// Copyright (c) 2012-2021 Wojciech Figat. All rights reserved.

#include "SphericalJoint.h"
#include "Engine/Serialization/Serialization.h"
#include "Engine/Physics/Utilities.h"
#include <ThirdParty/PhysX/extensions/PxSphericalJoint.h>

SphericalJoint::SphericalJoint(const SpawnParams& params)
    : Joint(params)
    , _flags(SphericalJointFlag::Limit)
{
}

void SphericalJoint::SetFlags(const SphericalJointFlag value)
{
    if (_flags == value)
        return;

    _flags = value;

    if (_joint)
    {
        auto joint = static_cast<PxSphericalJoint*>(_joint);
        joint->setSphericalJointFlag(PxSphericalJointFlag::eLIMIT_ENABLED, (_flags & SphericalJointFlag::Limit) != 0);
    }
}

void SphericalJoint::SetLimit(const LimitConeRange& value)
{
    if (_limit == value)
        return;

    _limit = value;

    if (_joint)
    {
        auto joint = static_cast<PxSphericalJoint*>(_joint);
        PxJointLimitCone limit(Math::Clamp(value.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(value.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), value.ContactDist);
        limit.stiffness = value.Spring.Stiffness;
        limit.damping = value.Spring.Damping;
        limit.restitution = value.Restitution;
        ASSERT_LOW_LAYER(limit.isValid());
        joint->setLimitCone(limit);
    }
}

#if USE_EDITOR

#include "Engine/Debug/DebugDraw.h"

void SphericalJoint::OnDebugDrawSelected()
{
    const Vector3 source = GetPosition();
    const Vector3 target = GetTargetPosition();
    const float size = 15.0f;
    const Color color = Color::Green.AlphaMultiplied(0.6f);
    DebugDraw::DrawWireArrow(source, GetOrientation(), size / 100.0f * 0.5f, Color::Red, 0, false);
    if (_flags & SphericalJointFlag::Limit)
    {
        DEBUG_DRAW_CONE(source, GetOrientation(), size, _limit.YLimitAngle * DegreesToRadians, _limit.ZLimitAngle * DegreesToRadians, color, 0, false);
    }
    else
    {
        DEBUG_DRAW_SPHERE(BoundingSphere(source, size), color, 0, false);
    }
    DEBUG_DRAW_LINE(source, target, Color::Green * 0.6f, 0, false);

    // Base
    Joint::OnDebugDrawSelected();
}

#endif

void SphericalJoint::Serialize(SerializeStream& stream, const void* otherObj)
{
    // Base
    Joint::Serialize(stream, otherObj);

    SERIALIZE_GET_OTHER_OBJ(SphericalJoint);

    SERIALIZE_MEMBER(Flags, _flags);
    SERIALIZE_MEMBER(ContactDist, _limit.ContactDist);
    SERIALIZE_MEMBER(Restitution, _limit.Restitution);
    SERIALIZE_MEMBER(Stiffness, _limit.Spring.Stiffness);
    SERIALIZE_MEMBER(Damping, _limit.Spring.Damping);
    SERIALIZE_MEMBER(YLimitAngle, _limit.YLimitAngle);
    SERIALIZE_MEMBER(ZLimitAngle, _limit.ZLimitAngle);
}

void SphericalJoint::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
{
    // Base
    Joint::Deserialize(stream, modifier);

    DESERIALIZE_MEMBER(Flags, _flags);
    DESERIALIZE_MEMBER(ContactDist, _limit.ContactDist);
    DESERIALIZE_MEMBER(Restitution, _limit.Restitution);
    DESERIALIZE_MEMBER(Stiffness, _limit.Spring.Stiffness);
    DESERIALIZE_MEMBER(Damping, _limit.Spring.Damping);
    DESERIALIZE_MEMBER(YLimitAngle, _limit.YLimitAngle);
    DESERIALIZE_MEMBER(ZLimitAngle, _limit.ZLimitAngle);
}

PxJoint* SphericalJoint::CreateJoint(JointData& data)
{
    const PxTransform trans0(C2P(data.Pos0), C2P(data.Rot0));
    const PxTransform trans1(C2P(data.Pos1), C2P(data.Rot1));
    auto joint = PxSphericalJointCreate(*data.Physics, data.Actor0, trans0, data.Actor1, trans1);

    int32 flags = 0;
    if (_flags & SphericalJointFlag::Limit)
        flags |= PxSphericalJointFlag::eLIMIT_ENABLED;
    joint->setSphericalJointFlags(static_cast<PxSphericalJointFlag::Enum>(flags));
    PxJointLimitCone limit(Math::Clamp(_limit.YLimitAngle * DegreesToRadians, ZeroTolerance, PI), Math::Clamp(_limit.ZLimitAngle * DegreesToRadians, ZeroTolerance, PI), _limit.ContactDist);
    limit.stiffness = _limit.Spring.Stiffness;
    limit.damping = _limit.Spring.Damping;
    limit.restitution = _limit.Restitution;
    joint->setLimitCone(limit);

    return joint;
}