	angle = dgFloat32(0.0f);
	for (i0 = 0; i0 < STEPS; i0++) {
		z = dgSin(angle) * m_radius;
		y = dgCos(angle) * m_radius;
		tmpVectex[i0].m_x = -m_height[0];
		tmpVectex[i0].m_y = y;
		tmpVectex[i0].m_z = z;
		tmpVectex[i0 + STEPS].m_x = m_height[0];
		tmpVectex[i0 + STEPS].m_y = y;
		tmpVectex[i0 + STEPS].m_z = z;
		angle += dgPI2 / dgFloat32(STEPS);
	}

	dgVector p0(dgFloat32(1.0f), dgFloat32(0.0f), dgFloat32(0.0f),
	            dgFloat32(0.0f));
	dgVector p1(-dgFloat32(1.0f), dgFloat32(0.0f), dgFloat32(0.0f),
	            dgFloat32(0.0f));
	dgVector p2(dgFloat32(0.0f), dgFloat32(1.0f), dgFloat32(0.0f),
	            dgFloat32(0.0f));
	dgVector p3(dgFloat32(0.0f), -dgFloat32(1.0f), dgFloat32(0.0f),
	            dgFloat32(0.0f));
	dgVector p4(dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(1.0f),
	            dgFloat32(0.0f));
	dgVector p5(dgFloat32(0.0f), dgFloat32(0.0f), -dgFloat32(1.0f),
	            dgFloat32(0.0f));

	count = STEPS * 2;
	TesselateTriangle(POWER, m_height[0], p0, p2, p4, count, tmpVectex);
	TesselateTriangle(POWER, m_height[0], p0, p4, p3, count, tmpVectex);
	TesselateTriangle(POWER, m_height[0], p0, p3, p5, count, tmpVectex);
	TesselateTriangle(POWER, m_height[0], p0, p5, p2, count, tmpVectex);

	TesselateTriangle(POWER, -m_height[0], p1, p4, p2, count, tmpVectex);
	TesselateTriangle(POWER, -m_height[0], p1, p3, p4, count, tmpVectex);
	TesselateTriangle(POWER, -m_height[0], p1, p5, p3, count, tmpVectex);
	TesselateTriangle(POWER, -m_height[0], p1, p2, p5, count, tmpVectex);

	dgMatrix matrix(GetOffsetMatrix() * matrixPtr);
	matrix.TransformTriplex(&pool[0].m_x, sizeof(dgTriplex), &tmpVectex[0].m_x,
	                        sizeof(dgVector), count);

	i0 = STEPS - 1;
	j1 = STEPS;
	j0 = STEPS + STEPS - 1;
	for (i1 = 0; i1 < STEPS; i1++) {
		face[0] = pool[i0];
		face[1] = pool[i1];
		face[2] = pool[j1];
		face[3] = pool[j0];
		callback(userData, 4, &face[0].m_x, 0);
		i0 = i1;
		j0 = j1;
		j1++;
	}

	for (i1 = STEPS * 2; i1 < count; i1 += 3) {
		callback(userData, 3, &pool[i1].m_x, 0);
	}
}

void dgCollisionCapsule::SetCollisionBBox(const dgVector &p0__,
        const dgVector &p1__) {
	NEWTON_ASSERT(0);
}

dgVector dgCollisionCapsule::SupportVertexSimd(const dgVector &dir) const {
#ifdef DG_BUILD_SIMD_CODE

	dgInt32 index;
	dgFloatSign *ptr;

	NEWTON_ASSERT(dgAbsf(dir % dir - dgFloat32(1.0f)) < dgFloat32(1.0e-3f));

	ptr = (dgFloatSign *)&dir;
	index = -(ptr[0].m_integer.m_iVal >> 31);
	dgVector p(dir.Scale(m_radius));
	p.m_x += m_height[index];
	return p;

#else
	return dgVector(dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
#endif
}

dgVector dgCollisionCapsule::SupportVertex(const dgVector &dir) const {
	dgInt32 index;
	const dgFloatSign *ptr;

	NEWTON_ASSERT(dgAbsf(dir % dir - dgFloat32(1.0f)) < dgFloat32(1.0e-3f));

	ptr = (const dgFloatSign *)&dir;
	index = -(ptr[0].m_integer.m_iVal >> 31);
	dgVector p(dir.Scale(m_radius));
	p.m_x += m_height[index];
	return p;
}

dgFloat32 dgCollisionCapsule::RayCast(const dgVector &q0, const dgVector &q1, dgContactPoint &contactOut, OnRayPrecastAction preFilter, const dgBody *const body, void *const userData) const {
	if (PREFILTER_RAYCAST(preFilter, reinterpret_cast<const NewtonBody *>(body), reinterpret_cast<const NewtonCollision *>(this), userData)) {
		return dgFloat32(1.2f);
	}

	dgFloat32 t = dgFloat32(1.2f);

	dgVector p0(q0);
	p0.m_x = dgFloat32(0.0f);
	dgFloat32 radius = m_radius;

	dgFloat32 c = (p0 % p0) - radius * radius;
	if (c > dgFloat32(0.0f)) {
		dgVector p1(q1);
		p1.m_x = dgFloat32(0.0f);

		dgVector dp(p1 - p0);

		dgFloat32 a = dp % dp;
		dgFloat32 b = dgFloat32(2.0f) * (p0 % dp);
		dgFloat32 desc = b * b - dgFloat32(4.0f) * a * c;
		if (desc > dgFloat32(1.0e-8f)) {
			desc = dgSqrt(desc);
			a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
			dgFloat32 t1 = GetMin((-b + desc) * a, (-b - desc) * a);
			if ((t1 >= dgFloat32(0.0f)) && t1 < dgFloat32(1.0f)) {
				dgFloat32 x = q0.m_x + (q1.m_x - q0.m_x) * t1;
				if (x > m_height[0]) {
					dgVector h(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
					dgVector dq(q1 - q0);
					dgVector dqp0(q0 - h);
					a = dq % dq;
					b = dgFloat32(2.0f) * (dqp0 % dq);
					c = dqp0 % dqp0 - radius * radius;
					desc = b * b - dgFloat32(4.0f) * a * c;
					if (desc > dgFloat32(1.0e-8f)) {
						desc = dgSqrt(desc);
						a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
						t1 = GetMin((-b + desc) * a, (-b - desc) * a);
						if ((t1 >= dgFloat32(0.0f)) && t1 < dgFloat32(1.0f)) {
							t = t1;
							dgVector n(q0 + dq.Scale(t) - h);
							contactOut.m_normal = n.Scale(dgRsqrt(n % n));
							contactOut.m_userId = SetUserDataID();
						}
					}

				} else if (x < -m_height[0]) {
					dgVector h(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
					dgVector dq(q1 - q0);
					dgVector dqp0(q0 - h);
					a = dq % dq;
					b = dgFloat32(2.0f) * (dqp0 % dq);
					c = dqp0 % dqp0 - radius * radius;
					desc = b * b - dgFloat32(4.0f) * a * c;
					if (desc > dgFloat32(1.0e-8f)) {
						desc = dgSqrt(desc);
						a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
						t1 = GetMin((-b + desc) * a, (-b - desc) * a);
						if ((t1 >= dgFloat32(0.0f)) && t1 < dgFloat32(1.0f)) {
							t = t1;
							dgVector n(q0 + dq.Scale(t) - h);
							contactOut.m_normal = n.Scale(dgRsqrt(n % n));
							contactOut.m_userId = SetUserDataID();
						}
					}
				} else {
					t = t1;
					dgVector n(p0 + dp.Scale(t));
					contactOut.m_normal = n.Scale(dgRsqrt(n % n));
					contactOut.m_userId = SetUserDataID();
				}
			}
		}
	} else {
		if (q0.m_x > m_height[0]) {
			dgVector h(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
			dgVector dq(q1 - q0);
			dgVector dqp0(q0 - h);
			dgFloat32 a = dq % dq;
			dgFloat32 b = dgFloat32(2.0f) * (dqp0 % dq);
			dgFloat32 d = dqp0 % dqp0 - radius * radius;
			if (d > dgFloat32(0.0f)) {
				dgFloat32 desc = b * b - dgFloat32(4.0f) * a * d;
				if (desc > dgFloat32(1.0e-8f)) {
					dgFloat32 t1;
					desc = dgSqrt(desc);
					a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
					t1 = GetMin((-b + desc) * a, (-b - desc) * a);
					if (t1 >= dgFloat32(0.0f)) {
						t = t1;
						dgVector n(q0 + dq.Scale(t) - h);
						contactOut.m_normal = n.Scale(dgRsqrt(n % n));
						contactOut.m_userId = SetUserDataID();
					}
				}
			}

		} else if (q0.m_x < -m_height[0]) {
			dgVector h(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
			dgVector dq(q1 - q0);
			dgVector dqp0(q0 - h);
			dgFloat32 a = dq % dq;
			dgFloat32 b = dgFloat32(2.0f) * (dqp0 % dq);
			dgFloat32 d = dqp0 % dqp0 - radius * radius;
			if (d > dgFloat32(0.0f)) {
				dgFloat32 desc = b * b - dgFloat32(4.0f) * a * d;
				if (desc > dgFloat32(1.0e-8f)) {
					dgFloat32 t1;
					desc = dgSqrt(desc);
					a = dgFloat32(1.0f) / (dgFloat32(2.0f) * a);
					t1 = GetMin((-b + desc) * a, (-b - desc) * a);
					if (t1 >= dgFloat32(0.0f)) {
						t = t1;
						dgVector n(q0 + dq.Scale(t) - h);
						contactOut.m_normal = n.Scale(dgRsqrt(n % n));
						contactOut.m_userId = SetUserDataID();
					}
				}
			}
		}
	}

	return t;
}

dgFloat32 dgCollisionCapsule::RayCastSimd(const dgVector &q0,
        const dgVector &q1, dgContactPoint &contactOut,
        OnRayPrecastAction preFilter, const dgBody *const body,
        void *const userData) const {
	return RayCast(q0, q1, contactOut, preFilter, body, userData);
}

dgFloat32 dgCollisionCapsule::CalculateMassProperties(dgVector &inertia,
        dgVector &crossInertia, dgVector &centerOfMass) const {
	dgFloat32 volume;
	dgFloat32 inertiaxx;
	dgFloat32 inertiayyzz;
	dgFloat32 cylVolume;
	dgFloat32 sphVolume;
	dgFloat32 cylInertiaxx;
	dgFloat32 sphInertiaxx;
	dgFloat32 cylInertiayyzz;
	dgFloat32 sphInertiayyzz;

	centerOfMass = GetOffsetMatrix().m_posit;
	cylVolume = dgFloat32(3.1616f * 2.0f) * m_radius * m_radius * m_height[0];
	sphVolume = dgFloat32(3.1616f * 4.0f / 3.0f) * m_radius * m_radius * m_radius;

	cylInertiaxx = (dgFloat32(0.5f) * m_radius * m_radius) * cylVolume;
	sphInertiaxx = (dgFloat32(2.0f / 5.0f) * m_radius * m_radius) * sphVolume;

	cylInertiayyzz = (dgFloat32(0.25f) * m_radius * m_radius + dgFloat32(1.0f / 3.0f) * m_height[0] * m_height[0]) * cylVolume;
	sphInertiayyzz = sphInertiaxx + m_height[0] * m_height[0] * sphVolume;

	volume = cylVolume + sphVolume;
	inertiaxx = cylInertiaxx + sphInertiaxx;
	inertiayyzz = cylInertiayyzz + sphInertiayyzz;

	dgMatrix inertiaTensor(dgGetIdentityMatrix());

	inertiaTensor[0][0] = inertiaxx;
	inertiaTensor[1][1] = inertiayyzz;
	inertiaTensor[2][2] = inertiayyzz;

	inertiaTensor = GetOffsetMatrix().Inverse() * inertiaTensor * GetOffsetMatrix();

	crossInertia.m_x = inertiaTensor[1][2] - volume * centerOfMass.m_y * centerOfMass.m_z;
	crossInertia.m_y = inertiaTensor[0][2] - volume * centerOfMass.m_z * centerOfMass.m_x;
	crossInertia.m_z = inertiaTensor[0][1] - volume * centerOfMass.m_x * centerOfMass.m_y;

	dgVector central(centerOfMass.CompProduct(centerOfMass));
	inertia.m_x = inertiaTensor[0][0] + volume * (central.m_y + central.m_z);
	inertia.m_y = inertiaTensor[1][1] + volume * (central.m_z + central.m_x);
	inertia.m_z = inertiaTensor[2][2] + volume * (central.m_x + central.m_y);

	centerOfMass = centerOfMass.Scale(volume);
	return volume;
}

dgInt32 dgCollisionCapsule::CalculatePlaneIntersectionSimd(
    const dgVector &normal, const dgVector &origin,
    dgVector *const contactsOut) const {
#ifdef DG_BUILD_SIMD_CODE
	return dgCollisionCapsule::CalculatePlaneIntersection(normal, origin,
	        contactsOut);
#else
	return 0;
#endif
}

dgInt32 dgCollisionCapsule::CalculatePlaneIntersection(const dgVector &normal,
        const dgVector &origin, dgVector *const contactsOut) const {
	dgInt32 count = 0;
	if (dgAbsf(normal.m_x) > dgFloat32(0.999f)) {
		dgVector center1(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
		dgVector p1(center1 - normal.Scale((center1 - origin) % normal));
		if (p1.m_x < (-m_height[0])) {
			dgFloat32 t = normal % (p1 - origin);
			contactsOut[0] = p1 - normal.Scale(t);
			return 1;
		} else {
			dgVector center0(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
			dgVector p0(center0 - normal.Scale((center0 - origin) % normal));
			if (p0.m_x > m_height[0]) {
				dgFloat32 t = normal % (p0 - origin);
				contactsOut[0] = p0 - normal.Scale(t);
				return 1;
			}
		}
	} else {
		dgFloat32 magInv = dgRsqrt(normal.m_y * normal.m_y + normal.m_z * normal.m_z);
		dgFloat32 cosAng = normal.m_y * magInv;
		dgFloat32 sinAng = normal.m_z * magInv;
		NEWTON_ASSERT(dgAbsf(normal.m_z * cosAng - normal.m_y * sinAng) < dgFloat32(1.0e-4f));
		dgVector normal1(normal.m_x, normal.m_y * cosAng + normal.m_z * sinAng, dgFloat32(0.0f), dgFloat32(0.0f));
		dgVector origin1(origin.m_x, origin.m_y * cosAng + origin.m_z * sinAng,
		                 origin.m_z * cosAng - origin.m_y * sinAng, dgFloat32(0.0f));
		dgPlane plane(normal1, -(normal1 % origin1));
		dgVector maxDir((normal1.m_x > dgFloat32(0.0f)) ? m_silhuette[3].m_x : -m_silhuette[3].m_x,
		                (normal1.m_y > dgFloat32(0.0f)) ? m_silhuette[3].m_y : -m_silhuette[3].m_y, dgFloat32(0.0f), dgFloat32(0.0f));

		dgFloat32 test0 = plane.Evalue(maxDir);
		dgFloat32 test1 = plane.Evalue(maxDir.Scale(dgFloat32(-1.0f)));
		if ((test0 * test1) > dgFloat32(0.0f)) {
			dgVector center1(-m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
			dgVector p1(center1 - normal.Scale((center1 - origin) % normal));
			if (p1.m_x < (-m_height[0])) {
				dgFloat32 t = normal % (p1 - origin);
				contactsOut[0] = p1 - normal.Scale(t);
				return 1;
			} else {
				dgVector center0(m_height[0], dgFloat32(0.0f), dgFloat32(0.0f), dgFloat32(0.0f));
				dgVector p0(center0 - normal.Scale((center0 - origin) % normal));
				if (p0.m_x > m_height[0]) {
					dgFloat32 t = normal % (p0 - origin);
					contactsOut[0] = p0 - normal.Scale(t);
					return 1;
				}
			}
		} else {
			dgVector dp(m_silhuette[1] - m_silhuette[0]);
			dgFloat32 den = normal1 % dp;
			if (dgAbsf(den) > dgFloat32(0.0f)) {
				test0 = -plane.Evalue(m_silhuette[0]) / den;
				if ((test0 <= dgFloat32(1.0)) && (test0 >= dgFloat32(0.0f))) {
					contactsOut[count] = m_silhuette[0] + dp.Scale(test0);
					count++;
				}
			}

			if (count < 2) {
				test0 = plane.m_w - plane.m_x * m_height[0];
				if (dgAbsf(test0) < m_radius) {
					dgFloat32 r = -m_height[0];
					dgFloat32 d = plane.m_w + r * plane.m_x;

					dgFloat32 a = plane.m_x * plane.m_x + plane.m_y * plane.m_y;
					dgFloat32 b = dgFloat32(2.0f) * plane.m_x * d;
					dgFloat32 c = d * d - m_radius * m_radius * plane.m_y * plane.m_y;
					dgFloat32 desc = b * b - dgFloat32(4.0f) * a * c;
					if (desc > dgFloat32(0.0f)) {
						NEWTON_ASSERT(dgAbsf(a) > dgFloat32(0.0f));
						desc = dgSqrt(desc);
						a = -dgFloat32(0.5f) * b / a;
						dgFloat32 x0 = a + desc;
						dgFloat32 x1 = a - desc;
						if (x0 > dgFloat32(0.0f)) {
							x0 = x1;
						}
						if (x0 < 0.0f) {
							NEWTON_ASSERT(x0 <= dgFloat32(0.0f));
							NEWTON_ASSERT(dgAbsf(plane.m_y) > dgFloat32(0.0f));
							dgFloat32 y = -(plane.m_x * x0 + d) / plane.m_y;
							contactsOut[count] = dgVector(x0 + r, y, dgFloat32(0.0f),
							                              dgFloat32(0.0f));
							count++;
						}
					}
				}
			}

			if (count < 2) {
				dgVector dpp(m_silhuette[3] - m_silhuette[2]);
				den = normal1 % dpp;
				if (dgAbsf(den) > dgFloat32(0.0f)) {
					test0 = -plane.Evalue(m_silhuette[2]) / den;
					if ((test0 <= dgFloat32(1.0)) && (test0 >= dgFloat32(0.0f))) {
						contactsOut[count] = m_silhuette[2] + dpp.Scale(test0);
						count++;
					}
				}
			}

			if (count < 2) {
				test0 = plane.m_w + plane.m_x * m_height[0];
				if (dgAbsf(test0) < m_radius) {
					dgFloat32 r = m_height[0];
					dgFloat32 d = plane.m_w + r * plane.m_x;

					dgFloat32 a = plane.m_x * plane.m_x + plane.m_y * plane.m_y;
					dgFloat32 b = dgFloat32(2.0f) * plane.m_x * d;
					dgFloat32 c = d * d - m_radius * m_radius * plane.m_y * plane.m_y;
					dgFloat32 desc = b * b - dgFloat32(4.0f) * a * c;
					if (desc > dgFloat32(0.0f)) {
						NEWTON_ASSERT(dgAbsf(a) > dgFloat32(0.0f));
						desc = dgSqrt(desc);
						a = -dgFloat32(0.5f) * b / a;
						dgFloat32 x0 = a + desc;
						dgFloat32 x1 = a - desc;
						if (x0 < dgFloat32(0.0f)) {
							x0 = x1;
						}
						if (x0 > 0.0f) {
							NEWTON_ASSERT(x0 >= dgFloat32(0.0f));
							NEWTON_ASSERT(dgAbsf(plane.m_y) > dgFloat32(0.0f));
							dgFloat32 y = -(plane.m_x * x0 + d) / plane.m_y;
							contactsOut[count] = dgVector(x0 + r, y, dgFloat32(0.0f),
							                              dgFloat32(0.0f));
							count++;
						}
					}
				}
			}
		}

		for (dgInt32 i = 0; i < count; i++) {
			dgFloat32 y = contactsOut[i].m_y;
			dgFloat32 z = contactsOut[i].m_z;
			contactsOut[i].m_y = y * cosAng - z * sinAng;
			contactsOut[i].m_z = z * cosAng + y * sinAng;
		}
	}
	return count;
}

void dgCollisionCapsule::GetCollisionInfo(dgCollisionInfo *info) const {
	dgCollisionConvex::GetCollisionInfo(info);

	info->m_capsule.m_r0 = m_radius;
	info->m_capsule.m_r1 = m_radius;
	info->m_capsule.m_height = dgFloat32(2.0f) * (m_radius + m_height[0]);
	info->m_offsetMatrix = GetOffsetMatrix();
	//  strcpy (info->m_collisionType, "capsule");
	info->m_collisionType = m_collsionId;
}

void dgCollisionCapsule::Serialize(dgSerialize callback,
                                   void *const userData) const {
	dgVector size(m_radius, dgFloat32(2.0f) * (m_radius + m_height[0]),
	              dgFloat32(0.0f), dgFloat32(0.0f));

	SerializeLow(callback, userData);
	callback(userData, &size, sizeof(dgVector));
}