/*
 * Collision.cpp
 *
 * Copyright (C) 2009 Matthias Schiffer <matthias@gamezock.de>
 *
 * This program is free software: you can redistribute it and/or modify it
 * under the terms of the GNU Lesser General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License along
 * with this program. If not, see <http://www.gnu.org/licenses/>.
 */

#include "Collision.h"
#include <cmath>
#include <limits>

namespace Zoom {

vmml::vec3f Collision::projectToEdge(const vmml::vec3f& p, const vmml::vec3f& v1, const vmml::vec3f& v2) {
  vmml::vec3f pVec = p - v1;
  vmml::vec3f edge = v2 - v1;

  float lengthSq = edge.squared_length();
  float edgeProj = vmml::dot(edge, pVec);

  if(edgeProj < 0) return v1;
  if(edgeProj > lengthSq) return v2;

  return v1 + (edgeProj/lengthSq)*edge;
}

vmml::vec3f Collision::projectToNearestEdge(const vmml::vec3f& p, const Triangle &t) {
  vmml::vec3f p1 = projectToEdge(p, t.getVertex(0), t.getVertex(1));
  vmml::vec3f p2 = projectToEdge(p, t.getVertex(1), t.getVertex(2));
  vmml::vec3f p3 = projectToEdge(p, t.getVertex(2), t.getVertex(0));

  if(p.squared_distance(p1) < p.squared_distance(p2) && p.squared_distance(p1) < p.squared_distance(p3))
    return p1;
  else if(p.squared_distance(p2) < p.squared_distance(p3))
    return p2;
  else
    return p3;
}


bool Collision::test(const Triangle &t, const MathUtil::Ray &ray, float *distance) {
  vmml::vec3f edge1 = t.getVertex(1) - t.getVertex(0);
  vmml::vec3f edge2 = t.getVertex(2) - t.getVertex(0);

  vmml::vec3f pvec = ray.getDirection().cross(edge2);

  float det = vmml::dot(edge1, pvec);
  if(det < MathUtil::EPSILON)
    return false;

  vmml::vec3f tvec = ray.getVertex() - t.getVertex(0);
  float u = vmml::dot(pvec, tvec);

  if(u < 0 || u > det)
    return false;

  vmml::vec3f qvec = tvec.cross(edge1);
  float v = vmml::dot(ray.getDirection(), qvec);
  if(v < 0 || u+v > det)
    return false;

  if(distance)
    *distance = vmml::dot(edge2, qvec) / det;

  return true;
}

bool Collision::testEdge(const vmml::vec3f &v1, const vmml::vec3f &v2, const vmml::vec3f &m, float r, const vmml::vec3f &move, float *distance) {
  vmml::vec3f edge = v2 - v1;

  vmml::vec3f avec = vmml::dot(edge, move)*edge / edge.squared_length() - move;
  vmml::vec3f cvec = v1 + vmml::dot(edge, m-v1)*edge / edge.squared_length() - m;

  float a = avec.squared_length();
  float b = vmml::dot(avec, cvec);
  float c = cvec.squared_length() - r*r;

  float rootSq = b*b - a*c;
  if(rootSq < 0)
    return false;

  float root = std::sqrt(rootSq);

  *distance = -(b + root)/a;

  float edgeFact = edge.dot(m + move*(*distance) - v1);
  if(edgeFact < 0 || edgeFact > edge.squared_length())
    return false;

  if(*distance > -MathUtil::EPSILON && *distance < 1)
    return true;
  else
    return false;
}

bool Collision::test(const Triangle &t, const vmml::vec3f &m, float r, const vmml::vec3f &move, float *distance) {
  float d;

  if(test(t, MathUtil::Ray(m - r*t.computeNormal(), move), &d) && d > -MathUtil::EPSILON) {
    if(distance)
      *distance = d;

    if(d < 1) {
      return true;
    }
    else {
      return false;
    }
  }

  float minEdgeDistance = std::numeric_limits<float>::infinity();

  for(int i = 0; i < 3; ++i) {
    if(testEdge(t.getVertex(i), t.getVertex((i+1)%3), m, r, move, &d)) {
      if(d < minEdgeDistance) {
        minEdgeDistance = d;
      }
    }
  }

  if(distance)
    *distance = minEdgeDistance;

  return (minEdgeDistance < 1);
}

}