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#include "foundation/PxPreprocessor.h"
#include "foundation/PxTransform.h"
#include "foundation/PxMathUtils.h"
#include "common/PxPhysXCommonConfig.h"

namespace physx
{


PX_PHYSX_COMMON_API PxTransform PxTransformFromPlaneEquation(const PxPlane& plane)
{
	PxPlane p = plane; 
	p.normalize();

	// special case handling for axis aligned planes
	const PxReal halfsqrt2 = 0.707106781f;
	PxQuat q;
	if(2 == (p.n.x == 0.0f) + (p.n.y == 0.0f) + (p.n.z == 0.0f)) // special handling for axis aligned planes
	{
		if(p.n.x > 0)		q = PxQuat(PxIdentity);
		else if(p.n.x < 0)	q = PxQuat(0, 0, 1.0f, 0);
		else				q = PxQuat(0.0f, -p.n.z, p.n.y, 1.0f) * halfsqrt2;
	}
	else q = PxShortestRotation(PxVec3(1.f,0,0), p.n);

	return PxTransform(-p.n * p.d, q);

}

PX_PHYSX_COMMON_API PxTransform PxTransformFromSegment(const PxVec3& p0, const PxVec3& p1, PxReal* halfHeight)
{
	const PxVec3 axis = p1-p0;
	const PxReal height = axis.magnitude();
	if(halfHeight)
		*halfHeight = height/2;

	return PxTransform((p1+p0) * 0.5f, 
						height<1e-6f ? PxQuat(PxIdentity) : PxShortestRotation(PxVec3(1.f,0,0), axis/height));		
}

}