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use crate::math::{Isometry, Point, Real, Vector};
use crate::shape::{Cuboid, SupportMap};

use na::Unit;

// NOTE: this only works with cuboid on the rhs because it has its symmetry origin at zero
// (therefore we can check only one normal direction).
/// Computes the separation between a point and a cuboid, along the given direction `normal1`.
pub fn point_cuboid_find_local_separating_normal_oneway(
    point1: Point<Real>,
    normal1: Option<Unit<Vector<Real>>>,
    shape2: &Cuboid,
    pos12: &Isometry<Real>,
) -> (Real, Vector<Real>) {
    let mut best_separation = -Real::MAX;
    let mut best_dir = Vector::zeros();

    if let Some(normal1) = normal1 {
        let axis1 = if (pos12.translation.vector - point1.coords).dot(&normal1) >= 0.0 {
            normal1
        } else {
            -normal1
        };

        let pt2 = shape2.support_point_toward(pos12, &-axis1);
        let separation = (pt2 - point1).dot(&axis1);

        if separation > best_separation {
            best_separation = separation;
            best_dir = *axis1;
        }
    }

    (best_separation, best_dir)
}