var BABYLON;
(function (BABYLON) {
    var OimoJSPlugin = (function () {
        function OimoJSPlugin() {
            this._registeredMeshes = [];
            /**
            * Update the body position according to the mesh position
            * @param mesh
            */
            this.updateBodyPosition = function (mesh) {
                for (var index = 0; index < this._registeredMeshes.length; index++) {
                    var registeredMesh = this._registeredMeshes[index];
                    if (registeredMesh.mesh === mesh || registeredMesh.mesh === mesh.parent) {
                        var body = registeredMesh.body.body;
                        body.setPosition(mesh.position.x, mesh.position.y, mesh.position.z);
                        body.setOrientation(mesh.rotation.x, mesh.rotation.y, mesh.rotation.z);
                        return;
                    }
                }
            };
            this.createLink = function (mesh1, mesh2, pivot1, pivot2, options) {
                var body1 = null, body2 = null;
                for (var index = 0; index < this._registeredMeshes.length; index++) {
                    var registeredMesh = this._registeredMeshes[index];
                    if (registeredMesh.mesh === mesh1) {
                        body1 = registeredMesh.body.body;
                    } else if (registeredMesh.mesh === mesh2) {
                        body2 = registeredMesh.body.body;
                    }
                }
                if (!body1 || !body2) {
                    return false;
                }
                if (!options) {
                    options = {};
                }

                new OIMO.Link({
                    type: options.type,
                    body1: body1,
                    body2: body2,
                    min: options.min,
                    max: options.max,
                    axe1: options.axe1,
                    axe2: options.axe2,
                    pos1: [pivot1.x, pivot1.y, pivot1.z],
                    collision: options.collision,
                    spring: options.spring,
                    world: this.world
                });

                return true;
            };
        }
        OimoJSPlugin.prototype.initialize = function (iterations) {
            this._world = new OIMO.World();
            this._world.clear();
        };

        OimoJSPlugin.prototype.setGravity = function (gravity) {
            this._world.gravity = gravity;
        };

        OimoJSPlugin.prototype.registerMesh = function (mesh, impostor, options) {
            var body = null;
            this.unregisterMesh(mesh);
            mesh.computeWorldMatrix(true);

            switch (impostor) {
                case BABYLON.PhysicsEngine.SphereImpostor:
                    var bsphere = mesh.getBoundingInfo().boundingSphere;
                    var size = bsphere.maximum.subtract(bsphere.minimum).scale(0.5).multiply(mesh.scaling);
                    body = new OIMO.Body({
                        type: 'sphere',
                        size: [size.x],
                        pos: [mesh.position.x, mesh.position.y, mesh.position.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD],
                        move: options.mass != 0,
                        config: [options.mass, options.friction, options.restitution],
                        world: this._world
                    });
                    this._registeredMeshes.push({
                        mesh: mesh,
                        body: body
                    });
                    break;

                case BABYLON.PhysicsEngine.PlaneImpostor:
                case BABYLON.PhysicsEngine.BoxImpostor:
                    var bbox = mesh.getBoundingInfo().boundingBox;
                    size = bbox.extends.scale(2).multiply(mesh.scaling);
                    body = new OIMO.Body({
                        type: 'box',
                        size: [size.x || 0.1, size.y || 0.1, size.z || 0.1],
                        pos: [mesh.position.x, mesh.position.y, mesh.position.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD],
                        move: options.mass != 0,
                        config: [options.mass, options.friction, options.restitution],
                        world: this._world
                    });

                    this._registeredMeshes.push({
                        mesh: mesh,
                        body: body
                    });
                    break;
            }
            return body;
        };

        OimoJSPlugin.prototype.registerMeshesAsCompound = function (parts, options) {
            var types = [], sizes = [], positions = [], rotations = [];

            var initialMesh = parts[0].mesh;

            for (var index = 0; index < parts.length; index++) {
                var part = parts[index];
                var bodyParameters = this._createBodyAsCompound(part, options, initialMesh);
                types.push(bodyParameters.type);
                sizes.push.apply(sizes, bodyParameters.size);
                positions.push.apply(positions, bodyParameters.pos);
                rotations.push.apply(rotations, bodyParameters.rot);
            }

            var body = new OIMO.Body({
                type: types,
                size: sizes,
                pos: positions,
                rot: rotations,
                move: options.mass != 0,
                config: [options.mass, options.friction, options.restitution],
                world: this._world
            });

            this._registeredMeshes.push({
                mesh: initialMesh,
                body: body
            });

            return body;
        };

        OimoJSPlugin.prototype._createBodyAsCompound = function (part, options, initialMesh) {
            var bodyParameters = null;
            var mesh = part.mesh;

            switch (part.impostor) {
                case BABYLON.PhysicsEngine.SphereImpostor:
                    var bsphere = mesh.getBoundingInfo().boundingSphere;
                    var size = bsphere.maximum.subtract(bsphere.minimum).scale(0.5).multiply(mesh.scaling);
                    bodyParameters = {
                        type: 'sphere',
                        /* bug with oimo : sphere needs 3 sizes in this case */
                        size: [size.x, -1, -1],
                        pos: [mesh.position.x, mesh.position.y, mesh.position.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD]
                    };
                    break;

                case BABYLON.PhysicsEngine.PlaneImpostor:
                case BABYLON.PhysicsEngine.BoxImpostor:
                    var bbox = part.mesh.getBoundingInfo().boundingBox;
                    size = bbox.extends.scale(2).multiply(mesh.scaling);
                    var relativePosition = mesh.position;
                    bodyParameters = {
                        type: 'box',
                        size: [size.x || 0.1, size.y || 0.1, size.z || 0.1],
                        pos: [relativePosition.x, relativePosition.y, relativePosition.z],
                        rot: [mesh.rotation.x / OIMO.TO_RAD, mesh.rotation.y / OIMO.TO_RAD, mesh.rotation.z / OIMO.TO_RAD]
                    };
                    break;
            }

            return bodyParameters;
        };

        OimoJSPlugin.prototype.unregisterMesh = function (mesh) {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.mesh === mesh || registeredMesh.mesh === mesh.parent) {
                    if (registeredMesh.body) {
                        this._world.removeRigidBody(registeredMesh.body.body);
                        this._unbindBody(registeredMesh.body);
                    }
                    this._registeredMeshes.splice(index, 1);
                    return;
                }
            }
        };

        OimoJSPlugin.prototype._unbindBody = function (body) {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.body === body) {
                    registeredMesh.body = null;
                }
            }
        };

        OimoJSPlugin.prototype.applyImpulse = function (mesh, force, contactPoint) {
            for (var index = 0; index < this._registeredMeshes.length; index++) {
                var registeredMesh = this._registeredMeshes[index];
                if (registeredMesh.mesh === mesh || registeredMesh.mesh === mesh.parent) {
                    registeredMesh.body.body.applyImpulse(contactPoint.scale(OIMO.INV_SCALE), force.scale(OIMO.INV_SCALE * 0.01));
                    return;
                }
            }
        };

        OimoJSPlugin.prototype.dispose = function () {
            this._world.clear();
            while (this._registeredMeshes.length) {
                this.unregisterMesh(this._registeredMeshes[0].mesh);
            }
        };

        OimoJSPlugin.prototype.isSupported = function () {
            return OIMO !== undefined;
        };

        OimoJSPlugin.prototype._getLastShape = function (body) {
            var lastShape = body.shapes;
            while (lastShape.next) {
                lastShape = lastShape.next;
            }
            return lastShape;
        };

        OimoJSPlugin.prototype.runOneStep = function (time) {
            this._world.step();

            // Update the position of all registered meshes
            var i = this._registeredMeshes.length;
            var m;
            while (i--) {
                var body = this._registeredMeshes[i].body.body;
                var mesh = this._registeredMeshes[i].mesh;
                if (!body.sleeping) {
                    if (body.shapes.next) {
                        var parentShape = this._getLastShape(body);
                        mesh.position.x = parentShape.position.x * OIMO.WORLD_SCALE;
                        mesh.position.y = parentShape.position.y * OIMO.WORLD_SCALE;
                        mesh.position.z = parentShape.position.z * OIMO.WORLD_SCALE;
                        var mtx = BABYLON.Matrix.FromArray(body.getMatrix());

                        if (!mesh.rotationQuaternion) {
                            mesh.rotationQuaternion = new BABYLON.Quaternion(0, 0, 0, 1);
                        }
                        mesh.rotationQuaternion.fromRotationMatrix(mtx);
                    } else {
                        m = body.getMatrix();
                        mtx = BABYLON.Matrix.FromArray(m);
                        mesh.position.x = mtx.m[12];
                        mesh.position.y = mtx.m[13];
                        mesh.position.z = mtx.m[14];

                        if (!mesh.rotationQuaternion) {
                            mesh.rotationQuaternion = new BABYLON.Quaternion(0, 0, 0, 1);
                        }
                        mesh.rotationQuaternion.fromRotationMatrix(mtx);
                    }
                }
            }
        };
        return OimoJSPlugin;
    })();
    BABYLON.OimoJSPlugin = OimoJSPlugin;
})(BABYLON || (BABYLON = {}));
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