/**************************************************************************/
/*  joint_3d_gizmo_plugin.cpp                                             */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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/**************************************************************************/

#include "joint_3d_gizmo_plugin.h"

#include "editor/editor_node.h"
#include "editor/editor_settings.h"
#include "editor/plugins/node_3d_editor_plugin.h"
#include "scene/3d/joint_3d.h"

#define BODY_A_RADIUS 0.25
#define BODY_B_RADIUS 0.27

Basis JointGizmosDrawer::look_body(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
	const Vector3 &p_eye(p_joint_transform.origin);
	const Vector3 &p_target(p_body_transform.origin);

	Vector3 v_x, v_y, v_z;

	// Look the body with X
	v_x = p_target - p_eye;
	v_x.normalize();

	v_z = v_x.cross(Vector3(0, 1, 0));
	v_z.normalize();

	v_y = v_z.cross(v_x);
	v_y.normalize();

	Basis base;
	base.set_columns(v_x, v_y, v_z);

	// Absorb current joint transform
	base = p_joint_transform.basis.inverse() * base;

	return base;
}

Basis JointGizmosDrawer::look_body_toward(Vector3::Axis p_axis, const Transform3D &joint_transform, const Transform3D &body_transform) {
	switch (p_axis) {
		case Vector3::AXIS_X:
			return look_body_toward_x(joint_transform, body_transform);
		case Vector3::AXIS_Y:
			return look_body_toward_y(joint_transform, body_transform);
		case Vector3::AXIS_Z:
			return look_body_toward_z(joint_transform, body_transform);
		default:
			return Basis();
	}
}

Basis JointGizmosDrawer::look_body_toward_x(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
	const Vector3 &p_eye(p_joint_transform.origin);
	const Vector3 &p_target(p_body_transform.origin);

	const Vector3 p_front(p_joint_transform.basis.get_column(0));

	Vector3 v_x, v_y, v_z;

	// Look the body with X
	v_x = p_target - p_eye;
	v_x.normalize();

	v_y = p_front.cross(v_x);
	v_y.normalize();

	v_z = v_y.cross(p_front);
	v_z.normalize();

	// Clamp X to FRONT axis
	v_x = p_front;
	v_x.normalize();

	Basis base;
	base.set_columns(v_x, v_y, v_z);

	// Absorb current joint transform
	base = p_joint_transform.basis.inverse() * base;

	return base;
}

Basis JointGizmosDrawer::look_body_toward_y(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
	const Vector3 &p_eye(p_joint_transform.origin);
	const Vector3 &p_target(p_body_transform.origin);

	const Vector3 p_up(p_joint_transform.basis.get_column(1));

	Vector3 v_x, v_y, v_z;

	// Look the body with X
	v_x = p_target - p_eye;
	v_x.normalize();

	v_z = v_x.cross(p_up);
	v_z.normalize();

	v_x = p_up.cross(v_z);
	v_x.normalize();

	// Clamp Y to UP axis
	v_y = p_up;
	v_y.normalize();

	Basis base;
	base.set_columns(v_x, v_y, v_z);

	// Absorb current joint transform
	base = p_joint_transform.basis.inverse() * base;

	return base;
}

Basis JointGizmosDrawer::look_body_toward_z(const Transform3D &p_joint_transform, const Transform3D &p_body_transform) {
	const Vector3 &p_eye(p_joint_transform.origin);
	const Vector3 &p_target(p_body_transform.origin);

	const Vector3 p_lateral(p_joint_transform.basis.get_column(2));

	Vector3 v_x, v_y, v_z;

	// Look the body with X
	v_x = p_target - p_eye;
	v_x.normalize();

	v_z = p_lateral;
	v_z.normalize();

	v_y = v_z.cross(v_x);
	v_y.normalize();

	// Clamp X to Z axis
	v_x = v_y.cross(v_z);
	v_x.normalize();

	Basis base;
	base.set_columns(v_x, v_y, v_z);

	// Absorb current joint transform
	base = p_joint_transform.basis.inverse() * base;

	return base;
}

void JointGizmosDrawer::draw_circle(Vector3::Axis p_axis, real_t p_radius, const Transform3D &p_offset, const Basis &p_base, real_t p_limit_lower, real_t p_limit_upper, Vector<Vector3> &r_points, bool p_inverse) {
	if (p_limit_lower == p_limit_upper) {
		r_points.push_back(p_offset.translated_local(Vector3()).origin);
		r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(0.5, 0, 0))).origin);

	} else {
		if (p_limit_lower > p_limit_upper) {
			p_limit_lower = -Math_PI;
			p_limit_upper = Math_PI;
		}

		const int points = 32;

		for (int i = 0; i < points; i++) {
			real_t s = p_limit_lower + i * (p_limit_upper - p_limit_lower) / points;
			real_t n = p_limit_lower + (i + 1) * (p_limit_upper - p_limit_lower) / points;

			Vector3 from;
			Vector3 to;
			switch (p_axis) {
				case Vector3::AXIS_X:
					if (p_inverse) {
						from = p_base.xform(Vector3(0, Math::sin(s), Math::cos(s))) * p_radius;
						to = p_base.xform(Vector3(0, Math::sin(n), Math::cos(n))) * p_radius;
					} else {
						from = p_base.xform(Vector3(0, -Math::sin(s), Math::cos(s))) * p_radius;
						to = p_base.xform(Vector3(0, -Math::sin(n), Math::cos(n))) * p_radius;
					}
					break;
				case Vector3::AXIS_Y:
					if (p_inverse) {
						from = p_base.xform(Vector3(Math::cos(s), 0, -Math::sin(s))) * p_radius;
						to = p_base.xform(Vector3(Math::cos(n), 0, -Math::sin(n))) * p_radius;
					} else {
						from = p_base.xform(Vector3(Math::cos(s), 0, Math::sin(s))) * p_radius;
						to = p_base.xform(Vector3(Math::cos(n), 0, Math::sin(n))) * p_radius;
					}
					break;
				case Vector3::AXIS_Z:
					from = p_base.xform(Vector3(Math::cos(s), Math::sin(s), 0)) * p_radius;
					to = p_base.xform(Vector3(Math::cos(n), Math::sin(n), 0)) * p_radius;
					break;
			}

			if (i == points - 1) {
				r_points.push_back(p_offset.translated_local(to).origin);
				r_points.push_back(p_offset.translated_local(Vector3()).origin);
			}
			if (i == 0) {
				r_points.push_back(p_offset.translated_local(from).origin);
				r_points.push_back(p_offset.translated_local(Vector3()).origin);
			}

			r_points.push_back(p_offset.translated_local(from).origin);
			r_points.push_back(p_offset.translated_local(to).origin);
		}

		r_points.push_back(p_offset.translated_local(Vector3(0, p_radius * 1.5, 0)).origin);
		r_points.push_back(p_offset.translated_local(Vector3()).origin);
	}
}

void JointGizmosDrawer::draw_cone(const Transform3D &p_offset, const Basis &p_base, real_t p_swing, real_t p_twist, Vector<Vector3> &r_points) {
	float r = 1.0;
	float w = r * Math::sin(p_swing);
	float d = r * Math::cos(p_swing);

	//swing
	for (int i = 0; i < 360; i += 10) {
		float ra = Math::deg_to_rad((float)i);
		float rb = Math::deg_to_rad((float)i + 10);
		Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * w;
		Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * w;

		r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(d, a.x, a.y))).origin);
		r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(d, b.x, b.y))).origin);

		if (i % 90 == 0) {
			r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(d, a.x, a.y))).origin);
			r_points.push_back(p_offset.translated_local(p_base.xform(Vector3())).origin);
		}
	}

	r_points.push_back(p_offset.translated_local(p_base.xform(Vector3())).origin);
	r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(1, 0, 0))).origin);

	/// Twist
	float ts = Math::rad_to_deg(p_twist);
	ts = MIN(ts, 720);

	for (int i = 0; i < int(ts); i += 5) {
		float ra = Math::deg_to_rad((float)i);
		float rb = Math::deg_to_rad((float)i + 5);
		float c = i / 720.0;
		float cn = (i + 5) / 720.0;
		Point2 a = Vector2(Math::sin(ra), Math::cos(ra)) * w * c;
		Point2 b = Vector2(Math::sin(rb), Math::cos(rb)) * w * cn;

		r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(c, a.x, a.y))).origin);
		r_points.push_back(p_offset.translated_local(p_base.xform(Vector3(cn, b.x, b.y))).origin);
	}
}

////

Joint3DGizmoPlugin::Joint3DGizmoPlugin() {
	create_material("joint_material", EDITOR_GET("editors/3d_gizmos/gizmo_colors/joint"));
	create_material("joint_body_a_material", EDITOR_DEF_RST("editors/3d_gizmos/gizmo_colors/joint_body_a", Color(0.6, 0.8, 1)));
	create_material("joint_body_b_material", EDITOR_DEF_RST("editors/3d_gizmos/gizmo_colors/joint_body_b", Color(0.6, 0.9, 1)));

	update_timer = memnew(Timer);
	update_timer->set_name("JointGizmoUpdateTimer");
	update_timer->set_wait_time(1.0 / 120.0);
	update_timer->connect("timeout", callable_mp(this, &Joint3DGizmoPlugin::incremental_update_gizmos));
	update_timer->set_autostart(true);
	EditorNode::get_singleton()->call_deferred(SNAME("add_child"), update_timer);
}

void Joint3DGizmoPlugin::incremental_update_gizmos() {
	if (!current_gizmos.is_empty()) {
		update_idx++;
		update_idx = update_idx % current_gizmos.size();
		redraw(current_gizmos[update_idx]);
	}
}

bool Joint3DGizmoPlugin::has_gizmo(Node3D *p_spatial) {
	return Object::cast_to<Joint3D>(p_spatial) != nullptr;
}

String Joint3DGizmoPlugin::get_gizmo_name() const {
	return "Joint3D";
}

int Joint3DGizmoPlugin::get_priority() const {
	return -1;
}

void Joint3DGizmoPlugin::redraw(EditorNode3DGizmo *p_gizmo) {
	Joint3D *joint = Object::cast_to<Joint3D>(p_gizmo->get_node_3d());

	p_gizmo->clear();

	Node3D *node_body_a = nullptr;
	if (!joint->get_node_a().is_empty()) {
		node_body_a = Object::cast_to<Node3D>(joint->get_node(joint->get_node_a()));
	}

	Node3D *node_body_b = nullptr;
	if (!joint->get_node_b().is_empty()) {
		node_body_b = Object::cast_to<Node3D>(joint->get_node(joint->get_node_b()));
	}

	if (!node_body_a && !node_body_b) {
		return;
	}

	Ref<Material> common_material = get_material("joint_material", p_gizmo);
	Ref<Material> body_a_material = get_material("joint_body_a_material", p_gizmo);
	Ref<Material> body_b_material = get_material("joint_body_b_material", p_gizmo);

	Vector<Vector3> points;
	Vector<Vector3> body_a_points;
	Vector<Vector3> body_b_points;

	if (Object::cast_to<PinJoint3D>(joint)) {
		CreatePinJointGizmo(Transform3D(), points);
		p_gizmo->add_collision_segments(points);
		p_gizmo->add_lines(points, common_material);
	}

	HingeJoint3D *hinge = Object::cast_to<HingeJoint3D>(joint);
	if (hinge) {
		CreateHingeJointGizmo(
				Transform3D(),
				hinge->get_global_transform(),
				node_body_a ? node_body_a->get_global_transform() : Transform3D(),
				node_body_b ? node_body_b->get_global_transform() : Transform3D(),
				hinge->get_param(HingeJoint3D::PARAM_LIMIT_LOWER),
				hinge->get_param(HingeJoint3D::PARAM_LIMIT_UPPER),
				hinge->get_flag(HingeJoint3D::FLAG_USE_LIMIT),
				points,
				node_body_a ? &body_a_points : nullptr,
				node_body_b ? &body_b_points : nullptr);

		p_gizmo->add_collision_segments(points);
		p_gizmo->add_collision_segments(body_a_points);
		p_gizmo->add_collision_segments(body_b_points);

		p_gizmo->add_lines(points, common_material);
		p_gizmo->add_lines(body_a_points, body_a_material);
		p_gizmo->add_lines(body_b_points, body_b_material);
	}

	SliderJoint3D *slider = Object::cast_to<SliderJoint3D>(joint);
	if (slider) {
		CreateSliderJointGizmo(
				Transform3D(),
				slider->get_global_transform(),
				node_body_a ? node_body_a->get_global_transform() : Transform3D(),
				node_body_b ? node_body_b->get_global_transform() : Transform3D(),
				slider->get_param(SliderJoint3D::PARAM_ANGULAR_LIMIT_LOWER),
				slider->get_param(SliderJoint3D::PARAM_ANGULAR_LIMIT_UPPER),
				slider->get_param(SliderJoint3D::PARAM_LINEAR_LIMIT_LOWER),
				slider->get_param(SliderJoint3D::PARAM_LINEAR_LIMIT_UPPER),
				points,
				node_body_a ? &body_a_points : nullptr,
				node_body_b ? &body_b_points : nullptr);

		p_gizmo->add_collision_segments(points);
		p_gizmo->add_collision_segments(body_a_points);
		p_gizmo->add_collision_segments(body_b_points);

		p_gizmo->add_lines(points, common_material);
		p_gizmo->add_lines(body_a_points, body_a_material);
		p_gizmo->add_lines(body_b_points, body_b_material);
	}

	ConeTwistJoint3D *cone = Object::cast_to<ConeTwistJoint3D>(joint);
	if (cone) {
		CreateConeTwistJointGizmo(
				Transform3D(),
				cone->get_global_transform(),
				node_body_a ? node_body_a->get_global_transform() : Transform3D(),
				node_body_b ? node_body_b->get_global_transform() : Transform3D(),
				cone->get_param(ConeTwistJoint3D::PARAM_SWING_SPAN),
				cone->get_param(ConeTwistJoint3D::PARAM_TWIST_SPAN),
				node_body_a ? &body_a_points : nullptr,
				node_body_b ? &body_b_points : nullptr);

		p_gizmo->add_collision_segments(body_a_points);
		p_gizmo->add_collision_segments(body_b_points);

		p_gizmo->add_lines(body_a_points, body_a_material);
		p_gizmo->add_lines(body_b_points, body_b_material);
	}

	Generic6DOFJoint3D *gen = Object::cast_to<Generic6DOFJoint3D>(joint);
	if (gen) {
		CreateGeneric6DOFJointGizmo(
				Transform3D(),
				gen->get_global_transform(),
				node_body_a ? node_body_a->get_global_transform() : Transform3D(),
				node_body_b ? node_body_b->get_global_transform() : Transform3D(),

				gen->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT),
				gen->get_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT),
				gen->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_LOWER_LIMIT),
				gen->get_param_x(Generic6DOFJoint3D::PARAM_LINEAR_UPPER_LIMIT),
				gen->get_flag_x(Generic6DOFJoint3D::FLAG_ENABLE_ANGULAR_LIMIT),
				gen->get_flag_x(Generic6DOFJoint3D::FLAG_ENABLE_LINEAR_LIMIT),

				gen->get_param_y(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT),
				gen->get_param_y(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT),
				gen->get_param_y(Generic6DOFJoint3D::PARAM_LINEAR_LOWER_LIMIT),
				gen->get_param_y(Generic6DOFJoint3D::PARAM_LINEAR_UPPER_LIMIT),
				gen->get_flag_y(Generic6DOFJoint3D::FLAG_ENABLE_ANGULAR_LIMIT),
				gen->get_flag_y(Generic6DOFJoint3D::FLAG_ENABLE_LINEAR_LIMIT),

				gen->get_param_z(Generic6DOFJoint3D::PARAM_ANGULAR_LOWER_LIMIT),
				gen->get_param_z(Generic6DOFJoint3D::PARAM_ANGULAR_UPPER_LIMIT),
				gen->get_param_z(Generic6DOFJoint3D::PARAM_LINEAR_LOWER_LIMIT),
				gen->get_param_z(Generic6DOFJoint3D::PARAM_LINEAR_UPPER_LIMIT),
				gen->get_flag_z(Generic6DOFJoint3D::FLAG_ENABLE_ANGULAR_LIMIT),
				gen->get_flag_z(Generic6DOFJoint3D::FLAG_ENABLE_LINEAR_LIMIT),

				points,
				node_body_a ? &body_a_points : nullptr,
				node_body_a ? &body_b_points : nullptr);

		p_gizmo->add_collision_segments(points);
		p_gizmo->add_collision_segments(body_a_points);
		p_gizmo->add_collision_segments(body_b_points);

		p_gizmo->add_lines(points, common_material);
		p_gizmo->add_lines(body_a_points, body_a_material);
		p_gizmo->add_lines(body_b_points, body_b_material);
	}
}

void Joint3DGizmoPlugin::CreatePinJointGizmo(const Transform3D &p_offset, Vector<Vector3> &r_cursor_points) {
	float cs = 0.25;

	r_cursor_points.push_back(p_offset.translated_local(Vector3(+cs, 0, 0)).origin);
	r_cursor_points.push_back(p_offset.translated_local(Vector3(-cs, 0, 0)).origin);
	r_cursor_points.push_back(p_offset.translated_local(Vector3(0, +cs, 0)).origin);
	r_cursor_points.push_back(p_offset.translated_local(Vector3(0, -cs, 0)).origin);
	r_cursor_points.push_back(p_offset.translated_local(Vector3(0, 0, +cs)).origin);
	r_cursor_points.push_back(p_offset.translated_local(Vector3(0, 0, -cs)).origin);
}

void Joint3DGizmoPlugin::CreateHingeJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_limit_lower, real_t p_limit_upper, bool p_use_limit, Vector<Vector3> &r_common_points, Vector<Vector3> *r_body_a_points, Vector<Vector3> *r_body_b_points) {
	r_common_points.push_back(p_offset.translated_local(Vector3(0, 0, 0.5)).origin);
	r_common_points.push_back(p_offset.translated_local(Vector3(0, 0, -0.5)).origin);

	if (!p_use_limit) {
		p_limit_upper = -1;
		p_limit_lower = 0;
	}

	if (r_body_a_points) {
		JointGizmosDrawer::draw_circle(Vector3::AXIS_Z,
				BODY_A_RADIUS,
				p_offset,
				JointGizmosDrawer::look_body_toward_z(p_trs_joint, p_trs_body_a),
				p_limit_lower,
				p_limit_upper,
				*r_body_a_points);
	}

	if (r_body_b_points) {
		JointGizmosDrawer::draw_circle(Vector3::AXIS_Z,
				BODY_B_RADIUS,
				p_offset,
				JointGizmosDrawer::look_body_toward_z(p_trs_joint, p_trs_body_b),
				p_limit_lower,
				p_limit_upper,
				*r_body_b_points);
	}
}

void Joint3DGizmoPlugin::CreateSliderJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_angular_limit_lower, real_t p_angular_limit_upper, real_t p_linear_limit_lower, real_t p_linear_limit_upper, Vector<Vector3> &r_points, Vector<Vector3> *r_body_a_points, Vector<Vector3> *r_body_b_points) {
	p_linear_limit_lower = -p_linear_limit_lower;
	p_linear_limit_upper = -p_linear_limit_upper;

	float cs = 0.25;
	r_points.push_back(p_offset.translated_local(Vector3(0, 0, 0.5)).origin);
	r_points.push_back(p_offset.translated_local(Vector3(0, 0, -0.5)).origin);

	if (p_linear_limit_lower >= p_linear_limit_upper) {
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, 0, 0)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, 0, 0)).origin);

		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, -cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, -cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, cs, -cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_upper, -cs, -cs)).origin);

		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, -cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, -cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, cs, -cs)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(p_linear_limit_lower, -cs, -cs)).origin);

	} else {
		r_points.push_back(p_offset.translated_local(Vector3(+cs * 2, 0, 0)).origin);
		r_points.push_back(p_offset.translated_local(Vector3(-cs * 2, 0, 0)).origin);
	}

	if (r_body_a_points) {
		JointGizmosDrawer::draw_circle(
				Vector3::AXIS_X,
				BODY_A_RADIUS,
				p_offset,
				JointGizmosDrawer::look_body_toward(Vector3::AXIS_X, p_trs_joint, p_trs_body_a),
				p_angular_limit_lower,
				p_angular_limit_upper,
				*r_body_a_points);
	}

	if (r_body_b_points) {
		JointGizmosDrawer::draw_circle(
				Vector3::AXIS_X,
				BODY_B_RADIUS,
				p_offset,
				JointGizmosDrawer::look_body_toward(Vector3::AXIS_X, p_trs_joint, p_trs_body_b),
				p_angular_limit_lower,
				p_angular_limit_upper,
				*r_body_b_points,
				true);
	}
}

void Joint3DGizmoPlugin::CreateConeTwistJointGizmo(const Transform3D &p_offset, const Transform3D &p_trs_joint, const Transform3D &p_trs_body_a, const Transform3D &p_trs_body_b, real_t p_swing, real_t p_twist, Vector<Vector3> *r_body_a_points, Vector<Vector3> *r_body_b_points) {
	if (r_body_a_points) {
		JointGizmosDrawer::draw_cone(
				p_offset,
				JointGizmosDrawer::look_body(p_trs_joint, p_trs_body_a),
				p_swing,
				p_twist,
				*r_body_a_points);
	}

	if (r_body_b_points) {
		JointGizmosDrawer::draw_cone(
				p_offset,
				JointGizmosDrawer::look_body(p_trs_joint, p_trs_body_b),
				p_swing,
				p_twist,
				*r_body_b_points);
	}
}

void Joint3DGizmoPlugin::CreateGeneric6DOFJointGizmo(
		const Transform3D &p_offset,
		const Transform3D &p_trs_joint,
		const Transform3D &p_trs_body_a,
		const Transform3D &p_trs_body_b,
		real_t p_angular_limit_lower_x,
		real_t p_angular_limit_upper_x,
		real_t p_linear_limit_lower_x,
		real_t p_linear_limit_upper_x,
		bool p_enable_angular_limit_x,
		bool p_enable_linear_limit_x,
		real_t p_angular_limit_lower_y,
		real_t p_angular_limit_upper_y,
		real_t p_linear_limit_lower_y,
		real_t p_linear_limit_upper_y,
		bool p_enable_angular_limit_y,
		bool p_enable_linear_limit_y,
		real_t p_angular_limit_lower_z,
		real_t p_angular_limit_upper_z,
		real_t p_linear_limit_lower_z,
		real_t p_linear_limit_upper_z,
		bool p_enable_angular_limit_z,
		bool p_enable_linear_limit_z,
		Vector<Vector3> &r_points,
		Vector<Vector3> *r_body_a_points,
		Vector<Vector3> *r_body_b_points) {
	float cs = 0.25;

	for (int ax = 0; ax < 3; ax++) {
		float ll = 0;
		float ul = 0;
		float lll = 0;
		float lul = 0;

		int a1 = 0;
		int a2 = 0;
		int a3 = 0;
		bool enable_ang = false;
		bool enable_lin = false;

		switch (ax) {
			case 0:
				ll = p_angular_limit_lower_x;
				ul = p_angular_limit_upper_x;
				lll = -p_linear_limit_lower_x;
				lul = -p_linear_limit_upper_x;
				enable_ang = p_enable_angular_limit_x;
				enable_lin = p_enable_linear_limit_x;
				a1 = 0;
				a2 = 1;
				a3 = 2;
				break;
			case 1:
				ll = p_angular_limit_lower_y;
				ul = p_angular_limit_upper_y;
				lll = -p_linear_limit_lower_y;
				lul = -p_linear_limit_upper_y;
				enable_ang = p_enable_angular_limit_y;
				enable_lin = p_enable_linear_limit_y;
				a1 = 1;
				a2 = 2;
				a3 = 0;
				break;
			case 2:
				ll = p_angular_limit_lower_z;
				ul = p_angular_limit_upper_z;
				lll = -p_linear_limit_lower_z;
				lul = -p_linear_limit_upper_z;
				enable_ang = p_enable_angular_limit_z;
				enable_lin = p_enable_linear_limit_z;
				a1 = 2;
				a2 = 0;
				a3 = 1;
				break;
		}

#define ADD_VTX(x, y, z)                                         \
	{                                                            \
		Vector3 v;                                               \
		v[a1] = (x);                                             \
		v[a2] = (y);                                             \
		v[a3] = (z);                                             \
		r_points.push_back(p_offset.translated_local(v).origin); \
	}

		if (enable_lin && lll >= lul) {
			ADD_VTX(lul, 0, 0);
			ADD_VTX(lll, 0, 0);

			ADD_VTX(lul, -cs, -cs);
			ADD_VTX(lul, -cs, cs);
			ADD_VTX(lul, -cs, cs);
			ADD_VTX(lul, cs, cs);
			ADD_VTX(lul, cs, cs);
			ADD_VTX(lul, cs, -cs);
			ADD_VTX(lul, cs, -cs);
			ADD_VTX(lul, -cs, -cs);

			ADD_VTX(lll, -cs, -cs);
			ADD_VTX(lll, -cs, cs);
			ADD_VTX(lll, -cs, cs);
			ADD_VTX(lll, cs, cs);
			ADD_VTX(lll, cs, cs);
			ADD_VTX(lll, cs, -cs);
			ADD_VTX(lll, cs, -cs);
			ADD_VTX(lll, -cs, -cs);

		} else {
			ADD_VTX(+cs * 2, 0, 0);
			ADD_VTX(-cs * 2, 0, 0);
		}

		if (!enable_ang) {
			ll = 0;
			ul = -1;
		}

		if (r_body_a_points) {
			JointGizmosDrawer::draw_circle(
					static_cast<Vector3::Axis>(ax),
					BODY_A_RADIUS,
					p_offset,
					JointGizmosDrawer::look_body_toward(static_cast<Vector3::Axis>(ax), p_trs_joint, p_trs_body_a),
					ll,
					ul,
					*r_body_a_points,
					true);
		}

		if (r_body_b_points) {
			JointGizmosDrawer::draw_circle(
					static_cast<Vector3::Axis>(ax),
					BODY_B_RADIUS,
					p_offset,
					JointGizmosDrawer::look_body_toward(static_cast<Vector3::Axis>(ax), p_trs_joint, p_trs_body_b),
					ll,
					ul,
					*r_body_b_points);
		}
	}

#undef ADD_VTX
}