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// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
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// This warning arises when using some stl containers with older versions of VC
// c:\program files (x86)\microsoft visual studio 12.0\vc\include\xtree(1826): warning C4702: unreachable code
#include "NvPreprocessor.h"
#if NV_VC && NV_VC < 14
#pragma warning(disable : 4702)
#endif

#include <NvBlastExtAuthoringBondGeneratorImpl.h>
#include <NvBlast.h>
#include <NvBlastGlobals.h>
#include <NvBlastPxSharedHelpers.h>
#include "NvBlastExtTriangleProcessor.h"
#include "NvBlastExtApexSharedParts.h"
#include "NvBlastExtAuthoringInternalCommon.h"
#include "NvBlastExtAuthoringTypes.h"
#include <vector>
#include <map>
#include <PxPlane.h>
#include <algorithm>
#include <cmath>
#include <memory>
#include <set>

#define SAFE_ARRAY_NEW(T, x) ((x) > 0) ? reinterpret_cast<T*>(NVBLAST_ALLOC(sizeof(T) * (x))) : nullptr;

//#define DEBUG_OUTPUT
#ifdef DEBUG_OUTPUT

void saveGeometryToObj(std::vector<PxVec3>& triangles, const char* filepath)
{

	FILE* outStream = fopen(filepath, "w");

	for (uint32_t i = 0; i < triangles.size(); ++i)
	{
		fprintf(outStream, "v %lf %lf %lf\n", triangles[i].x, triangles[i].y, triangles[i].z);
		++i;
		fprintf(outStream, "v %lf %lf %lf\n", triangles[i].x, triangles[i].y, triangles[i].z);
		++i;
		fprintf(outStream, "v %lf %lf %lf\n", triangles[i].x, triangles[i].y, triangles[i].z);
	}
	for (uint32_t i = 0; i < triangles.size() / 3; ++i)
	{
		PxVec3 normal =
		    (triangles[3 * i + 2] - triangles[3 * i]).cross((triangles[3 * i + 1] - triangles[3 * i])).getNormalized();
		fprintf(outStream, "vn %lf %lf %lf\n", normal.x, normal.y, normal.z);
		fprintf(outStream, "vn %lf %lf %lf\n", normal.x, normal.y, normal.z);
		fprintf(outStream, "vn %lf %lf %lf\n", normal.x, normal.y, normal.z);
	}
	int indx = 1;
	for (uint32_t i = 0; i < triangles.size() / 3; ++i)
	{
		fprintf(outStream, "f %d//%d  ", indx, indx);
		indx++;
		fprintf(outStream, "%d//%d  ", indx, indx);
		indx++;
		fprintf(outStream, "%d//%d \n", indx, indx);
		indx++;
	}

	fclose(outStream);
}


std::vector<PxVec3> intersectionBuffer;
std::vector<PxVec3> meshBuffer;
#endif


namespace Nv
{
namespace Blast
{

#define EPS_PLANE 0.0001f

physx::PxVec3 getNormal(const Triangle& t)
{
	return toPxShared(t.b.p - t.a.p).cross(toPxShared(t.c.p - t.a.p));
}

bool planeComparer(const PlaneChunkIndexer& as, const PlaneChunkIndexer& bs)
{
	const NvcPlane& a = as.plane;
	const NvcPlane& b = bs.plane;

	if (a.d + EPS_PLANE < b.d)
		return true;
	if (a.d - EPS_PLANE > b.d)
		return false;
	if (a.n.x + EPS_PLANE < b.n.x)
		return true;
	if (a.n.x - EPS_PLANE > b.n.x)
		return false;
	if (a.n.y + EPS_PLANE < b.n.y)
		return true;
	if (a.n.y - EPS_PLANE > b.n.y)
		return false;
	return a.n.z + EPS_PLANE < b.n.z;
}


struct Bond
{
	int32_t m_chunkId;
	int32_t m_planeIndex;
	int32_t triangleIndex;

	bool operator<(const Bond& inp) const
	{
		if (abs(m_planeIndex) == abs(inp.m_planeIndex))
		{
			return m_chunkId < inp.m_chunkId;
		}
		else
		{
			return abs(m_planeIndex) < abs(inp.m_planeIndex);
		}
	}
};


struct BondInfo
{
	float area;
	physx::PxBounds3 m_bb;
	physx::PxVec3 centroid;
	physx::PxVec3 normal;
	int32_t m_chunkId;
};

inline physx::PxVec3 getVertex(const Triangle& t, uint32_t i)
{
	return toPxShared((&t.a)[i].p);
}

void AddTtAnchorPoints(const Triangle* a, const Triangle* b, std::vector<PxVec3>& points)
{
	physx::PxVec3 na = getNormal(*a).getNormalized();
	physx::PxVec3 nb = getNormal(*b).getNormalized();

	physx::PxPlane pla(toPxShared(a->a.p), na);
	physx::PxPlane plb(toPxShared(b->a.p), nb);


	ProjectionDirections da = getProjectionDirection(na);
	ProjectionDirections db = getProjectionDirection(nb);

	TriangleProcessor prc;

	TrPrcTriangle2d ta(getProjectedPoint(toPxShared(a->a.p), da), getProjectedPoint(toPxShared(a->b.p), da),
	                   getProjectedPoint(toPxShared(a->c.p), da));
	TrPrcTriangle2d tb(getProjectedPoint(toPxShared(b->a.p), db), getProjectedPoint(toPxShared(b->b.p), db),
	                   getProjectedPoint(toPxShared(b->c.p), db));

	/**
	    Compute
	*/
	for (uint32_t i = 0; i < 3; ++i)
	{
		physx::PxVec3 pt;
		if (getPlaneSegmentIntersection(pla, getVertex(*b, i), getVertex(*b, (i + 1) % 3), pt))
		{

			physx::PxVec2 pt2 = getProjectedPoint(pt, da);
			if (prc.isPointInside(pt2, ta))
			{
				points.push_back(pt);
			}
		}
		if (getPlaneSegmentIntersection(plb, getVertex(*a, i), getVertex(*a, (i + 1) % 3), pt))
		{
			PxVec2 pt2 = getProjectedPoint(pt, db);
			if (prc.isPointInside(pt2, tb))
			{
				points.push_back(pt);
			}
		}
	}
}


inline bool
pointInsidePoly(const PxVec3& pt, const uint8_t* indices, uint16_t indexCount, const PxVec3* verts, const PxVec3& n)
{
	int s = 0;
	for (uint16_t i = 0; i < indexCount; ++i)
	{
		const PxVec3 r0 = verts[indices[i]] - pt;
		const PxVec3 r1 = verts[indices[(i + 1) % indexCount]] - pt;
		const float cn  = r0.cross(r1).dot(n);
		const int cns   = cn >= 0 ? 1 : -1;
		if (!s)
		{
			s = cns;
		}
		if (cns * s < 0)
		{
			return false;
		}
	}
	return true;
}

void AddPpAnchorPoints(const uint8_t* indicesA, uint16_t indexCountA, const PxVec3* vertsA, const float planeA[4],
                       const uint8_t* indicesB, uint16_t indexCountB, const PxVec3* vertsB, const float planeB[4],
                       std::vector<PxVec3>& points)
{
	PxPlane pla(planeA[0], planeA[1], planeA[2], planeA[3]);
	PxPlane plb(planeB[0], planeB[1], planeB[2], planeB[3]);

	for (uint16_t iA = 0; iA < indexCountA; ++iA)
	{
		PxVec3 pt;
		if (getPlaneSegmentIntersection(plb, vertsA[indicesA[iA]], vertsA[indicesA[(iA + 1) % indexCountA]], pt))
		{
			if (pointInsidePoly(pt, indicesB, indexCountB, vertsB, plb.n))
			{
				points.push_back(pt);
			}
		}
	}

	for (uint16_t iB = 0; iB < indexCountA; ++iB)
	{
		PxVec3 pt;
		if (getPlaneSegmentIntersection(pla, vertsB[indicesB[iB]], vertsB[indicesA[(iB + 1) % indexCountB]], pt))
		{
			if (pointInsidePoly(pt, indicesA, indexCountA, vertsA, pla.n))
			{
				points.push_back(pt);
			}
		}
	}
}


float BlastBondGeneratorImpl::processWithMidplanes(TriangleProcessor* trProcessor, const Triangle* mA, uint32_t mavc,
                                                   const Triangle* mB, uint32_t mbvc, const CollisionHull* hull1,
                                                   const CollisionHull* hull2, const std::vector<PxVec3>& hull1p,
                                                   const std::vector<PxVec3>& hull2p, PxVec3& normal, PxVec3& centroid,
                                                   float maxRelSeparation)
{
	PxBounds3 bounds;
	PxBounds3 aBounds;
	PxBounds3 bBounds;
	bounds.setEmpty();
	aBounds.setEmpty();
	bBounds.setEmpty();

	PxVec3 chunk1Centroid(0, 0, 0);
	PxVec3 chunk2Centroid(0, 0, 0);

	///////////////////////////////////////////////////////////////////////////////////
	if (hull1p.size() < 4 || hull2p.size() < 4)
	{
		return 0.0;
	}

	for (uint32_t i = 0; i < hull1p.size(); ++i)
	{
		chunk1Centroid += hull1p[i];
		bounds.include(hull1p[i]);
		aBounds.include(hull1p[i]);
	}
	for (uint32_t i = 0; i < hull2p.size(); ++i)
	{
		chunk2Centroid += hull2p[i];
		bounds.include(hull2p[i]);
		bBounds.include(hull2p[i]);
	}


	chunk1Centroid *= (1.0f / hull1p.size());
	chunk2Centroid *= (1.0f / hull2p.size());

    const float maxSeparation = maxRelSeparation * std::sqrt(std::max(aBounds.getExtents().magnitudeSquared(), bBounds.getExtents().magnitudeSquared()));

	Separation separation;
	if (!importerHullsInProximityApexFree(hull1p.size(), hull1p.data(), aBounds, PxTransform(PxIdentity),
	                                      PxVec3(1, 1, 1), hull2p.size(), hull2p.data(), bBounds,
	                                      PxTransform(PxIdentity), PxVec3(1, 1, 1), 2.0f * maxSeparation, &separation))
	{
		return 0.0;
	}

	const bool have_geometry = (mA != nullptr && mB != nullptr) || (hull1 != nullptr && hull2 != nullptr);

	if (separation.getDistance() > 0 || !have_geometry)  // If chunks don't intersect then use midplane to produce bond,
	                                                     // otherwise midplane can be wrong (only if we have geometry)
	{
		// Build first plane interface
		PxPlane midplane = separation.plane;
		if (!midplane.n.isFinite())
		{
			return 0.0;
		}

		std::vector<PxVec3> interfacePoints;

		float firstCentroidSide  = (midplane.distance(chunk1Centroid) > 0) ? 1 : -1;
		float secondCentroidSide = (midplane.distance(chunk2Centroid) > 0) ? 1 : -1;

		for (uint32_t i = 0; i < hull1p.size(); ++i)
		{
			float dst = midplane.distance(hull1p[i]);
			if (dst * firstCentroidSide < maxSeparation)
			{
				interfacePoints.push_back(hull1p[i]);
			}
		}

		for (uint32_t i = 0; i < hull2p.size(); ++i)
		{
			float dst = midplane.distance(hull2p[i]);
			if (dst * secondCentroidSide < maxSeparation)
			{
				interfacePoints.push_back(hull2p[i]);
			}
		}
		std::vector<PxVec3> convexHull;
		trProcessor->buildConvexHull(interfacePoints, convexHull, midplane.n);
		float area = 0;
		PxVec3 centroidLocal(0, 0, 0);
		if (convexHull.size() < 3)
		{
			return 0.0;
		}
		for (uint32_t i = 0; i < convexHull.size() - 1; ++i)
		{
			centroidLocal += convexHull[i];
			area += (convexHull[i] - convexHull[0]).cross((convexHull[i + 1] - convexHull[0])).magnitude();
		}
		centroidLocal += convexHull.back();
		centroidLocal *= (1.0f / convexHull.size());
		float direction = midplane.n.dot(chunk2Centroid - chunk1Centroid);
		if (direction < 0)
		{
			normal = -1.0f * normal;
		}
		normal   = midplane.n;
		centroid = centroidLocal;
		return area * 0.5f;
	}
	else
	{
		float area = 0.0f;

		std::vector<PxVec3> intersectionAnchors;

		if (mA != nullptr && mB != nullptr)  // Use triangles
		{
			for (uint32_t i = 0; i < mavc; ++i)
			{
				for (uint32_t j = 0; j < mbvc; ++j)
				{
					AddTtAnchorPoints(mA + i, mB + j, intersectionAnchors);
				}
			}
		}
		else  // Use hulls
		{
			for (uint32_t i1 = 0; i1 < hull1->polygonDataCount; ++i1)
			{
				HullPolygon& poly1 = hull1->polygonData[i1];
				for (uint32_t i2 = 0; i2 < hull2->polygonDataCount; ++i2)
				{
					HullPolygon& poly2 = hull2->polygonData[i2];
					AddPpAnchorPoints(reinterpret_cast<uint8_t*>(hull1->indices) + poly1.indexBase, poly1.vertexCount,
					                  toPxShared(hull1->points), poly1.plane,
					                  reinterpret_cast<uint8_t*>(hull2->indices) + poly2.indexBase, poly2.vertexCount,
					                  toPxShared(hull2->points), poly2.plane, intersectionAnchors);
				}
			}
		}

		PxVec3 lcoid(0, 0, 0);
		for (uint32_t i = 0; i < intersectionAnchors.size(); ++i)
		{
			lcoid += intersectionAnchors[i];
		}
		lcoid *= (1.0f / intersectionAnchors.size());
		centroid = lcoid;

		if (intersectionAnchors.size() < 2)
		{
			return 0;
		}


		PxVec3 dir1 = intersectionAnchors[0] - lcoid;
		PxVec3 dir2(0, 0, 0);
		float maxMagn = 0.0f;
		float maxDist = 0.0f;


		for (uint32_t j = 0; j < intersectionAnchors.size(); ++j)
		{
			float d = (intersectionAnchors[j] - lcoid).magnitude();

			PxVec3 tempNormal = (intersectionAnchors[j] - lcoid).cross(dir1);
			maxDist           = std::max(d, maxDist);

			if (tempNormal.magnitude() > maxMagn)
			{
				dir2 = tempNormal;
			}
		}

		normal = dir2.getNormalized();

		area = (maxDist * maxDist) * 3.14f;  // Compute area like circle area;

		return area;
	}
}


struct BondGenerationCandidate
{
	PxVec3 point;
	bool end;
	uint32_t parentChunk;
	uint32_t parentComponent;
	BondGenerationCandidate();
	BondGenerationCandidate(const PxVec3& p, bool isEnd, uint32_t pr, uint32_t c)
	: point(p), end(isEnd), parentChunk(pr), parentComponent(c){};

	bool operator<(const BondGenerationCandidate& in) const
	{
		if (point.x < in.point.x)
			return true;
		if (point.x > in.point.x)
			return false;

		if (point.y < in.point.y)
			return true;
		if (point.y > in.point.y)
			return false;

		if (point.z < in.point.z)
			return true;
		if (point.z > in.point.z)
			return false;

		return end < in.end;
	};
};


int32_t BlastBondGeneratorImpl::createFullBondListAveraged(uint32_t meshCount, const uint32_t* geometryOffset,
                                                           const Triangle* geometry, const CollisionHull** chunkHulls,
                                                           const bool* supportFlags, const uint32_t* meshGroups,
                                                           NvBlastBondDesc*& resultBondDescs, BondGenerationConfig conf,
                                                           std::set<std::pair<uint32_t, uint32_t> >* pairNotToTest)
{

	std::vector<std::vector<NvcVec3> > chunksPoints(meshCount);
	std::vector<PxBounds3> bounds(meshCount);
	if (!chunkHulls)
	{
		for (uint32_t i = 0; i < meshCount; ++i)
		{
			bounds[i].setEmpty();
			if (!supportFlags[i])
			{
				continue;
			}
			uint32_t count = geometryOffset[i + 1] - geometryOffset[i];
			for (uint32_t j = 0; j < count; ++j)
			{
				chunksPoints[i].push_back(geometry[geometryOffset[i] + j].a.p);
				chunksPoints[i].push_back(geometry[geometryOffset[i] + j].b.p);
				chunksPoints[i].push_back(geometry[geometryOffset[i] + j].c.p);
				bounds[i].include(toPxShared(geometry[geometryOffset[i] + j].a.p));
				bounds[i].include(toPxShared(geometry[geometryOffset[i] + j].b.p));
				bounds[i].include(toPxShared(geometry[geometryOffset[i] + j].c.p));
			}
		}
	}

	std::vector<std::vector<std::vector<PxVec3> > > hullPoints(meshCount);
	std::vector<BondGenerationCandidate> candidates;


	for (uint32_t chunk = 0; chunk < meshCount; ++chunk)
	{
		if (!supportFlags[chunk])
		{
			continue;
		}
		PxBounds3 bnd(PxBounds3::empty());
		CollisionHull* tempHullPtr            = nullptr;
		uint32_t hullCountForMesh             = 0;
		const CollisionHull** beginChunkHulls = nullptr;
		if (chunkHulls)
		{
			hullCountForMesh = geometryOffset[chunk + 1] - geometryOffset[chunk];
			beginChunkHulls  = chunkHulls + geometryOffset[chunk];
		}
		else
		{
			// build a convex hull and store it in the temp slot
			tempHullPtr =
			    mConvexMeshBuilder->buildCollisionGeometry(chunksPoints[chunk].size(), chunksPoints[chunk].data());
			hullCountForMesh = 1;
			beginChunkHulls  = const_cast<const CollisionHull**>(&tempHullPtr);
		}

		hullPoints[chunk].resize(hullCountForMesh);
		for (uint32_t hull = 0; hull < hullCountForMesh; ++hull)
		{
			auto& curHull             = hullPoints[chunk][hull];
			const uint32_t pointCount = beginChunkHulls[hull]->pointsCount;
			curHull.resize(pointCount);
			for (uint32_t i = 0; i < pointCount; ++i)
			{
				curHull[i] = toPxShared(beginChunkHulls[hull]->points[i]);
				bnd.include(curHull[i]);
			}
		}

		if (tempHullPtr)
		{
			mConvexMeshBuilder->releaseCollisionHull(tempHullPtr);
		}
		float minSide = bnd.getDimensions().abs().minElement();
		if (minSide > 0.f)
		{
			float scaling = std::max(1.1f, conf.maxSeparation / (minSide));
			bnd.scaleFast(scaling);
		}
		candidates.push_back(
		    BondGenerationCandidate(bnd.minimum, false, chunk, meshGroups != nullptr ? meshGroups[chunk] : 0));
		candidates.push_back(
		    BondGenerationCandidate(bnd.maximum, true, chunk, meshGroups != nullptr ? meshGroups[chunk] : 0));
	}

	std::sort(candidates.begin(), candidates.end());

	std::set<uint32_t> listOfActiveChunks;
	std::vector<std::vector<uint32_t> > possibleBondGraph(meshCount);

	for (uint32_t idx = 0; idx < candidates.size(); ++idx)
	{
		if (!candidates[idx].end)  // If new candidate
		{
			for (uint32_t activeChunk : listOfActiveChunks)
			{
				if (meshGroups != nullptr && (meshGroups[activeChunk] == candidates[idx].parentComponent))
					continue;  // Don't connect components with itself.
				possibleBondGraph[activeChunk].push_back(candidates[idx].parentChunk);
			}
			listOfActiveChunks.insert(candidates[idx].parentChunk);
		}
		else
		{
			listOfActiveChunks.erase(candidates[idx].parentChunk);
		}
	}

	TriangleProcessor trProcessor;
	std::vector<NvBlastBondDesc> mResultBondDescs;
	for (uint32_t i = 0; i < meshCount; ++i)
	{
		const uint32_t ihullCount = hullPoints[i].size();
		for (uint32_t tj = 0; tj < possibleBondGraph[i].size(); ++tj)
		{
			uint32_t j = possibleBondGraph[i][tj];

			auto pr = (i < j) ? std::make_pair(i, j) : std::make_pair(j, i);

			if (pairNotToTest != nullptr && pairNotToTest->find(pr) != pairNotToTest->end())
			{
				continue;  // This chunks should not generate bonds. This is used for mixed generation with bondFrom
			}


			const uint32_t jhullCount = hullPoints[j].size();
			for (uint32_t ihull = 0; ihull < ihullCount; ++ihull)
			{
				for (uint32_t jhull = 0; jhull < jhullCount; ++jhull)
				{
					PxVec3 normal;
					PxVec3 centroid;

					float area = processWithMidplanes(
					    &trProcessor, geometry ? geometry + geometryOffset[i] : nullptr,
					    geometryOffset[i + 1] - geometryOffset[i], geometry ? geometry + geometryOffset[j] : nullptr,
					    geometryOffset[j + 1] - geometryOffset[j],
					    geometry ? nullptr : chunkHulls[geometryOffset[i] + ihull],
					    geometry ? nullptr : chunkHulls[geometryOffset[j] + jhull], hullPoints[i][ihull],
					    hullPoints[j][jhull], normal, centroid, conf.maxSeparation);

					if (area > 0)
					{
						NvBlastBondDesc bDesc;
						bDesc.chunkIndices[0]  = i;
						bDesc.chunkIndices[1]  = j;
						bDesc.bond.area        = area;
						bDesc.bond.centroid[0] = centroid.x;
						bDesc.bond.centroid[1] = centroid.y;
						bDesc.bond.centroid[2] = centroid.z;

						uint32_t maxIndex = std::max(i, j);
						if ((bounds[maxIndex].getCenter() - centroid).dot(normal) < 0)
						{
							normal = -normal;
						}

						bDesc.bond.normal[0] = normal.x;
						bDesc.bond.normal[1] = normal.y;
						bDesc.bond.normal[2] = normal.z;

						mResultBondDescs.push_back(bDesc);
					}
				}
			}
		}
	}
	resultBondDescs = SAFE_ARRAY_NEW(NvBlastBondDesc, mResultBondDescs.size());
	memcpy(resultBondDescs, mResultBondDescs.data(), sizeof(NvBlastBondDesc) * mResultBondDescs.size());
	return mResultBondDescs.size();
}

uint32_t isSamePlane(NvcPlane& a, NvcPlane& b)
{
	if (PxAbs(a.d - b.d) > EPS_PLANE)
		return 0;
	if (PxAbs(a.n.x - b.n.x) > EPS_PLANE)
		return 0;
	if (PxAbs(a.n.y - b.n.y) > EPS_PLANE)
		return 0;
	if (PxAbs(a.n.z - b.n.z) > EPS_PLANE)
		return 0;
	return 1;
}

int32_t BlastBondGeneratorImpl::createFullBondListExact(uint32_t meshCount, const uint32_t* geometryOffset,
                                                        const Triangle* geometry, const bool* supportFlags,
                                                        NvBlastBondDesc*& resultBondDescs, BondGenerationConfig conf)
{
	std::vector<PlaneChunkIndexer> planeTriangleMapping;
	NV_UNUSED(conf);
	for (uint32_t i = 0; i < meshCount; ++i)
	{
		if (!supportFlags[i])
		{
			continue;
		}
		uint32_t count = geometryOffset[i + 1] - geometryOffset[i];
		for (uint32_t j = 0; j < count; ++j)
		{
#ifdef DEBUG_OUTPUT
			meshBuffer.push_back(geometry[geometryOffset[i] + j].a.p);
			meshBuffer.push_back(geometry[geometryOffset[i] + j].b.p);
			meshBuffer.push_back(geometry[geometryOffset[i] + j].c.p);
#endif

			NvcPlane nPlane = fromPxShared(physx::PxPlane(toPxShared(geometry[geometryOffset[i] + j].a.p),
			                                           toPxShared(geometry[geometryOffset[i] + j].b.p),
			                                           toPxShared(geometry[geometryOffset[i] + j].c.p)));
			planeTriangleMapping.push_back({ (int32_t)i, (int32_t)j, nPlane });
		}
	}

	std::sort(planeTriangleMapping.begin(), planeTriangleMapping.end(), planeComparer);
	return createFullBondListExactInternal(meshCount, geometryOffset, geometry, planeTriangleMapping, resultBondDescs);
}

void BlastBondGeneratorImpl::buildGeometryCache(uint32_t meshCount, const uint32_t* geometryOffset,
                                                const Triangle* geometry)
{
	uint32_t geometryCount = geometryOffset[meshCount];
	for (uint32_t i = 0; i < meshCount; i++)
	{
		mGeometryCache.push_back(std::vector<Triangle>());
		uint32_t count = geometryOffset[i + 1] - geometryOffset[i];
		mGeometryCache.back().resize(count);
		memcpy(mGeometryCache.back().data(), geometry + geometryOffset[i], sizeof(Triangle) * count);
	}
	mHullsPointsCache.resize(geometryCount);
	mBoundsCache.resize(geometryCount);
	mCHullCache.resize(geometryCount);
	for (uint32_t i = 0; i < mGeometryCache.size(); ++i)
	{
		for (uint32_t j = 0; j < mGeometryCache[i].size(); ++j)
		{

			NvcPlane nPlane =
			    fromPxShared(physx::PxPlane(toPxShared(mGeometryCache[i][j].a.p), toPxShared(mGeometryCache[i][j].b.p),
			                             toPxShared(mGeometryCache[i][j].c.p)));
			mPlaneCache.push_back({ (int32_t)i, (int32_t)j, nPlane });
		}
	}

	for (uint32_t ch = 0; ch < mGeometryCache.size(); ++ch)
	{
		std::vector<NvcVec3> chunksPoints(mGeometryCache[ch].size() * 3);

		int32_t sp = 0;
		for (uint32_t i = 0; i < mGeometryCache[ch].size(); ++i)
		{
			chunksPoints[sp++] = mGeometryCache[ch][i].a.p;
			chunksPoints[sp++] = mGeometryCache[ch][i].b.p;
			chunksPoints[sp++] = mGeometryCache[ch][i].c.p;
		}

		mCHullCache[ch] = mConvexMeshBuilder->buildCollisionGeometry(chunksPoints.size(), chunksPoints.data());

		mHullsPointsCache[ch].resize(mCHullCache[ch]->pointsCount);

		mBoundsCache[ch].setEmpty();
		for (uint32_t i = 0; i < mCHullCache[ch]->pointsCount; ++i)
		{
			mHullsPointsCache[ch][i] = toPxShared(mCHullCache[ch]->points[i]);
			mBoundsCache[ch].include(mHullsPointsCache[ch][i]);
		}
	}
}

void BlastBondGeneratorImpl::resetGeometryCache()
{
	mGeometryCache.clear();
	mPlaneCache.clear();
	mHullsPointsCache.clear();
	for (auto h : mCHullCache)
	{
		mConvexMeshBuilder->releaseCollisionHull(h);
	}
	mCHullCache.clear();
	mBoundsCache.clear();
}

int32_t BlastBondGeneratorImpl::createFullBondListExactInternal(uint32_t meshCount, const uint32_t* geometryOffset,
                                                                const Triangle* geometry,
                                                                std::vector<PlaneChunkIndexer>& planeTriangleMapping,
                                                                NvBlastBondDesc*& resultBondDescs)
{
	NV_UNUSED(meshCount);

	std::map<std::pair<int32_t, int32_t>, std::pair<NvBlastBondDesc, int32_t> > bonds;

	TriangleProcessor trPrc;
	std::vector<PxVec3> intersectionBufferLocal;

	NvBlastBondDesc cleanBond;
	memset(&cleanBond, 0, sizeof(NvBlastBondDesc));
	for (uint32_t tIndex = 0; tIndex < planeTriangleMapping.size(); ++tIndex)
	{

		PlaneChunkIndexer opp = planeTriangleMapping[tIndex];

		opp.plane.d *= -1;
		opp.plane.n = opp.plane.n * - 1;

		uint32_t startIndex =
		    (uint32_t)(std::lower_bound(planeTriangleMapping.begin(), planeTriangleMapping.end(), opp, planeComparer) -
		               planeTriangleMapping.begin());
		uint32_t endIndex =
		    (uint32_t)(std::upper_bound(planeTriangleMapping.begin(), planeTriangleMapping.end(), opp, planeComparer) -
		               planeTriangleMapping.begin());
		//	uint32_t startIndex = 0;
		//	uint32_t endIndex = (uint32_t)planeTriangleMapping.size();

		PlaneChunkIndexer& mappedTr = planeTriangleMapping[tIndex];
		const Triangle& trl         = geometry[geometryOffset[mappedTr.chunkId] + mappedTr.trId];
		PxPlane pln                 = toPxShared(mappedTr.plane);
		TrPrcTriangle trp(toPxShared(trl.a.p), toPxShared(trl.b.p), toPxShared(trl.c.p));
		PxVec3 trCentroid = toPxShared(trl.a.p + trl.b.p + trl.c.p) * (1.0f / 3.0f);
		trp.points[0] -= trCentroid;
		trp.points[1] -= trCentroid;
		trp.points[2] -= trCentroid;
		ProjectionDirections pDir = getProjectionDirection(pln.n);
		TrPrcTriangle2d trp2d;
		trp2d.points[0] = getProjectedPointWithWinding(trp.points[0], pDir);
		trp2d.points[1] = getProjectedPointWithWinding(trp.points[1], pDir);
		trp2d.points[2] = getProjectedPointWithWinding(trp.points[2], pDir);

		for (uint32_t i = startIndex; i <= endIndex && i < planeTriangleMapping.size(); ++i)
		{
			PlaneChunkIndexer& mappedTr2 = planeTriangleMapping[i];
			if (mappedTr2.trId == opp.chunkId)
			{
				continue;
			}

			if (!isSamePlane(opp.plane, mappedTr2.plane))
			{
				continue;
			}

			if (mappedTr.chunkId == mappedTr2.chunkId)
			{
				continue;
			}
			std::pair<int32_t, int32_t> bondEndPoints = std::make_pair(mappedTr.chunkId, mappedTr2.chunkId);
			if (bondEndPoints.second < bondEndPoints.first)
				continue;
			std::pair<int32_t, int32_t> bondEndPointsSwapped = std::make_pair(mappedTr2.chunkId, mappedTr.chunkId);
			if (bonds.find(bondEndPoints) == bonds.end() && bonds.find(bondEndPointsSwapped) != bonds.end())
			{
				continue;  // We do not need account interface surface twice
			}
			if (bonds.find(bondEndPoints) == bonds.end())
			{
				bonds[bondEndPoints].second                = 0;
				bonds[bondEndPoints].first                 = cleanBond;
				bonds[bondEndPoints].first.chunkIndices[0] = bondEndPoints.first;
				bonds[bondEndPoints].first.chunkIndices[1] = bondEndPoints.second;
				bonds[bondEndPoints].first.bond.normal[0]  = pln.n[0];
				bonds[bondEndPoints].first.bond.normal[1]  = pln.n[1];
				bonds[bondEndPoints].first.bond.normal[2]  = pln.n[2];
			}
			const Triangle& trl2 = geometry[geometryOffset[mappedTr2.chunkId] + mappedTr2.trId];

			TrPrcTriangle trp2(toPxShared(trl2.a.p), toPxShared(trl2.b.p), toPxShared(trl2.c.p));

			intersectionBufferLocal.clear();
			intersectionBufferLocal.reserve(32);
			trPrc.getTriangleIntersection(trp, trp2d, trp2, trCentroid, intersectionBufferLocal, pln.n);
			PxVec3 centroidPoint(0, 0, 0);
			int32_t collectedVerticesCount = 0;
			float area                     = 0;
			if (intersectionBufferLocal.size() >= 3)
			{
#ifdef DEBUG_OUTPUT
				for (uint32_t p = 1; p < intersectionBufferLocal.size() - 1; ++p)
				{
					intersectionBuffer.push_back(intersectionBufferLocal[0]);
					intersectionBuffer.push_back(intersectionBufferLocal[p]);
					intersectionBuffer.push_back(intersectionBufferLocal[p + 1]);
				}
#endif
				centroidPoint          = intersectionBufferLocal[0] + intersectionBufferLocal.back();
				collectedVerticesCount = 2;

				for (uint32_t j = 1; j < intersectionBufferLocal.size() - 1; ++j)
				{
					++collectedVerticesCount;
					centroidPoint += intersectionBufferLocal[j];
					area += (intersectionBufferLocal[j + 1] - intersectionBufferLocal[0])
					            .cross(intersectionBufferLocal[j] - intersectionBufferLocal[0])
					            .magnitude();
				}
			}
			if (area > 0.00001f)
			{
				bonds[bondEndPoints].second += collectedVerticesCount;

				bonds[bondEndPoints].first.bond.area += area * 0.5f;
				bonds[bondEndPoints].first.bond.centroid[0] += (centroidPoint.x);
				bonds[bondEndPoints].first.bond.centroid[1] += (centroidPoint.y);
				bonds[bondEndPoints].first.bond.centroid[2] += (centroidPoint.z);
			}
		}
	}

	std::vector<NvBlastBondDesc> mResultBondDescs;
	for (auto it : bonds)
	{
		if (it.second.first.bond.area > 0)
		{
			float mlt = 1.0f / (it.second.second);
			it.second.first.bond.centroid[0] *= mlt;
			it.second.first.bond.centroid[1] *= mlt;
			it.second.first.bond.centroid[2] *= mlt;

			mResultBondDescs.push_back(it.second.first);
		}
	}
#ifdef DEBUG_OUTPUT
	saveGeometryToObj(meshBuffer, "Mesh.obj");
	saveGeometryToObj(intersectionBuffer, "inter.obj");
#endif
	resultBondDescs = SAFE_ARRAY_NEW(NvBlastBondDesc, mResultBondDescs.size());
	memcpy(resultBondDescs, mResultBondDescs.data(), sizeof(NvBlastBondDesc) * mResultBondDescs.size());
	return mResultBondDescs.size();
}

int32_t BlastBondGeneratorImpl::createBondForcedInternal(const std::vector<PxVec3>& hull0,
                                                         const std::vector<PxVec3>& hull1, const CollisionHull& cHull0,
                                                         const CollisionHull& cHull1, PxBounds3 bound0,
                                                         PxBounds3 bound1, NvBlastBond& resultBond, float overlapping)
{

	TriangleProcessor trProcessor;
	Separation separation;
	importerHullsInProximityApexFree(hull0.size(), hull0.data(), bound0, PxTransform(PxIdentity), PxVec3(1, 1, 1),
	                                 hull1.size(), hull1.data(), bound1, PxTransform(PxIdentity), PxVec3(1, 1, 1),
	                                 0.000, &separation);

	if (std::isnan(separation.plane.d))
	{
		importerHullsInProximityApexFree(
		    hull0.size(), hull0.data(), bound0, PxTransform(PxVec3(0.000001f, 0.000001f, 0.000001f)), PxVec3(1, 1, 1),
		    hull1.size(), hull1.data(), bound1, PxTransform(PxIdentity), PxVec3(1, 1, 1), 0.000, &separation);
		if (std::isnan(separation.plane.d))
		{
			return 1;
		}
	}

	PxPlane pl = separation.plane;
	std::vector<PxVec3> ifsPoints[2];

	float dst[2][2];

	dst[0][0] = 0;
	dst[0][1] = MAXIMUM_EXTENT;
	for (uint32_t p = 0; p < cHull0.pointsCount; ++p)
	{
		float d = pl.distance(toPxShared(cHull0.points[p]));
		if (PxAbs(d) > PxAbs(dst[0][0]))
		{
			dst[0][0] = d;
		}
		if (PxAbs(d) < PxAbs(dst[0][1]))
		{
			dst[0][1] = d;
		}
	}

	dst[1][0] = 0;
	dst[1][1] = MAXIMUM_EXTENT;
	for (uint32_t p = 0; p < cHull1.pointsCount; ++p)
	{
		float d = pl.distance(toPxShared(cHull0.points[p]));
		if (PxAbs(d) > PxAbs(dst[1][0]))
		{
			dst[1][0] = d;
		}
		if (PxAbs(d) < PxAbs(dst[1][1]))
		{
			dst[1][1] = d;
		}
	}


	float cvOffset[2] = { dst[0][1] + (dst[0][0] - dst[0][1]) * overlapping,
		                  dst[1][1] + (dst[1][0] - dst[1][1]) * overlapping };

	for (uint32_t i = 0; i < cHull0.polygonDataCount; ++i)
	{
		auto& pd = cHull0.polygonData[i];
		PxVec3 result;
		for (uint32_t j = 0; j < pd.vertexCount; ++j)
		{
			uint32_t nxj        = (j + 1) % pd.vertexCount;
			const uint32_t* ind = cHull0.indices;
			PxVec3 a            = hull0[ind[j + pd.indexBase]] - pl.n * cvOffset[0];
			PxVec3 b            = hull0[ind[nxj + pd.indexBase]] - pl.n * cvOffset[0];

			if (getPlaneSegmentIntersection(pl, a, b, result))
			{
				ifsPoints[0].push_back(result);
			}
		}
	}

	for (uint32_t i = 0; i < cHull1.polygonDataCount; ++i)
	{
		auto& pd = cHull1.polygonData[i];
		PxVec3 result;
		for (uint32_t j = 0; j < pd.vertexCount; ++j)
		{
			uint32_t nxj        = (j + 1) % pd.vertexCount;
			const uint32_t* ind = cHull1.indices;
			PxVec3 a            = hull1[ind[j + pd.indexBase]] - pl.n * cvOffset[1];
			PxVec3 b            = hull1[ind[nxj + pd.indexBase]] - pl.n * cvOffset[1];

			if (getPlaneSegmentIntersection(pl, a, b, result))
			{
				ifsPoints[1].push_back(result);
			}
		}
	}


	std::vector<PxVec3> convexes[2];

	trProcessor.buildConvexHull(ifsPoints[0], convexes[0], pl.n);
	trProcessor.buildConvexHull(ifsPoints[1], convexes[1], pl.n);

	float areas[2]      = { 0, 0 };
	PxVec3 centroids[2] = { PxVec3(0, 0, 0), PxVec3(0, 0, 0) };

	for (uint32_t cv = 0; cv < 2; ++cv)
	{
		if (convexes[cv].size() == 0)
		{
			continue;
		}
		centroids[cv] = convexes[cv][0] + convexes[cv].back();
		for (uint32_t i = 1; i < convexes[cv].size() - 1; ++i)
		{
			centroids[cv] += convexes[cv][i];
			areas[cv] += (convexes[cv][i + 1] - convexes[cv][0]).cross(convexes[cv][i] - convexes[cv][0]).magnitude();
#ifdef DEBUG_OUTPUT
			intersectionBuffer.push_back(convexes[cv][0]);
			intersectionBuffer.push_back(convexes[cv][i]);
			intersectionBuffer.push_back(convexes[cv][i + 1]);
#endif
		}
		centroids[cv] *= (1.0f / convexes[cv].size());
		areas[cv] = PxAbs(areas[cv]);
	}

	resultBond.area        = (areas[0] + areas[1]) * 0.5f;
	resultBond.centroid[0] = (centroids[0][0] + centroids[1][0]) * 0.5f;
	resultBond.centroid[1] = (centroids[0][1] + centroids[1][1]) * 0.5f;
	resultBond.centroid[2] = (centroids[0][2] + centroids[1][2]) * 0.5f;
	resultBond.normal[0]   = pl.n[0];
	resultBond.normal[1]   = pl.n[1];
	resultBond.normal[2]   = pl.n[2];

#ifdef DEBUG_OUTPUT
	saveGeometryToObj(meshBuffer, "ArbitMeshes.obj");
	saveGeometryToObj(intersectionBuffer, "inter.obj");
#endif


	return 0;
}

int32_t BlastBondGeneratorImpl::buildDescFromInternalFracture(FractureTool* tool, const bool* chunkIsSupport,
                                                              NvBlastBondDesc*& resultBondDescs,
                                                              NvBlastChunkDesc*& resultChunkDescriptors)
{
	uint32_t chunkCount = tool->getChunkCount();
	std::vector<uint32_t> trianglesCount(chunkCount);
	std::vector<std::shared_ptr<Triangle> > trianglesBuffer;

	for (uint32_t i = 0; i < chunkCount; ++i)
	{
		Triangle* t;
		trianglesCount[i] = tool->getBaseMesh(i, t);
		trianglesBuffer.push_back(std::shared_ptr<Triangle>(t, [](Triangle* t) { delete[] t; }));
	}

	if (chunkCount == 0)
	{
		return 0;
	}
	resultChunkDescriptors = SAFE_ARRAY_NEW(NvBlastChunkDesc, trianglesBuffer.size());
	std::vector<Bond> bondDescriptors;
	resultChunkDescriptors[0].parentChunkIndex = UINT32_MAX;
	resultChunkDescriptors[0].userData         = 0;
	resultChunkDescriptors[0].flags            = NvBlastChunkDesc::NoFlags;

	{
		PxVec3 chunkCentroid(0, 0, 0);
		for (uint32_t tr = 0; tr < trianglesCount[0]; ++tr)
		{
			chunkCentroid += toPxShared(trianglesBuffer[0].get()[tr].a.p);
			chunkCentroid += toPxShared(trianglesBuffer[0].get()[tr].b.p);
			chunkCentroid += toPxShared(trianglesBuffer[0].get()[tr].c.p);
		}
		chunkCentroid *= (1.0f / (3 * trianglesCount[0]));
		resultChunkDescriptors[0].centroid[0] = chunkCentroid[0];
		resultChunkDescriptors[0].centroid[1] = chunkCentroid[1];
		resultChunkDescriptors[0].centroid[2] = chunkCentroid[2];
	}


	bool hasApproximateBonding = false;

	for (uint32_t i = 1; i < chunkCount; ++i)
	{
		NvBlastChunkDesc& desc = resultChunkDescriptors[i];
		desc.userData          = tool->getChunkId(i);
		desc.parentChunkIndex  = tool->getChunkIndex(tool->getChunkInfo(i).parent);
		desc.flags             = NvBlastChunkDesc::NoFlags;
        hasApproximateBonding |= !!(tool->getChunkInfo(i).flags & ChunkInfo::APPROXIMATE_BONDING);
		if (chunkIsSupport[i])
		{
			desc.flags = NvBlastChunkDesc::SupportFlag;
		}
		PxVec3 chunkCentroid(0, 0, 0);
		for (uint32_t tr = 0; tr < trianglesCount[i]; ++tr)
		{
			auto& trRef = trianglesBuffer[i].get()[tr];
			chunkCentroid += toPxShared(trRef.a.p);
			chunkCentroid += toPxShared(trRef.b.p);
			chunkCentroid += toPxShared(trRef.c.p);

			int32_t id = trRef.userData;
			if (id == 0)
				continue;
			bondDescriptors.push_back(Bond());
			Bond& bond         = bondDescriptors.back();
			bond.m_chunkId     = i;
			bond.m_planeIndex  = id;
			bond.triangleIndex = tr;
		}
		chunkCentroid *= (1.0f / (3 * trianglesCount[i]));
		desc.centroid[0] = chunkCentroid[0];
		desc.centroid[1] = chunkCentroid[1];
		desc.centroid[2] = chunkCentroid[2];
	}
	std::sort(bondDescriptors.begin(), bondDescriptors.end());


	std::vector<NvBlastBondDesc> mResultBondDescs;

	if (!bondDescriptors.empty())
	{

		int32_t chunkId, planeId;
		chunkId = bondDescriptors[0].m_chunkId;
		planeId = bondDescriptors[0].m_planeIndex;
		std::vector<BondInfo> forwardChunks;
		std::vector<BondInfo> backwardChunks;

		float area = 0;
		PxVec3 normal(0, 0, 0);
		PxVec3 centroid(0, 0, 0);
		int32_t collected = 0;
		PxBounds3 bb      = PxBounds3::empty();

		chunkId = -1;
		planeId = bondDescriptors[0].m_planeIndex;
		for (uint32_t i = 0; i <= bondDescriptors.size(); ++i)
		{
			if (i == bondDescriptors.size() ||
			    (chunkId != bondDescriptors[i].m_chunkId || abs(planeId) != abs(bondDescriptors[i].m_planeIndex)))
			{
				if (chunkId != -1)
				{
					if (bondDescriptors[i - 1].m_planeIndex > 0)
					{
						forwardChunks.push_back(BondInfo());
						forwardChunks.back().area      = area;
						forwardChunks.back().normal    = normal;
						forwardChunks.back().centroid  = centroid * (1.0f / 3.0f / collected);
						forwardChunks.back().m_chunkId = chunkId;
						forwardChunks.back().m_bb      = bb;
					}
					else
					{
						backwardChunks.push_back(BondInfo());
						backwardChunks.back().area      = area;
						backwardChunks.back().normal    = normal;
						backwardChunks.back().centroid  = centroid * (1.0f / 3.0f / collected);
						backwardChunks.back().m_chunkId = chunkId;
						backwardChunks.back().m_bb      = bb;
					}
				}
				bb.setEmpty();
				collected = 0;
				area      = 0;
				normal    = PxVec3(0, 0, 0);
				centroid  = PxVec3(0, 0, 0);
				if (i != bondDescriptors.size())
					chunkId = bondDescriptors[i].m_chunkId;
			}
			if (i == bondDescriptors.size() || abs(planeId) != abs(bondDescriptors[i].m_planeIndex))
			{
				for (uint32_t fchunk = 0; fchunk < forwardChunks.size(); ++fchunk)
				{
					if (chunkIsSupport[forwardChunks[fchunk].m_chunkId] == false)
					{
						continue;
					}
					for (uint32_t bchunk = 0; bchunk < backwardChunks.size(); ++bchunk)
					{
						if (weakBoundingBoxIntersection(forwardChunks[fchunk].m_bb, backwardChunks[bchunk].m_bb) == 0)
						{
							continue;
						}
						if (chunkIsSupport[backwardChunks[bchunk].m_chunkId] == false)
						{
							continue;
						}
						mResultBondDescs.push_back(NvBlastBondDesc());
						mResultBondDescs.back().bond.area =
						    std::min(forwardChunks[fchunk].area, backwardChunks[bchunk].area);
						mResultBondDescs.back().bond.normal[0] = forwardChunks[fchunk].normal.x;
						mResultBondDescs.back().bond.normal[1] = forwardChunks[fchunk].normal.y;
						mResultBondDescs.back().bond.normal[2] = forwardChunks[fchunk].normal.z;

						mResultBondDescs.back().bond.centroid[0] =
						    (forwardChunks[fchunk].centroid.x + backwardChunks[bchunk].centroid.x) * 0.5;
						mResultBondDescs.back().bond.centroid[1] =
						    (forwardChunks[fchunk].centroid.y + backwardChunks[bchunk].centroid.y) * 0.5;
						mResultBondDescs.back().bond.centroid[2] =
						    (forwardChunks[fchunk].centroid.z + backwardChunks[bchunk].centroid.z) * 0.5;


						mResultBondDescs.back().chunkIndices[0] = forwardChunks[fchunk].m_chunkId;
						mResultBondDescs.back().chunkIndices[1] = backwardChunks[bchunk].m_chunkId;
					}
				}
				forwardChunks.clear();
				backwardChunks.clear();
				if (i != bondDescriptors.size())
				{
					planeId = bondDescriptors[i].m_planeIndex;
				}
				else
				{
					break;
				}
			}

			collected++;
			auto& trRef = trianglesBuffer[chunkId].get()[bondDescriptors[i].triangleIndex];
			PxVec3 n    = getNormal(trRef);
			area += n.magnitude();
			normal = n.getNormalized();
			centroid += toPxShared(trRef.a.p);
			centroid += toPxShared(trRef.b.p);
			centroid += toPxShared(trRef.c.p);

			bb.include(toPxShared(trRef.a.p));
			bb.include(toPxShared(trRef.b.p));
			bb.include(toPxShared(trRef.c.p));
		}
	}

	if (hasApproximateBonding)
	{
		std::vector<Triangle> chunkTriangles;
		std::vector<uint32_t> chunkTrianglesOffsets;

		std::set<std::pair<uint32_t, uint32_t> > pairsAlreadyCreated;

		for (uint32_t i = 0; i < mResultBondDescs.size(); ++i)
		{
			auto pr = (mResultBondDescs[i].chunkIndices[0] < mResultBondDescs[i].chunkIndices[1]) ?
			              std::make_pair(mResultBondDescs[i].chunkIndices[0], mResultBondDescs[i].chunkIndices[1]) :
			              std::make_pair(mResultBondDescs[i].chunkIndices[1], mResultBondDescs[i].chunkIndices[0]);

			pairsAlreadyCreated.insert(pr);
		}

        const float EXPANSION = 0.01f;

		chunkTrianglesOffsets.push_back(0);
		for (uint32_t i = 0; i < chunkCount; ++i)
		{
			const float SCALE_FACTOR = 1.001f;
			NvcVec3 centroid = {resultChunkDescriptors[i].centroid[0], resultChunkDescriptors[i].centroid[1],
			                resultChunkDescriptors[i].centroid[2]};
			for (uint32_t k = 0; k < trianglesCount[i]; ++k)
			{
				chunkTriangles.push_back(trianglesBuffer[i].get()[k]);

                // inflate mesh a bit
				chunkTriangles.back().a.p = chunkTriangles.back().a.p + (chunkTriangles.back().a.p - centroid) * EXPANSION;
                chunkTriangles.back().b.p = chunkTriangles.back().b.p + (chunkTriangles.back().b.p - centroid) * EXPANSION;
                chunkTriangles.back().c.p = chunkTriangles.back().c.p + (chunkTriangles.back().c.p - centroid) * EXPANSION;
            }
			chunkTrianglesOffsets.push_back(chunkTriangles.size());
		}

		NvBlastBondDesc* adsc;

		BondGenerationConfig cfg;
		cfg.bondMode      = BondGenerationConfig::AVERAGE;
		cfg.maxSeparation = EXPANSION;

		uint32_t nbListSize =
		    createFullBondListAveraged(chunkCount, chunkTrianglesOffsets.data(), chunkTriangles.data(), nullptr,
		                               chunkIsSupport, nullptr, adsc, cfg, &pairsAlreadyCreated);

		for (uint32_t i = 0; i < nbListSize; ++i)
		{
			mResultBondDescs.push_back(adsc[i]);
		}
		NVBLAST_FREE(adsc);
	}

	resultBondDescs = SAFE_ARRAY_NEW(NvBlastBondDesc, mResultBondDescs.size());
	memcpy(resultBondDescs, mResultBondDescs.data(), sizeof(NvBlastBondDesc) * mResultBondDescs.size());

	return mResultBondDescs.size();
}

int32_t BlastBondGeneratorImpl::createBondBetweenMeshes(uint32_t meshCount, const uint32_t* geometryOffset,
                                                        const Triangle* geometry, uint32_t overlapsCount,
                                                        const uint32_t* overlapsA, const uint32_t* overlapsB,
                                                        NvBlastBondDesc*& resultBond, BondGenerationConfig cfg)
{
	if (cfg.bondMode == BondGenerationConfig::AVERAGE)
	{
		resetGeometryCache();
		buildGeometryCache(meshCount, geometryOffset, geometry);
	}
	resultBond = SAFE_ARRAY_NEW(NvBlastBondDesc, overlapsCount);

	if (cfg.bondMode == BondGenerationConfig::EXACT)
	{
		for (uint32_t i = 0; i < overlapsCount; ++i)
		{
			NvBlastBondDesc& desc = resultBond[i];
			desc.chunkIndices[0]  = overlapsA[i];
			desc.chunkIndices[1]  = overlapsB[i];
			uint32_t meshACount   = geometryOffset[overlapsA[i] + 1] - geometryOffset[overlapsA[i]];
			uint32_t meshBCount   = geometryOffset[overlapsB[i] + 1] - geometryOffset[overlapsB[i]];
			createBondBetweenMeshes(meshACount, geometry + geometryOffset[overlapsA[i]], meshBCount,
			                        geometry + geometryOffset[overlapsB[i]], desc.bond, cfg);
		}
	}
	else
	{
		for (uint32_t i = 0; i < overlapsCount; ++i)
		{
			NvBlastBondDesc& desc = resultBond[i];
			desc.chunkIndices[0]  = overlapsA[i];
			desc.chunkIndices[1]  = overlapsB[i];
			createBondForcedInternal(mHullsPointsCache[overlapsA[i]], mHullsPointsCache[overlapsB[i]],
			                         *mCHullCache[overlapsA[i]], *mCHullCache[overlapsB[i]], mBoundsCache[overlapsA[i]],
			                         mBoundsCache[overlapsB[i]], desc.bond, 0.3f);
		}
	}

	return overlapsCount;
}

int32_t BlastBondGeneratorImpl::createBondBetweenMeshes(uint32_t meshACount, const Triangle* meshA, uint32_t meshBCount,
                                                        const Triangle* meshB, NvBlastBond& resultBond,
                                                        BondGenerationConfig conf)
{
	float overlapping = 0.3;
	if (conf.bondMode == BondGenerationConfig::EXACT)
	{
		std::vector<uint32_t> chunksOffsets = { 0, meshACount, meshACount + meshBCount };
		std::vector<Triangle> chunks;
		chunks.resize(meshACount + meshBCount);
		memcpy(chunks.data(), meshA, sizeof(Triangle) * meshACount);
		memcpy(chunks.data() + meshACount, meshB, sizeof(Triangle) * meshBCount);
		std::shared_ptr<bool> isSupport(new bool[2]{ true, true }, [](bool* b) { delete[] b; });
		NvBlastBondDesc* desc;
		uint32_t descSize = createFullBondListExact(2, chunksOffsets.data(), chunks.data(), isSupport.get(), desc, conf);
		if (descSize > 0)
		{
			resultBond = desc->bond;
		}
		else
		{
			memset(&resultBond, 0, sizeof(NvBlastBond));
			return 1;
		}
		return 0;
	}

	std::vector<NvcVec3> chunksPoints1(meshACount * 3);
	std::vector<NvcVec3> chunksPoints2(meshBCount * 3);

	int32_t sp = 0;
	for (uint32_t i = 0; i < meshACount; ++i)
	{
		chunksPoints1[sp++] = meshA[i].a.p;
		chunksPoints1[sp++] = meshA[i].b.p;
		chunksPoints1[sp++] = meshA[i].c.p;
#ifdef DEBUG_OUTPUT
		meshBuffer.push_back(meshA[i].a.p);
		meshBuffer.push_back(meshA[i].b.p);
		meshBuffer.push_back(meshA[i].c.p);
#endif
	}
	sp = 0;
	for (uint32_t i = 0; i < meshBCount; ++i)
	{
		chunksPoints2[sp++] = meshB[i].a.p;
		chunksPoints2[sp++] = meshB[i].b.p;
		chunksPoints2[sp++] = meshB[i].c.p;
#ifdef DEBUG_OUTPUT
		meshBuffer.push_back(meshB[i].a.p);
		meshBuffer.push_back(meshB[i].b.p);
		meshBuffer.push_back(meshB[i].c.p);
#endif
	}

	CollisionHull* cHull[2];

	cHull[0] = mConvexMeshBuilder->buildCollisionGeometry(chunksPoints1.size(), chunksPoints1.data());
	cHull[1] = mConvexMeshBuilder->buildCollisionGeometry(chunksPoints2.size(), chunksPoints2.data());

	std::vector<PxVec3> hullPoints[2];
	hullPoints[0].resize(cHull[0]->pointsCount);
	hullPoints[1].resize(cHull[1]->pointsCount);


	PxBounds3 bb[2];
	bb[0].setEmpty();
	bb[1].setEmpty();

	for (uint32_t cv = 0; cv < 2; ++cv)
	{
		for (uint32_t i = 0; i < cHull[cv]->pointsCount; ++i)
		{
			hullPoints[cv][i] = toPxShared(cHull[cv]->points[i]);
			bb[cv].include(hullPoints[cv][i]);
		}
	}
	auto ret = createBondForcedInternal(hullPoints[0], hullPoints[1], *cHull[0], *cHull[1], bb[0], bb[1], resultBond,
	                                    overlapping);

	mConvexMeshBuilder->releaseCollisionHull(cHull[0]);
	mConvexMeshBuilder->releaseCollisionHull(cHull[1]);

	return ret;
}

int32_t BlastBondGeneratorImpl::bondsFromPrefractured(uint32_t meshCount, const uint32_t* geometryCount,
                                                      const Triangle* geometry, const bool* chunkIsSupport,
                                                      NvBlastBondDesc*& resultBondDescs, BondGenerationConfig conf)
{
	int32_t ret_val = 0;
	switch (conf.bondMode)
	{
	case BondGenerationConfig::AVERAGE:
		ret_val = createFullBondListAveraged(meshCount, geometryCount, geometry, nullptr, chunkIsSupport, nullptr,
		                                     resultBondDescs, conf);
		break;
	case BondGenerationConfig::EXACT:
		ret_val = createFullBondListExact(meshCount, geometryCount, geometry, chunkIsSupport, resultBondDescs, conf);
		break;
	}
	return ret_val;
}


int32_t BlastBondGeneratorImpl::bondsFromPrefractured(uint32_t meshCount, const uint32_t* convexHullOffset,
                                                      const CollisionHull** chunkHulls, const bool* chunkIsSupport,
                                                      const uint32_t* meshGroups, NvBlastBondDesc*& resultBondDescs,
                                                      float maxSeparation)
{
	BondGenerationConfig conf;
	conf.maxSeparation = maxSeparation;
	conf.bondMode      = BondGenerationConfig::AVERAGE;
	return createFullBondListAveraged(meshCount, convexHullOffset, nullptr, chunkHulls, chunkIsSupport, meshGroups,
	                                  resultBondDescs, conf);
}

void BlastBondGeneratorImpl::release()
{
	delete this;
}

}  // namespace Blast
}  // namespace Nv