#include "collision.hpp"

#include <gxruntime.hpp>

const float COLLISION_FLT_EPSILON = .001f;

/*
//
// OLD VERSION
//
bool Collision::sphereCollide( const Line &line,float radius,const Vector &dest,float dest_radius ){

	radius+=dest_radius;
	Line l( line.o-dest,line.d );

	float a=l.d.dot(l.d);
	if( !a ) return false;
	float b=l.o.dot(l.d)*2;
	float c=l.o.dot(l.o)-radius*radius;
	float d=b*b-4*a*c;
	if( d<0 ) return false;
	float t1=(-b+sqrt(d))/(2*a);
	float t2=(-b-sqrt(d))/(2*a);

	float t=t1<t2 ? t1 : t2;
	if( t<0 || t>=time ) return false;

	time=t;
	normal=(l*t).normalized();
	return true;
}

bool Collision::sphereCollide( const Line &line,float radius,const Vector &dest,const Vector &radii ){

	radius+=radii.x;

	Line l( line.o-dest,line.d );

//	float y_scale=1;
//	if( radii.x!=radii.y ){
//		y_scale=radii.x/radii.y;
//		l.o.y*=y_scale;
//		l.d.y*=y_scale;
//	}

	float a=l.d.dot(l.d);
	if( !a ) return false;
	float b=l.o.dot(l.d)*2;
	float c=l.o.dot(l.o)-radius*radius;
	float d=b*b-4*a*c;
	if( d<0 ) return false;
	float t1=(-b+sqrt(d))/(2*a);
	float t2=(-b-sqrt(d))/(2*a);

	float t=t1<t2 ? t1 : t2;
	if( t<0 || t>=time ) return false;

	time=t;
	normal=(l*t).normalized();

	return true;
}


//v0,v1 = edge verts
//pn = poly normal
//en = edge normal
static bool edgeTest( const Vector &v0,const Vector &v1,const Vector &pn,const Vector &en,const Line &line,float radius,Collision *curr_coll ){

	Matrix tm=~Matrix( en,(v1-v0).normalized(),pn );
	Vector sv=tm*(line.o-v0),dv=tm*(line.o+line.d-v0);
	Line l( sv,dv-sv );
	//do cylinder test...
	float a,b,c,d,t1,t2,t;
	a=(l.d.x*l.d.x+l.d.z*l.d.z);
	if( !a ) return false;					//ray parallel to cylinder
	b=(l.o.x*l.d.x+l.o.z*l.d.z)*2;
	c=(l.o.x*l.o.x+l.o.z*l.o.z)-radius*radius;
	d=b*b-4*a*c;
	if( d<0 ) return false;					//ray misses cylinder
	t1=(-b+sqrt(d))/(2*a);
	t2=(-b-sqrt(d))/(2*a);
	t=t1<t2 ? t1 : t2;
	if( t>curr_coll->time ) return false;	//intersects too far away
	Vector i=l*t,p;
	if( i.y>v0.distance(v1) ) return false;	//intersection above cylinder
	if( i.y>=0 ){
		if( t<0 ) return false;
		p.y=i.y;
	}else{
		//below bottom of cylinder...do sphere test...
		a=l.d.dot(l.d);
		if( !a ) return false;				//ray parallel to sphere
		b=l.o.dot(l.d)*2;
		c=l.o.dot(l.o)-radius*radius;
		d=b*b-4*a*c;
		if( d<0 ) return false;				//ray misses sphere
		t1=(-b+sqrt(d))/(2*a);
		t2=(-b-sqrt(d))/(2*a);
		t=t1<t2 ? t1 : t2;
		if( t<0 || t>curr_coll->time ) return false;	//intersects behind or too far away
		i=l*t;
	}
	curr_coll->time=t;
	curr_coll->normal=~tm*(i-p);
	curr_coll->normal.normalize();
	return true;
}

bool Collision::triangleCollide( const Line &line,float radius,const Vector &v0,const Vector &v1,const Vector &v2 ){

	//triangle plane
	Plane p( v0,v1,v2 );
	if( p.n.dot( line.d )>=0 ) return false;

	//intersection time
	Plane tp=p;tp.d-=radius;
	float t=tp.t_intersect( line );
	if( t>time ) return false;

	//intersection point
	Plane p0( v0+p.n,v1,v0 ),p1( v1+p.n,v2,v1 ),p2( v2+p.n,v0,v2 );

	if( t>=0 ){
		Vector i=line*t;
		if( p0.distance(i)>=0 && p1.distance(i)>=0 && p2.distance(i)>=0 ){
			time=t;
			normal=p.n;
			return true;
		}
	}

	if( radius<=0 ) return false;

	return
	edgeTest( v0,v1,p.n,p0.n,line,radius,this )|
	edgeTest( v1,v2,p.n,p1.n,line,radius,this )|
	edgeTest( v2,v0,p.n,p2.n,line,radius,this );
}

bool Collision::boxCollide( const Line &line,float radius,const Box &box ){

	static int quads[]={
		2,3,1,0,
		3,7,5,1,
		7,6,4,5,
		6,2,0,4,
		6,7,3,2,
		0,1,5,4
	};

	bool hit=false;

	for( int n=0;n<24;n+=4 ){
		Vector
		v0( box.corner( quads[n] ) ),
		v1( box.corner( quads[n+1] ) ),
		v2( box.corner( quads[n+2] ) ),
		v3( box.corner( quads[n+3] ) );

		//quad plane
		Plane p( v0,v1,v2 );
		if( p.n.dot( line.d )>=0 ) continue;

		p.d-=radius;
		float t=p.t_intersect( line );
		if( t>time ) continue;

		//intersection point
		Plane
			p0( v0+p.n,v1,v0 ),
			p1( v1+p.n,v2,v1 ),
			p2( v2+p.n,v3,v2 ),
			p3( v3+p.n,v0,v3 );

		if( t>=0 ){
			Vector i=line*t;
			if( p0.distance(i)>=0 && p1.distance(i)>=0 && p2.distance(i)>=0 && p3.distance(i)>=0 ){
				time=t;
				normal=p.n;
				hit=true;
				continue;
			}
		}

		if( radius<=0 ) continue;

		hit|=
		edgeTest( v0,v1,p.n,p0.n,line,radius,this )|
		edgeTest( v1,v2,p.n,p1.n,line,radius,this )|
		edgeTest( v2,v3,p.n,p2.n,line,radius,this )|
		edgeTest( v3,v0,p.n,p3.n,line,radius,this );
	}
	return hit;
}
*/

bool Collision::update(const Line& line, float t, const Vector& n)
{
	//	if( t<0 || t>time ) return false;

	if (t > time)
		return false;
	Plane p(line * t, n);
	if (p.n.dot(line.d) >= 0)
		return false;
	if (p.distance(line.o) < -COLLISION_FLT_EPSILON)
		return false;

	time   = t;
	normal = n;
	return true;
}

//
// NEW VERSION
//
extern gxRuntime* gx_runtime;

bool Collision::sphereCollide(const Line& line, float radius, const Vector& dest, float dest_radius)
{
	radius += dest_radius;
	Line l(line.o - dest, line.d);

	float a = l.d.dot(l.d);
	if (!a)
		return false;
	float b = l.o.dot(l.d) * 2;
	float c = l.o.dot(l.o) - radius * radius;
	float d = b * b - 4 * a * c;
	if (d < 0)
		return false;

	float t1 = (-b + sqrt(d)) / (2 * a);
	float t2 = (-b - sqrt(d)) / (2 * a);

	float t = t1 < t2 ? t1 : t2;

	if (t > time)
		return false;

	return update(line, t, (l * t).normalized());
}

//v0,v1 = edge verts
//pn = poly normal
//en = edge normal
static bool edgeTest(const Vector& v0, const Vector& v1, const Vector& pn, const Vector& en, const Line& line,
					 float radius, Collision* curr_coll)
{
	Matrix tm = ~Matrix(en, (v1 - v0).normalized(), pn);
	Vector sv = tm * (line.o - v0), dv = tm * (line.o + line.d - v0);
	Line   l(sv, dv - sv);
	//do cylinder test...
	float a, b, c, d, t1, t2, t;
	a = (l.d.x * l.d.x + l.d.z * l.d.z);
	if (!a)
		return false; //ray parallel to cylinder
	b = (l.o.x * l.d.x + l.o.z * l.d.z) * 2;
	c = (l.o.x * l.o.x + l.o.z * l.o.z) - radius * radius;
	d = b * b - 4 * a * c;
	if (d < 0)
		return false; //ray misses cylinder
	t1 = (-b + sqrt(d)) / (2 * a);
	t2 = (-b - sqrt(d)) / (2 * a);
	t  = t1 < t2 ? t1 : t2;
	if (t > curr_coll->time)
		return false; //intersects too far away
	Vector i = l * t, p;
	if (i.y > v0.distance(v1))
		return false; //intersection above cylinder
	if (i.y >= 0) {
		p.y = i.y;
	} else {
		//below bottom of cylinder...do sphere test...
		a = l.d.dot(l.d);
		if (!a)
			return false; //ray parallel to sphere
		b = l.o.dot(l.d) * 2;
		c = l.o.dot(l.o) - radius * radius;
		d = b * b - 4 * a * c;
		if (d < 0)
			return false; //ray misses sphere
		t1 = (-b + sqrt(d)) / (2 * a);
		t2 = (-b - sqrt(d)) / (2 * a);
		t  = t1 < t2 ? t1 : t2;
		if (t > curr_coll->time)
			return false;
		i = l * t;
	}

	return curr_coll->update(line, t, (~tm * (i - p)).normalized());
}

bool Collision::triangleCollide(const Line& line, float radius, const Vector& v0, const Vector& v1, const Vector& v2)
{
	//triangle plane
	Plane p(v0, v1, v2);
	if (p.n.dot(line.d) >= 0)
		return false;

	//move plane out
	p.d -= radius;
	float t = p.t_intersect(line);
	if (t > time)
		return false;

	//edge planes
	Plane p0(v0 + p.n, v1, v0), p1(v1 + p.n, v2, v1), p2(v2 + p.n, v0, v2);

	//intersects triangle?
	Vector i = line * t;
	if (p0.distance(i) >= 0 && p1.distance(i) >= 0 && p2.distance(i) >= 0) {
		return update(line, t, p.n);
	}

	if (radius <= 0)
		return false;

	return edgeTest(v0, v1, p.n, p0.n, line, radius, this) | edgeTest(v1, v2, p.n, p1.n, line, radius, this)
		   | edgeTest(v2, v0, p.n, p2.n, line, radius, this);
}

bool Collision::boxCollide(const Line& line, float radius, const Box& box)
{
	static int quads[] = {2, 3, 1, 0, 3, 7, 5, 1, 7, 6, 4, 5, 6, 2, 0, 4, 6, 7, 3, 2, 0, 1, 5, 4};

	bool hit = false;

	for (int n = 0; n < 24; n += 4) {
		Vector v0(box.corner(quads[n])), v1(box.corner(quads[n + 1])), v2(box.corner(quads[n + 2])),
			v3(box.corner(quads[n + 3]));

		//quad plane
		Plane p(v0, v1, v2);
		if (p.n.dot(line.d) >= 0)
			continue;

		//move plane out
		p.d -= radius;
		float t = p.t_intersect(line);
		if (t > time)
			return false;

		//edge planes
		Plane p0(v0 + p.n, v1, v0), p1(v1 + p.n, v2, v1), p2(v2 + p.n, v3, v2), p3(v3 + p.n, v0, v3);

		//intersects triangle?
		Vector i = line * t;
		if (p0.distance(i) >= 0 && p1.distance(i) >= 0 && p2.distance(i) >= 0 && p3.distance(i) >= 0) {
			hit |= update(line, t, p.n);
			continue;
		}

		if (radius <= 0)
			continue;

		hit |= edgeTest(v0, v1, p.n, p0.n, line, radius, this) | edgeTest(v1, v2, p.n, p1.n, line, radius, this)
			   | edgeTest(v2, v3, p.n, p2.n, line, radius, this) | edgeTest(v3, v0, p.n, p3.n, line, radius, this);
	}
	return hit;
}