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#include "ScIterators.h"
#include "ScBodySim.h"
#include "ScShapeSim.h"
#include "ScShapeInteraction.h"

using namespace physx;

///////////////////////////////////////////////////////////////////////////////

Sc::ContactIterator::Pair::Pair(const void*& contactPatches, const void*& contactPoints, const void*& frictionPatches, PxU32 /*contactDataSize*/, const PxReal*& forces, PxU32 numContacts, PxU32 numPatches,
	ShapeSimBase& shape0, ShapeSimBase& shape1, ActorSim* actor0, ActorSim* actor1)
: mIndex(0)
, mNumContacts(numContacts)
, mIter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(contactPoints), reinterpret_cast<const PxU32*>(forces + numContacts), numPatches, numContacts)
, mAnchorIter(reinterpret_cast<const PxU8*>(contactPatches), reinterpret_cast<const PxU8*>(frictionPatches), numPatches)
, mForces(forces)
, mActor0(actor0->getPxActor())
, mActor1(actor1->getPxActor())
{	
	mCurrentContact.shape0 = shape0.getPxShape();
	mCurrentContact.shape1 = shape1.getPxShape();
	mCurrentContact.normalForceAvailable = (forces != NULL);
}

Sc::ContactIterator::Pair* Sc::ContactIterator::getNextPair()
{ 
	PX_ASSERT(mCurrent || (mCurrent == mLast));
	if(mCurrent < mLast)
	{
		ShapeInteraction* si = static_cast<ShapeInteraction*>(*mCurrent);

		const void* contactPatches = NULL;
		const void* contactPoints = NULL;
		PxU32 contactDataSize = 0;
		const PxReal* forces = NULL;
		PxU32 numContacts = 0;
		PxU32 numPatches = 0;
		const void* frictionPatches = NULL;

		PxU32 nextOffset = si->getContactPointData(contactPatches, contactPoints, contactDataSize, numContacts, numPatches, forces, mOffset, *mOutputs, frictionPatches);

		if (nextOffset == mOffset)
			++mCurrent;
		else
			mOffset = nextOffset;

		mCurrentPair = Pair(contactPatches, contactPoints, frictionPatches, contactDataSize, forces, numContacts, numPatches, si->getShape0(), si->getShape1(), &si->getActorSim0(), &si->getActorSim1());
		return &mCurrentPair;
	}
	else
		return NULL;
}

Sc::Contact* Sc::ContactIterator::Pair::getNextContact()
{
	if(mIndex < mNumContacts)
	{
		while (!mIter.hasNextContact())
		{
			if(!mIter.hasNextPatch())
				return NULL;
			mIter.nextPatch();
		}
		mIter.nextContact();

		mCurrentContact.normal = mIter.getContactNormal();
		mCurrentContact.point = mIter.getContactPoint();
		mCurrentContact.separation = mIter.getSeparation();
		mCurrentContact.normalForce = mForces ? mForces[mIndex] : 0;
		mCurrentContact.faceIndex0 = mIter.getFaceIndex0();
		mCurrentContact.faceIndex1 = mIter.getFaceIndex1();

		mIndex++;
		return &mCurrentContact;
	}
	return NULL;
}

Sc::FrictionAnchor* Sc::ContactIterator::Pair::getNextFrictionAnchor()
{
	if(mAnchorIter.hasNextPatch())
	{
		while (!mAnchorIter.hasNextFrictionAnchor())
		{
			if(!mAnchorIter.hasNextPatch())
				return NULL;
			mAnchorIter.nextPatch();
		}
		mAnchorIter.nextFrictionAnchor();

		mCurrentAnchor.normal = mAnchorIter.getNormal();
		mCurrentAnchor.point = mAnchorIter.getPosition();
		mCurrentAnchor.impulse = mAnchorIter.getImpulse();

		return &mCurrentAnchor;
	}
	return NULL;
}

///////////////////////////////////////////////////////////////////////////////
