/*
Copyright (c) 2012 Advanced Micro Devices, Inc.  

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//Originally written by Takahiro Harada


#pragma once

#include <Adl/Adl.h>
//#include <Common/Base/SyncObjects.h>

#include "AdlMath.h"
#include "AdlContact4.h"
#include "AdlRigidBody.h"

#include "../ConvexHeightFieldShape.h"

//#include "TypeDefinition.h"
//#include "RigidBody.h"
//#include "ConvexHeightFieldShape.h"

namespace adl
{
class ShapeBase;

class ChNarrowphaseBase
{
	public:
		struct Config
		{
			float m_collisionMargin;
		};
/*
		typedef struct
		{
			//	m_normal.w == height in u8
			float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
			u32 m_height4[HEIGHT_RES*HEIGHT_RES*6];

			float m_scale;
			float m_padding0;
			float m_padding1;
			float m_padding2;
		} ShapeData;
*/
};

template<DeviceType TYPE>
class ChNarrowphase : public ChNarrowphaseBase
{
	public:
		typedef Launcher::BufferInfo BufferInfo;

		struct Data
		{
			const Device* m_device;
			Kernel* m_supportCullingKernel;
			Kernel* m_narrowphaseKernel;
			Kernel* m_narrowphaseWithPlaneKernel;

			Buffer<u32>* m_counterBuffer;
		};

		enum
		{
			N_TASKS = 4,
			HEIGHT_RES = ConvexHeightField::HEIGHT_RES,
		};

		struct ShapeData
		{
			float4 m_normal[HEIGHT_RES*HEIGHT_RES*6];
			u32 m_height4[HEIGHT_RES*HEIGHT_RES*6];
			u32 m_supportHeight4[HEIGHT_RES*HEIGHT_RES*6];

			float m_scale;
			float m_padding0;
			float m_padding1;
			float m_padding2;
		};

		struct ConstData
		{
			int m_nPairs;
			float m_collisionMargin;
			int m_capacity;
			int m_paddings[1];
		};
		
		static
		Data* allocate( const Device* device );

		static
		void deallocate( Data* data );
/*
		static
		Buffer<ShapeData>* allocateShapeBuffer( const Device* device, int capacity );

		static
		void deallocateShapeBuffer( Buffer<ShapeData>* shapeBuf );

		static
		void setShape( Buffer<ShapeData>* shapeBuf, ShapeBase* shape, int idx, float collisionMargin );
*/
		static
		ShapeDataType allocateShapeBuffer( const Device* device, int capacity );

		static
		void deallocateShapeBuffer( ShapeDataType shapeBuf );

		static
		void setShape( ShapeDataType shapeBuf, ShapeBase* shape, int idx, float collisionMargin = 0.f );
		
		static
		void setShape( ShapeDataType shapeBuf, ConvexHeightField* cvxShape, int idx, float collisionMargin = 0.f );

		// Run NarrowphaseKernel
		//template<bool USE_OMP>
		static
		void execute( Data* data, const Buffer<int2>* pairs, int nPairs, 
			const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
			Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg );

		// Run NarrowphaseWithPlaneKernel
		//template<bool USE_OMP>
		static
		void execute( Data* data, const Buffer<int2>* pairs, int nPairs, 
			const Buffer<RigidBodyBase::Body>* bodyBuf, const ShapeDataType shapeBuf,
			const Buffer<float4>* vtxBuf, const Buffer<int4>* idxBuf,
			Buffer<Contact4>* contactOut, int& nContacts, const Config& cfg );

		// Run SupportCullingKernel
		//template<bool USE_OMP>
		static
		int culling( Data* data, const Buffer<int2>* pairs, int nPairs, const Buffer<RigidBodyBase::Body>* bodyBuf,
			const ShapeDataType shapeBuf, const Buffer<int2>* pairsOut, const Config& cfg );
};

//#include <AdlPhysics/Narrowphase/ChNarrowphase.inl>
//#include <AdlPhysics/Narrowphase/ChNarrowphaseHost.inl>

#include "ChNarrowphase.inl"

};