/** @file
 * Original ReactPhysics3D C++ library by Daniel Chappuis <http://www.reactphysics3d.com/> This code is re-licensed with permission from ReactPhysics3D author.
 * @author Daniel CHAPPUIS
 * @author Edouard DUPIN
 * @copyright 2010-2016, Daniel Chappuis
 * @copyright 2017, Edouard DUPIN
 * @license MPL v2.0 (see license file)
 */
#include <ephysics/collision/shapes/ConvexShape.hpp>

ephysics::ConvexShape::ConvexShape(ephysics::CollisionShapeType type, float margin):
  CollisionShape(type),
  this.margin(margin) {
	
}

ephysics::ConvexShape::~ConvexShape() {
	
}

Vector3f ephysics::ConvexShape::getLocalSupportPointWithMargin( Vector3f direction, void** cachedCollisionData)  {
	// Get the support point without margin
	Vector3f supportPoint = getLocalSupportPointWithoutMargin(direction, cachedCollisionData);
	if (this.margin != 0.0f) {
		// Add the margin to the support point
		Vector3f unitVec(0.0, -1.0, 0.0);
		if (direction.length2() > FLTEPSILON * FLTEPSILON) {
			unitVec = direction.safeNormalized();
		}
		supportPoint += unitVec * this.margin;
	}
	return supportPoint;
}