/**************************************************************************/
/*  joint_limitation_3d.cpp                                               */
/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#include "joint_limitation_3d.h"

Quaternion JointLimitation3D::make_space(const Vector3 &p_local_forward_vector, const Vector3 &p_local_right_vector, const Quaternion &p_rotation_offset) const {
	const double ALMOST_ONE = 1.0 - CMP_EPSILON;
	// The default is to interpret the forward vector as the +Y axis.
	Vector3 axis_y = p_local_forward_vector.normalized();
	Vector3 axis_x = p_local_right_vector.normalized();
	if (axis_x.is_zero_approx() || Math::abs(axis_x.dot(axis_y)) > ALMOST_ONE) {
		return (Quaternion(Vector3(0, 1, 0), axis_y) * p_rotation_offset.normalized()).normalized();
	}
	// Prior X axis.
	Vector3 axis_z = axis_x.cross(axis_y);
	axis_z.normalize();
	axis_x = axis_y.cross(axis_z);
	axis_x.normalize();
	return (Basis(axis_x, axis_y, axis_z).get_rotation_quaternion() * p_rotation_offset.normalized()).normalized();
}

Vector3 JointLimitation3D::_solve(const Vector3 &p_direction) const {
	return p_direction;
}

Vector3 JointLimitation3D::solve(const Vector3 &p_local_forward_vector, const Vector3 &p_local_right_vector, const Quaternion &p_rotation_offset, const Vector3 &p_local_current_vector) const {
	Quaternion space = make_space(p_local_forward_vector, p_local_right_vector, p_rotation_offset);
	Vector3 dir = p_local_current_vector.normalized();
	return space.xform(_solve(space.xform_inv(dir)));
}

#ifdef TOOLS_ENABLED
void JointLimitation3D::draw_shape(Ref<SurfaceTool> &p_surface_tool, const Transform3D &p_transform, float p_bone_length, const Color &p_color) const {
	//
}
#endif // TOOLS_ENABLED
