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#ifndef SNIPPET_VEHICLE_SCENEQUERY_H
#define SNIPPET_VEHICLE_SCENEQUERY_H

#include "PxPhysicsAPI.h"

namespace snippetvehicle
{

using namespace physx;

enum
{
	DRIVABLE_SURFACE = 0xffff0000,
	UNDRIVABLE_SURFACE = 0x0000ffff
};

void setupDrivableSurface(PxFilterData& filterData);

void setupNonDrivableSurface(PxFilterData& filterData);


PxQueryHitType::Enum WheelSceneQueryPreFilterBlocking
(PxFilterData filterData0, PxFilterData filterData1,
 const void* constantBlock, PxU32 constantBlockSize,
 PxHitFlags& queryFlags);

PxQueryHitType::Enum WheelSceneQueryPostFilterBlocking
(PxFilterData queryFilterData, PxFilterData objectFilterData,
 const void* constantBlock, PxU32 constantBlockSize,
 const PxQueryHit& hit);

PxQueryHitType::Enum WheelSceneQueryPreFilterNonBlocking
(PxFilterData filterData0, PxFilterData filterData1,
const void* constantBlock, PxU32 constantBlockSize,
PxHitFlags& queryFlags);

PxQueryHitType::Enum WheelSceneQueryPostFilterNonBlocking
(PxFilterData queryFilterData, PxFilterData objectFilterData,
const void* constantBlock, PxU32 constantBlockSize,
const PxQueryHit& hit);


//Data structure for quick setup of scene queries for suspension queries.
class VehicleSceneQueryData
{
public:
	VehicleSceneQueryData();
	~VehicleSceneQueryData();

	//Allocate scene query data for up to maxNumVehicles and up to maxNumWheelsPerVehicle with numVehiclesInBatch per batch query.
	static VehicleSceneQueryData* allocate
		(const PxU32 maxNumVehicles, const PxU32 maxNumWheelsPerVehicle, const PxU32 maxNumHitPointsPerWheel, const PxU32 numVehiclesInBatch,
		 PxBatchQueryPreFilterShader preFilterShader, PxBatchQueryPostFilterShader postFilterShader, 
		 PxAllocatorCallback& allocator);

	//Free allocated buffers.
	void free(PxAllocatorCallback& allocator);

	//Create a PxBatchQuery instance that will be used for a single specified batch.
	static PxBatchQuery* setUpBatchedSceneQuery(const PxU32 batchId, const VehicleSceneQueryData& vehicleSceneQueryData, PxScene* scene);

	//Return an array of scene query results for a single specified batch.
	PxRaycastQueryResult* getRaycastQueryResultBuffer(const PxU32 batchId); 

	//Return an array of scene query results for a single specified batch.
	PxSweepQueryResult* getSweepQueryResultBuffer(const PxU32 batchId); 

	//Get the number of scene query results that have been allocated for a single batch.
	PxU32 getQueryResultBufferSize() const; 

private:

	//Number of queries per batch
	PxU32 mNumQueriesPerBatch;

	//Number of hit results per query
	PxU32 mNumHitResultsPerQuery;

	//One result for each wheel.
	PxRaycastQueryResult* mRaycastResults;
	PxSweepQueryResult* mSweepResults;

	//One hit for each wheel.
	PxRaycastHit* mRaycastHitBuffer;
	PxSweepHit* mSweepHitBuffer;

	//Filter shader used to filter drivable and non-drivable surfaces
	PxBatchQueryPreFilterShader mPreFilterShader;

	//Filter shader used to reject hit shapes that initially overlap sweeps.
	PxBatchQueryPostFilterShader mPostFilterShader;

};

} // namespace snippetvehicle

#endif //SNIPPET_VEHICLE_SCENEQUERY_H