/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library 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 files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

/*

some useful collision utility stuff.

*/

#ifndef _ODE_COLLISION_UTIL_H_
#define _ODE_COLLISION_UTIL_H_

#include <ode/common.h>
#include <ode/contact.h>
#include <ode/rotation.h>
#include "odemath.h"


// given a pointer `p' to a dContactGeom, return the dContactGeom at
// p + skip bytes.
#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))

#if 1
#include "collision_kernel.h"
// Fetches a contact
static inline 
dContactGeom* SAFECONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
    dIASSERT(Index >= 0 && Index < (Flags & NUMC_MASK));
    return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
}
#endif


// if the spheres (p1,r1) and (p2,r2) collide, set the contact `c' and
// return 1, else return 0.

int dCollideSpheres (dVector3 p1, dReal r1,
                     dVector3 p2, dReal r2, dContactGeom *c);


// given two lines
//    qa = pa + alpha* ua
//    qb = pb + beta * ub
// where pa,pb are two points, ua,ub are two unit length vectors, and alpha,
// beta go from [-inf,inf], return alpha and beta such that qa and qb are
// as close as possible

void dLineClosestApproach (const dVector3 pa, const dVector3 ua,
                           const dVector3 pb, const dVector3 ub,
                           dReal *alpha, dReal *beta);


// given a line segment p1-p2 and a box (center 'c', rotation 'R', side length
// vector 'side'), compute the points of closest approach between the box
// and the line. return these points in 'lret' (the point on the line) and
// 'bret' (the point on the box). if the line actually penetrates the box
// then the solution is not unique, but only one solution will be returned.
// in this case the solution points will coincide.

void dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2,
                            const dVector3 c, const dMatrix3 R,
                            const dVector3 side,
                            dVector3 lret, dVector3 bret);

// 20 Apr 2004
// Start code by Nguyen Binh
int dClipEdgeToPlane(dVector3 &vEpnt0, dVector3 &vEpnt1, const dVector4& plPlane);
// clip polygon with plane and generate new polygon points
void dClipPolyToPlane(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane );

void dClipPolyToCircle(const dVector3 avArrayIn[], const int ctIn, dVector3 avArrayOut[], int &ctOut, const dVector4 &plPlane ,dReal fRadius);

// Some vector math
static inline 
void dVector3Subtract(const dVector3& a,const dVector3& b,dVector3& c)
{
    dSubtractVectors3(c, a, b);
}

static inline 
void dVector3Scale(dVector3& a,dReal nScale)
{
    dScaleVector3(a, nScale);
}

static inline 
void dVector3Add(const dVector3& a,const dVector3& b,dVector3& c)
{
    dAddVectors3(c, a, b);
}

static inline 
void dVector3Copy(const dVector3& a,dVector3& c)
{
    dCopyVector3(c, a);
}

static inline 
void dVector4Copy(const dVector4& a,dVector4& c)
{
    dCopyVector4(c, a);
}

static inline 
void dVector3Cross(const dVector3& a,const dVector3& b,dVector3& c)
{
    dCalcVectorCross3(c, a, b);
}

static inline 
dReal dVector3Length(const dVector3& a)
{
    return dCalcVectorLength3(a);
}

static inline 
dReal dVector3LengthSquare(const dVector3& a)
{
    return dCalcVectorLengthSquare3(a);
}

static inline 
dReal dVector3Dot(const dVector3& a,const dVector3& b)
{
    return dCalcVectorDot3(a, b);
}

static inline 
void dVector3Inv(dVector3& a)
{
    dNegateVector3(a);
}

static inline 
void dMat3GetCol(const dMatrix3& m,const int col, dVector3& v)
{
    dGetMatrixColumn3(v, m, col);
}

static inline 
void dVector3CrossMat3Col(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
{
    dCalcVectorCross3_114(r, v, m + col);
}

static inline 
void dMat3ColCrossVector3(const dMatrix3& m,const int col,const dVector3& v,dVector3& r)
{
    dCalcVectorCross3_141(r, m + col, v);
}

static inline 
void dMultiplyMat3Vec3(const dMatrix3& m,const dVector3& v, dVector3& r)
{
    dMultiply0_331(r, m, v);
}

static inline 
dReal dPointPlaneDistance(const dVector3& point,const dVector4& plane)
{
    return (plane[0]*point[0] + plane[1]*point[1] + plane[2]*point[2] + plane[3]);
}

static inline 
void dConstructPlane(const dVector3& normal,const dReal& distance, dVector4& plane)
{
    plane[0] = normal[0];
    plane[1] = normal[1];
    plane[2] = normal[2];
    plane[3] = distance;
}

static inline 
void dMatrix3Copy(const dReal* source,dMatrix3& dest)
{
    dCopyMatrix4x3(dest, source);
}

static inline 
dReal dMatrix3Det( const dMatrix3& mat )
{
    dReal det;

    det = mat[0] * ( mat[5]*mat[10] - mat[9]*mat[6] )
        - mat[1] * ( mat[4]*mat[10] - mat[8]*mat[6] )
        + mat[2] * ( mat[4]*mat[9]  - mat[8]*mat[5] );

    return( det );
}


static inline 
void dMatrix3Inv( const dMatrix3& ma, dMatrix3& dst )
{
    dReal det = dMatrix3Det( ma );

    if ( dFabs( det ) < REAL(0.0005) )
    {
        dRSetIdentity( dst );
        return;
    }

    double detRecip = REAL(1.0) / det;

    dst[0] =  ( ma[5]*ma[10] - ma[6]*ma[9]  ) * detRecip;
    dst[1] =  ( ma[9]*ma[2]  - ma[1]*ma[10] ) * detRecip;
    dst[2] =  ( ma[1]*ma[6]  - ma[5]*ma[2]  ) * detRecip;

    dst[4] =  ( ma[6]*ma[8]  - ma[4]*ma[10] ) * detRecip;
    dst[5] =  ( ma[0]*ma[10] - ma[8]*ma[2]  ) * detRecip;
    dst[6] =  ( ma[4]*ma[2]  - ma[0]*ma[6]  ) * detRecip;

    dst[8] =  ( ma[4]*ma[9]  - ma[8]*ma[5]  ) * detRecip;
    dst[9] =  ( ma[8]*ma[1]  - ma[0]*ma[9]  ) * detRecip;
    dst[10] = ( ma[0]*ma[5]  - ma[1]*ma[4]  ) * detRecip;
}

static inline 
void dQuatTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
{

    // Nguyen Binh : this code seem to be the fastest.
    dReal x0 = 	source[0] * quat[0] + source[2] * quat[2] - source[1] * quat[3];
    dReal x1 = 	source[1] * quat[0] + source[0] * quat[3] - source[2] * quat[1];
    dReal x2 = 	source[2] * quat[0] + source[1] * quat[1] - source[0] * quat[2];
    dReal x3 = 	source[0] * quat[1] + source[1] * quat[2] + source[2] * quat[3];

    dest[0]  = 	quat[0] * x0 + quat[1] * x3 + quat[2] * x2 - quat[3] * x1;
    dest[1]  = 	quat[0] * x1 + quat[2] * x3 + quat[3] * x0 - quat[1] * x2;
    dest[2]  = 	quat[0] * x2 + quat[3] * x3 + quat[1] * x1 - quat[2] * x0;

    /*
    // nVidia SDK implementation
    dVector3 uv, uuv; 
    dVector3 qvec;
    qvec[0] = quat[1];
    qvec[1] = quat[2];
    qvec[2] = quat[3];

    dVector3Cross(qvec,source,uv);
    dVector3Cross(qvec,uv,uuv);

    dVector3Scale(uv,REAL(2.0)*quat[0]);
    dVector3Scale(uuv,REAL(2.0));

    dest[0] = source[0] + uv[0] + uuv[0];
    dest[1] = source[1] + uv[1] + uuv[1];
    dest[2] = source[2] + uv[2] + uuv[2];   
    */
}

static inline 
void dQuatInvTransform(const dQuaternion& quat,const dVector3& source,dVector3& dest)
{

    dReal norm = quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2] + quat[3]*quat[3];

    if (norm > REAL(0.0))
    {
        dQuaternion invQuat;
        invQuat[0] =  quat[0] / norm;
        invQuat[1] = -quat[1] / norm;
        invQuat[2] = -quat[2] / norm;
        invQuat[3] = -quat[3] / norm;	

        dQuatTransform(invQuat,source,dest);

    }
    else
    {
        // Singular -> return identity
        dVector3Copy(source,dest);
    }
}

static inline 
void dGetEulerAngleFromRot(const dMatrix3& mRot,dReal& rX,dReal& rY,dReal& rZ)
{
    rY = asin(mRot[0 * 4 + 2]);
    if (rY < M_PI /2)
    {
        if (rY > -M_PI /2)
        {
            rX = atan2(-mRot[1*4 + 2], mRot[2*4 + 2]);
            rZ = atan2(-mRot[0*4 + 1], mRot[0*4 + 0]);
        }
        else
        {
            // not unique
            rX = -atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
            rZ = REAL(0.0);
        }
    }
    else
    {
        // not unique
        rX = atan2(mRot[1*4 + 0], mRot[1*4 + 1]);
        rZ = REAL(0.0);
    }
}

static inline
void dQuatInv(const dQuaternion& source, dQuaternion& dest)
{
    dReal norm = source[0]*source[0] + source[1]*source[1] + source[2]*source[2] + source[3]*source[3];

    if (norm > 0.0f)
    {
        dest[0] = source[0] / norm;
        dest[1] = -source[1] / norm;
        dest[2] = -source[2] / norm;
        dest[3] = -source[3] / norm;	
    }
    else
    {
        // Singular -> return identity
        dest[0] = REAL(1.0);
        dest[1] = REAL(0.0);
        dest[2] = REAL(0.0);
        dest[3] = REAL(0.0);
    }
}


#endif
