using DotRecast.Detour.Dynamic.Colliders;
using DotRecast.Recast.Demo.Draw;

namespace DotRecast.Recast.Demo.Tools.Gizmos;


public class BoxGizmo : ColliderGizmo {
    private static readonly int[] TRIANLGES = { 0, 1, 2, 0, 2, 3, 4, 7, 6, 4, 6, 5, 0, 4, 5, 0, 5, 1, 1, 5, 6, 1, 6, 2,
            2, 6, 7, 2, 7, 3, 4, 0, 3, 4, 3, 7 };
    private static readonly float[][] VERTS = { 
        new[] { -1f, -1f, -1f, }, 
        new[] { 1f, -1f, -1f, }, 
        new[] { 1f, -1f, 1f, }, 
        new[] { -1f, -1f, 1f, },
        new[] { -1f, 1f, -1f, }, 
        new[] { 1f, 1f, -1f, }, 
        new[] { 1f, 1f, 1f, }, 
        new[] { -1f, 1f, 1f, },
    };

    private readonly float[] vertices = new float[8 * 3];
    private readonly float[] center;
    private readonly float[][] halfEdges;

    public BoxGizmo(float[] center, float[] extent, float[] forward, float[] up) : 
        this(center, BoxCollider.getHalfEdges(up, forward, extent))
    {
    }

    public BoxGizmo(float[] center, float[][] halfEdges) {
        this.center = center;
        this.halfEdges = halfEdges;
        for (int i = 0; i < 8; ++i) {
            float s0 = (i & 1) != 0 ? 1f : -1f;
            float s1 = (i & 2) != 0 ? 1f : -1f;
            float s2 = (i & 4) != 0 ? 1f : -1f;
            vertices[i * 3 + 0] = center[0] + s0 * halfEdges[0][0] + s1 * halfEdges[1][0] + s2 * halfEdges[2][0];
            vertices[i * 3 + 1] = center[1] + s0 * halfEdges[0][1] + s1 * halfEdges[1][1] + s2 * halfEdges[2][1];
            vertices[i * 3 + 2] = center[2] + s0 * halfEdges[0][2] + s1 * halfEdges[1][2] + s2 * halfEdges[2][2];
        }
    }

    public void render(RecastDebugDraw debugDraw) {
        float[] trX = new float[] { halfEdges[0][0], halfEdges[1][0], halfEdges[2][0] };
        float[] trY = new float[] { halfEdges[0][1], halfEdges[1][1], halfEdges[2][1] };
        float[] trZ = new float[] { halfEdges[0][2], halfEdges[1][2], halfEdges[2][2] };
        float[] vertices = new float[8 * 3];
        for (int i = 0; i < 8; i++) {
            vertices[i * 3 + 0] = RecastVectors.dot(VERTS[i], trX) + center[0];
            vertices[i * 3 + 1] = RecastVectors.dot(VERTS[i], trY) + center[1];
            vertices[i * 3 + 2] = RecastVectors.dot(VERTS[i], trZ) + center[2];
        }
        debugDraw.begin(DebugDrawPrimitives.TRIS);
        for (int i = 0; i < 12; i++) {
            int col = DebugDraw.duRGBA(200, 200, 50, 160);
            if (i == 4 || i == 5 || i == 8 || i == 9) {
                col = DebugDraw.duRGBA(160, 160, 40, 160);
            } else if (i > 4) {
                col = DebugDraw.duRGBA(120, 120, 30, 160);
            }
            for (int j = 0; j < 3; j++) {
                int v = TRIANLGES[i * 3 + j] * 3;
                debugDraw.vertex(vertices[v], vertices[v + 1], vertices[v + 2], col);
            }
        }
        debugDraw.end();
    }
}