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#ifndef GU_CONTACTBUFFER_H
#define GU_CONTACTBUFFER_H

#include "geomutils/GuContactPoint.h"
#include "PxPhysXConfig.h"
#include "PxContact.h"

namespace physx
{
namespace Gu
{

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

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

//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
#define LOCAL_CONTACTS_SIZE		1088

class ContactBuffer
{
public:

	static const PxU32 MAX_CONTACTS = 64;

	Gu::ContactPoint	contacts[MAX_CONTACTS];
	PxU32				count;
	PxU32				pad;

	PX_FORCE_INLINE void reset()
	{
		count = 0;
	}

	PX_FORCE_INLINE bool contact(const PxVec3& worldPoint, 
				 const PxVec3& worldNormalIn, 
				 PxReal separation, 
				 PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
				 )
	{
		PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);

		if(count>=MAX_CONTACTS)
			return false;

		Gu::ContactPoint& p	= contacts[count++];
		p.normal			= worldNormalIn;
		p.point				= worldPoint;
		p.separation		= separation;
		p.internalFaceIndex1= faceIndex1;
		return true;
	}

	PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
		const PxVec3& worldNormalIn,
		PxReal separation,
		PxU16 internalUsage,
		PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
		)
	{
		PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);

		if (count >= MAX_CONTACTS)
			return false;

		Gu::ContactPoint& p = contacts[count++];
		p.normal = worldNormalIn;
		p.point = worldPoint;
		p.separation = separation;
		p.internalFaceIndex1 = faceIndex1;
		p.forInternalUse = internalUsage;
		return true;
	}

	PX_FORCE_INLINE bool contact(const Gu::ContactPoint & pt)
	{
		if(count>=MAX_CONTACTS)
			return false;
		contacts[count++] = pt;
		return true;
	}

	PX_FORCE_INLINE Gu::ContactPoint* contact()
	{
		if(count>=MAX_CONTACTS)
			return NULL;
		return &contacts[count++];
	}
};

}
}

#endif