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#include "foundation/PxTransform.h"
#include "SqBounds.h"
#include "CmTransformUtils.h"
#include "SqPruner.h"
#include "ScbShape.h"
#include "ScbActor.h"
#include "ScbRigidStatic.h"
#include "ScbBody.h"
#include "PsAllocator.h"
#include "GuBounds.h"

using namespace physx;
using namespace Sq;

void Sq::computeStaticWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
	const PxTransform& shape2Actor = scbShape.getShape2Actor();

	PX_ALIGN(16, PxTransform) globalPose;

	Cm::getStaticGlobalPoseAligned(static_cast<const Scb::RigidStatic&>(scbActor).getActor2World(), shape2Actor, globalPose);
	Gu::computeBounds(bounds, scbShape.getGeometry(), globalPose, 0.0f, NULL, SQ_PRUNER_INFLATION, false);
}

void Sq::computeDynamicWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
	const PxTransform& shape2Actor = scbShape.getShape2Actor();

	PX_ALIGN(16, PxTransform) globalPose;
	{
		const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
		PX_ALIGN(16, PxTransform) kinematicTarget;
		const PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC | PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;
		const bool useTarget = (PxU16(body.getFlags()) & sqktFlags) == sqktFlags;
		const PxTransform& body2World = (useTarget && body.getKinematicTarget(kinematicTarget)) ? kinematicTarget : body.getBody2World();
		Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, body.getBody2Actor(), globalPose);
	}

	Gu::computeBounds(bounds, scbShape.getGeometry(), globalPose, 0.0f, NULL, SQ_PRUNER_INFLATION, false);
}

const ComputeBoundsFunc Sq::gComputeBoundsTable[2] = 
{ 
	computeStaticWorldAABB, 
	computeDynamicWorldAABB 
};