/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
* 
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
* 
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 
* 3. This notice may not be removed or altered from any source distribution.
*/

#ifndef __dgIntersections__
#define __dgIntersections__

#include "dgStdafx.h"
#include "dgDebug.h"
#include "dgVector.h"


class dgPlane;
class dgObject;
class dgPolyhedra;

DG_MSC_VECTOR_ALIGMENT 
class FastRayTest
{
	public:
	FastRayTest(const dgVector& l0, const dgVector& l1);

	dgInt32 BoxTest (const dgVector& minBox, const dgVector& maxBox) const;
	dgInt32 BoxTestSimd (const dgVector& minBox, const dgVector& maxBox) const;

	dgFloat32 PolygonIntersect (const dgVector& normal, const dgFloat32* const polygon, dgInt32 strideInBytes, const dgInt32* const indexArray, dgInt32 indexCount) const;
	dgFloat32 PolygonIntersectSimd (const dgVector& normal, const dgFloat32* const polygon, dgInt32 strideInBytes, const dgInt32* const indexArray, dgInt32 indexCount) const;

	void Reset (dgFloat32 t) 
	{
		m_dpInv = m_dpBaseInv.Scale (dgFloat32 (1.0f) / t);
	}

	dgVector m_p0;
	dgVector m_p1;
	dgVector m_diff;
	dgVector m_dpInv;
	dgVector m_dpBaseInv;
	dgVector m_minT;
	dgVector m_maxT;

	dgVector m_ray_xxxx;
	dgVector m_ray_yyyy;
	dgVector m_ray_zzzz;
	dgVector m_tolerance;
	dgVector m_zero;
	dgInt32 m_isParallel[4];

	dgFloat32 m_dirError;
}DG_GCC_VECTOR_ALIGMENT;



enum dgIntersectStatus
{
	t_StopSearh,
	t_ContinueSearh
};

typedef dgIntersectStatus (*dgAABBIntersectCallback) (void *context, 
													  const dgFloat32* const polygon, dgInt32 strideInBytes,
											          const dgInt32* const indexArray, dgInt32 indexCount);

typedef dgFloat32 (*dgRayIntersectCallback) (void *context, 
											 const dgFloat32* const polygon, dgInt32 strideInBytes,
											 const dgInt32* const indexArray, dgInt32 indexCount);


class dgBeamHitStruct
{
	public:
	dgVector m_Origin; 
	dgVector m_NormalOut;
	dgObject* m_HitObjectOut; 
	dgFloat32 m_ParametricIntersctionOut;
};


bool dgApi dgRayBoxClip (dgVector& ray_p0, dgVector& ray_p1, const dgVector& boxP0, const dgVector& boxP1); 

/*
dgFloat32 dgRayPolygonIntersect (const dgVector& ray_p0, 
								 const dgVector& ray_p1, 
								 const dgVector& normal,
								 const dgFloat32* const polygon, 
								 dgInt32 strideInBytes,
								 const dgInt32* const indexArray, 
								 dgInt32 indexCount);

dgFloat32 dgRayPolygonIntersectSimd (const dgVector& ray_p0, 
									const dgVector& ray_p1, 
									const dgVector& normal,
									const dgFloat32* const polygon, 
									dgInt32 strideInBytes,
									const dgInt32* const indexArray, 
									dgInt32 indexCount);

*/

dgVector dgApi dgPointToRayDistance (const dgVector& point, const dgVector& ray_p0, const dgVector& ray_p1); 

void dgApi dgRayToRayDistance (const dgVector& ray_p0, 
							   const dgVector& ray_p1,
							   const dgVector& ray_q0, 
							   const dgVector& ray_q1,
							   dgVector& p0Out, 
							   dgVector& p1Out); 

dgVector    dgPointToTriangleDistance (const dgVector& point, const dgVector& p0, const dgVector& p1, const dgVector& p2);
dgBigVector dgPointToTriangleDistance (const dgBigVector& point, const dgBigVector& p0, const dgBigVector& p1, const dgBigVector& p2);

bool  dgApi dgPointToPolygonDistance (const dgVector& point, const dgFloat32* const polygon,  dgInt32 strideInInBytes,   
									  const dgInt32* const indexArray, dgInt32 indexCount, dgFloat32 bailOutDistance, dgVector& pointOut);   


/*
dgInt32 dgApi dgConvexPolyhedraToPlaneIntersection (
							const dgPolyhedra& convexPolyhedra,
							const dgFloat32 polyhedraVertexArray[],
							int polyhedraVertexStrideInBytes,
							const dgPlane& plane,
							dgVector* intersectionOut,
							dgInt32 maxSize);


dgInt32 dgApi ConvecxPolygonToConvexPolygonIntersection (
							dgInt32 polygonIndexCount_1,
							const dgInt32 polygonIndexArray_1[],
						   dgInt32 convexPolygonStrideInBytes_1,   
							const dgFloat32 convexPolygonVertex_1[], 
							dgInt32 polygonIndexCount_2,
							const dgInt32 polygonIndexArray_2[],
						   dgInt32 convexPolygonStrideInBytes_2,   
							const dgFloat32 convexPolygonVertex_2[], 
							dgVector* intersectionOut,
							dgInt32 maxSize);


dgInt32 dgApi dgConvexIntersection (const dgVector convexPolyA[], dgInt32 countA,
																 const dgVector convexPolyB[], dgInt32 countB,
																 dgVector output[]);

*/

DG_INLINE dgInt32 dgOverlapTest (const dgVector& p0, const dgVector& p1, const dgVector& q0, const dgVector& q1)
{
	return ((p0.m_x < q1.m_x) && (p1.m_x > q0.m_x) && (p0.m_z < q1.m_z) && (p1.m_z > q0.m_z) && (p0.m_y < q1.m_y) && (p1.m_y > q0.m_y)); 
}

DG_INLINE dgInt32 dgOverlapTestSimd (const dgVector& p0, const dgVector& p1, const dgVector& q0, const dgVector& q1)
{
#ifdef DG_BUILD_SIMD_CODE
	simd_type test = simd_and_v (simd_cmplt_v ((simd_type&)p0, (simd_type&) q1), simd_cmpgt_v ((simd_type&)p1, (simd_type&) q0));
	dgInt32 ret = _mm_movemask_ps(test);
	return ((ret & 0x07) == 0x07);

#else
	return 0;
#endif
}


dgBigVector LineTriangleIntersection (const dgBigVector& l0, const dgBigVector& l1, const dgBigVector& A, const dgBigVector& B, const dgBigVector& C);

#endif