/* 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.
*/


#if !defined(AFX_DGCOLLISIONSCENE_H_INCLUDED_)
#define AFX_DGCOLLISIONSCENE_H_INCLUDED_


#include "dgCollision.h"
#include "dgCollisionMesh.h"


class dgCollisionScene: public dgCollision
{
	public:

	class dgNode
	{
		public:
		DG_CLASS_ALLOCATOR(allocator)
		dgNode ();
		dgNode (dgNode* const sibling, dgNode* const myNode);

		~dgNode ();
//		void UpdateAABBFromChidren ();
//		void SetAABB (const dgVector& minBox, const dgVector& maxBox);

		dgVector m_minBox;
		dgVector m_maxBox;
		dgFloat32 m_surfaceArea;
		dgNode* m_parent;
		dgNode* m_left;
		dgNode* m_right;
		dgList <dgNode*>::dgListNode* m_fitnessNode;
	} DG_GCC_VECTOR_ALIGMENT;

	class dgProxy: public dgNode
	{
		public:
		DG_CLASS_ALLOCATOR(allocator)

		dgProxy (dgCollision* m_shape, /*const dgMatrix& matrix,*/ dgCollisionScene* const owner);
		~dgProxy();

		dgMatrix m_matrix;
		dgCollision* m_shape;
		dgCollisionScene* m_owner;
		dgList<dgProxy*>::dgListNode* m_myNode;
	};


	dgCollisionScene(dgWorld* const world);
	dgCollisionScene(dgWorld* const world, dgDeserialize deserialization, void* const userData);
	virtual ~dgCollisionScene();

	void* GetFirstProxy () const;
	void* GetNextProxy (void* const proxy) const;
	void* AddProxy (dgCollision* const shape/*, const dgMatrix& matrix*/);
	void RemoveProxy (void* const proxy);
	void ImproveTotalFitness();

	dgMatrix GetProxyMatrix (void* const proxy);
	void SetProxyMatrix (void* const proxy, const dgMatrix& matrix);

	void CollidePair (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxi& proxi) const;
	void CollidePairSimd (dgCollidingPairCollector::dgPair* const pair, dgCollisionParamProxi& proxi) const;

	void SetCollisionCallback (dgCollisionMeshCollisionCallback debugCallback);

	private:
	virtual dgVector SupportVertex (const dgVector& dir) const;
	virtual void CalcAABB (const dgMatrix& matrix, dgVector& p0, dgVector& p1) const;
	virtual void CalcAABBSimd (const dgMatrix& matrix, dgVector& p0, dgVector& p1) const;
	virtual bool OOBBTest (const dgMatrix& matrix, const dgCollisionConvex* const shape, void* const cacheOrder) const;

	virtual void DebugCollision (const dgMatrix& matrix, OnDebugCollisionMeshCallback callback, void* const userData) const;
	virtual dgFloat32 RayCast (const dgVector& localP0, const dgVector& localP1, dgContactPoint& contactOut, OnRayPrecastAction preFilter, const dgBody* const body, void* const userData) const;
	virtual dgFloat32 RayCastSimd (const dgVector& localP0, const dgVector& localP1, dgContactPoint& contactOut, OnRayPrecastAction preFilter, const dgBody* const body, void* const userData) const;
	virtual dgFloat32 GetVolume () const;

	virtual dgInt32 CalculateSignature () const;
	virtual dgFloat32 GetBoxMinRadius () const;
	virtual dgFloat32 GetBoxMaxRadius () const;
	virtual void SetCollisionBBox (const dgVector& p0, const dgVector& p1);
	virtual void CalculateInertia (dgVector& inertia, dgVector& origin) const;
	virtual dgVector CalculateVolumeIntegral (const dgMatrix& globalMatrix, GetBuoyancyPlane bouyancyPlane, void* const context) const;

	virtual void GetCollisionInfo(dgCollisionInfo* info) const;
	virtual void Serialize(dgSerialize callback, void* const userData) const;


	void ImproveNodeFitness (dgNode* const node);
	dgFloat32 CalculateSurfaceArea (const dgNode* const node0, const dgNode* const node1, dgVector& minBox, dgVector& maxBox) const;


	dgVector m_boxSize;
	dgVector m_boxOrigin;

	dgInt32 m_lock;
	dgWorld* m_world;
	dgNode* m_rootNode;
	dgList<dgProxy*> m_list;
	dgList<dgNode*> m_fitnessList;

};

#endif
