#ifndef B3_GPU_NARROWPHASE_H
#define B3_GPU_NARROWPHASE_H

#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLInclude.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Common/b3Vector3.h"

class b3GpuNarrowPhase
{
protected:
	struct b3GpuNarrowPhaseInternalData* m_data;
	int m_acceleratedCompanionShapeIndex;
	int m_planeBodyIndex;
	int m_static0Index;

	cl_context m_context;
	cl_device_id m_device;
	cl_command_queue m_queue;

	int registerConvexHullShapeInternal(class b3ConvexUtility* convexPtr, b3Collidable& col);
	int registerConcaveMeshShape(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, b3Collidable& col, const float* scaling);

public:
	b3GpuNarrowPhase(cl_context vtx, cl_device_id dev, cl_command_queue q, const struct b3Config& config);

	virtual ~b3GpuNarrowPhase(void);

	int registerSphereShape(float radius);
	int registerPlaneShape(const b3Vector3& planeNormal, float planeConstant);

	int registerCompoundShape(b3AlignedObjectArray<b3GpuChildShape>* childShapes);
	int registerFace(const b3Vector3& faceNormal, float faceConstant);

	int registerConcaveMesh(b3AlignedObjectArray<b3Vector3>* vertices, b3AlignedObjectArray<int>* indices, const float* scaling);

	//do they need to be merged?

	int registerConvexHullShape(b3ConvexUtility* utilPtr);
	int registerConvexHullShape(const float* vertices, int strideInBytes, int numVertices, const float* scaling);

	int registerRigidBody(int collidableIndex, float mass, const float* position, const float* orientation, const float* aabbMin, const float* aabbMax, bool writeToGpu);
	void setObjectTransform(const float* position, const float* orientation, int bodyIndex);

	void writeAllBodiesToGpu();
	void reset();
	void readbackAllBodiesToCpu();
	bool getObjectTransformFromCpu(float* position, float* orientation, int bodyIndex) const;

	void setObjectTransformCpu(float* position, float* orientation, int bodyIndex);
	void setObjectVelocityCpu(float* linVel, float* angVel, int bodyIndex);

	virtual void computeContacts(cl_mem broadphasePairs, int numBroadphasePairs, cl_mem aabbsWorldSpace, int numObjects);

	cl_mem getBodiesGpu();
	const struct b3RigidBodyData* getBodiesCpu() const;
	//struct b3RigidBodyData* getBodiesCpu();

	int getNumBodiesGpu() const;

	cl_mem getBodyInertiasGpu();
	int getNumBodyInertiasGpu() const;

	cl_mem getCollidablesGpu();
	const struct b3Collidable* getCollidablesCpu() const;
	int getNumCollidablesGpu() const;

	const struct b3SapAabb* getLocalSpaceAabbsCpu() const;

	const struct b3Contact4* getContactsCPU() const;

	cl_mem getContactsGpu();
	int getNumContactsGpu() const;

	cl_mem getAabbLocalSpaceBufferGpu();

	int getNumRigidBodies() const;

	int allocateCollidable();

	int getStatic0Index() const
	{
		return m_static0Index;
	}
	b3Collidable& getCollidableCpu(int collidableIndex);
	const b3Collidable& getCollidableCpu(int collidableIndex) const;

	const b3GpuNarrowPhaseInternalData* getInternalData() const
	{
		return m_data;
	}

	b3GpuNarrowPhaseInternalData* getInternalData()
	{
		return m_data;
	}

	const struct b3SapAabb& getLocalSpaceAabb(int collidableIndex) const;
};

#endif  //B3_GPU_NARROWPHASE_H