#include "body.h"
#include "../lib/geometry.h"
#include <assert.h>

Box phy_aabb_from_body(phy_body *body)
{
	Box aabb;
	switch(body->shape)
	{
		case PHY_SHAPE_SPHERE: {
			aabb.min = body->position - body->sphere.radius * v3{1,1,1};
			aabb.max = body->position + body->sphere.radius * v3{1,1,1};
		} break;
		case PHY_SHAPE_BOX: {
			v3 box[8]; build_cube_vertices(box);
			m3 rotoscale = M3(rotation_v3(body->rotation) * scale_v3(body->box.dimensions));
			for(u32 i = 0; i < 8; i++)
				box[i] = body->position + rotoscale * box[i];

			aabb = box_from_point_cloud(box, 8);
		} break;
		case PHY_SHAPE_MESH: {
			assert(false && "Yet to be implemented");
		} break;
		default: { assert(false && "Unknown shape"); }
	}
	return aabb;
}