virtualx-engine/core/math/geometry.h

/*************************************************************************/
/*  geometry.h                                                           */
/*************************************************************************/
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/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
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#ifndef GEOMETRY_H
#define GEOMETRY_H

#include "vector3.h"
#include "face3.h"
#include "dvector.h"
#include "math_2d.h"
#include "vector.h"
#include "print_string.h"
#include "object.h"
#include "triangulate.h"
/**
	@author Juan Linietsky <reduzio@gmail.com>
*/

class Geometry {
	Geometry();
public:
	



	static float get_closest_points_between_segments( const Vector2& p1,const Vector2& q1, const Vector2& p2,const Vector2& q2, Vector2& c1, Vector2& c2) {

		Vector2 d1 = q1 - p1; // Direction vector of segment S1
		Vector2 d2 = q2 - p2; // Direction vector of segment S2
		Vector2 r = p1 - p2;
		float a = d1.dot(d1); // Squared length of segment S1, always nonnegative
		float e = d2.dot(d2); // Squared length of segment S2, always nonnegative
		float f = d2.dot(r);
		float s,t;
		// Check if either or both segments degenerate into points
		if (a <= CMP_EPSILON && e <= CMP_EPSILON) {
			// Both segments degenerate into points
			c1 = p1;
			c2 = p2;
			return Math::sqrt((c1 - c2).dot(c1 - c2));
		}
		if (a <= CMP_EPSILON) {
			// First segment degenerates into a point
			s = 0.0f;
			t = f / e; // s = 0 => t = (b*s + f) / e = f / e
			t = CLAMP(t, 0.0f, 1.0f);
		} else {
			float c = d1.dot(r);
			if (e <= CMP_EPSILON) {
				// Second segment degenerates into a point
				t = 0.0f;
				s = CLAMP(-c / a, 0.0f, 1.0f); // t = 0 => s = (b*t - c) / a = -c / a
			} else {
				// The general nondegenerate case starts here
				float b = d1.dot(d2);
				float denom = a*e-b*b; // Always nonnegative
				// If segments not parallel, compute closest point on L1 to L2 and
				// clamp to segment S1. Else pick arbitrary s (here 0)
				if (denom != 0.0f) {
					s = CLAMP((b*f - c*e) / denom, 0.0f, 1.0f);
				} else
					s = 0.0f;
				// Compute point on L2 closest to S1(s) using
				// t = Dot((P1 + D1*s) - P2,D2) / Dot(D2,D2) = (b*s + f) / e
				t = (b*s + f) / e;

				//If t in [0,1] done. Else clamp t, recompute s for the new value
				// of t using s = Dot((P2 + D2*t) - P1,D1) / Dot(D1,D1)= (t*b - c) / a
				// and clamp s to [0, 1]
				if (t < 0.0f) {
					t = 0.0f;
					s = CLAMP(-c / a, 0.0f, 1.0f);
				} else if (t > 1.0f) {
					t = 1.0f;
					s = CLAMP((b - c) / a, 0.0f, 1.0f);
				}
			}
		}
		c1 = p1 + d1 * s;
		c2 = p2 + d2 * t;
		return Math::sqrt((c1 - c2).dot(c1 - c2));
	}


	static void get_closest_points_between_segments(const Vector3& p1,const Vector3& p2,const Vector3& q1,const Vector3& q2,Vector3& c1, Vector3& c2)
	{
		//do the function 'd' as defined by pb. I think is is dot product of some sort
#define d_of(m,n,o,p) ( (m.x - n.x) * (o.x - p.x) + (m.y - n.y) * (o.y - p.y) + (m.z - n.z) * (o.z - p.z) )

		//caluclate the parpametric position on the 2 curves, mua and mub
		float mua = ( d_of(p1,q1,q2,q1) * d_of(q2,q1,p2,p1)  - d_of(p1,q1,p2,p1) * d_of(q2,q1,q2,q1) ) / ( d_of(p2,p1,p2,p1) * d_of(q2,q1,q2,q1)  - d_of(q2,q1,p2,p1) * d_of(q2,q1,p2,p1) );
		float mub = ( d_of(p1,q1,q2,q1) + mua * d_of(q2,q1,p2,p1)  ) / d_of(q2,q1,q2,q1);

		//clip the value between [0..1] constraining the solution to lie on the original curves
		if (mua < 0) mua = 0;
		if (mub < 0) mub = 0;
		if (mua > 1) mua = 1;
		if (mub > 1) mub = 1;
		c1 = p1.linear_interpolate(p2,mua);
		c2 = q1.linear_interpolate(q2,mub);
	}

	static float get_closest_distance_between_segments( const Vector3& p_from_a,const Vector3& p_to_a, const Vector3& p_from_b,const Vector3& p_to_b) {
	    Vector3   u = p_to_a - p_from_a;
	    Vector3   v = p_to_b - p_from_b;
	    Vector3   w = p_from_a - p_to_a;
	    real_t    a = u.dot(u);        // always >= 0
	    real_t    b = u.dot(v);
	    real_t    c = v.dot(v);        // always >= 0
	    real_t    d = u.dot(w);
	    real_t    e = v.dot(w);
	    real_t    D = a*c - b*b;       // always >= 0
	    real_t    sc, sN, sD = D;      // sc = sN / sD, default sD = D >= 0
	    real_t    tc, tN, tD = D;      // tc = tN / tD, default tD = D >= 0

	    // compute the line parameters of the two closest points
	    if (D < CMP_EPSILON) { // the lines are almost parallel
		sN = 0.0;        // force using point P0 on segment S1
		sD = 1.0;        // to prevent possible division by 0.0 later
		tN = e;
		tD = c;
	    }
	    else {                // get the closest points on the infinite lines
		sN = (b*e - c*d);
		tN = (a*e - b*d);
		if (sN < 0.0) {       // sc < 0 => the s=0 edge is visible
		    sN = 0.0;
		    tN = e;
		    tD = c;
		}
		else if (sN > sD) {  // sc > 1 => the s=1 edge is visible
		    sN = sD;
		    tN = e + b;
		    tD = c;
		}
	    }

	    if (tN < 0.0) {           // tc < 0 => the t=0 edge is visible
		tN = 0.0;
		// recompute sc for this edge
		if (-d < 0.0)
		    sN = 0.0;
		else if (-d > a)
		    sN = sD;
		else {
		    sN = -d;
		    sD = a;
		}
	    }
	    else if (tN > tD) {      // tc > 1 => the t=1 edge is visible
		tN = tD;
		// recompute sc for this edge
		if ((-d + b) < 0.0)
		    sN = 0;
		else if ((-d + b) > a)
		    sN = sD;
		else {
		    sN = (-d + b);
		    sD = a;
		}
	    }
	    // finally do the division to get sc and tc
	    sc = (Math::abs(sN) < CMP_EPSILON ? 0.0 : sN / sD);
	    tc = (Math::abs(tN) < CMP_EPSILON ? 0.0 : tN / tD);

	    // get the difference of the two closest points
	    Vector3   dP = w + (sc * u) - (tc * v);  // = S1(sc) - S2(tc)

	    return dP.length();   // return the closest distance
	}

	static inline bool ray_intersects_triangle( const Vector3& p_from, const Vector3& p_dir, const Vector3& p_v0,const Vector3& p_v1,const Vector3& p_v2,Vector3* r_res=0) {
		Vector3 e1=p_v1-p_v0;
		Vector3 e2=p_v2-p_v0;
		Vector3 h = p_dir.cross(e2);
		real_t a =e1.dot(h);
		if (a>-CMP_EPSILON && a < CMP_EPSILON) // parallel test
			return false;
				
		real_t f=1.0/a;
		
		Vector3 s=p_from-p_v0;
		real_t u = f * s.dot(h);
		
		if ( u< 0.0 || u > 1.0)
			return false;
		
		Vector3 q=s.cross(e1);
		
		real_t v = f * p_dir.dot(q);
		
		if (v < 0.0 || u + v > 1.0)
			return false;
		
		// at this stage we can compute t to find out where 
		// the intersection point is on the line
		real_t t = f * e2.dot(q);
		
		if (t > 0.00001) {// ray intersection
			if (r_res)
				*r_res=p_from+p_dir*t;
			return true;
		} else // this means that there is a line intersection  
			// but not a ray intersection
			return false;
	}	
	
	static inline bool segment_intersects_triangle( const Vector3& p_from, const Vector3& p_to, const Vector3& p_v0,const Vector3& p_v1,const Vector3& p_v2,Vector3* r_res=0) {
	
		Vector3 rel=p_to-p_from;
		Vector3 e1=p_v1-p_v0;
		Vector3 e2=p_v2-p_v0;
		Vector3 h = rel.cross(e2);
		real_t a =e1.dot(h);
		if (a>-CMP_EPSILON && a < CMP_EPSILON) // parallel test
			return false;
				
		real_t f=1.0/a;
		
		Vector3 s=p_from-p_v0;
		real_t u = f * s.dot(h);
		
		if ( u< 0.0 || u > 1.0)
			return false;
		
		Vector3 q=s.cross(e1);
		
		real_t v = f * rel.dot(q);
		
		if (v < 0.0 || u + v > 1.0)
			return false;
		
		// at this stage we can compute t to find out where 
		// the intersection point is on the line
		real_t t = f * e2.dot(q);
		
		if (t > CMP_EPSILON && t<=1.0) {// ray intersection
			if (r_res)
				*r_res=p_from+rel*t;
			return true;
		} else // this means that there is a line intersection  
			// but not a ray intersection
			return false;
	}	

	static inline bool segment_intersects_sphere( const Vector3& p_from, const Vector3& p_to, const Vector3& p_sphere_pos,real_t p_sphere_radius,Vector3* r_res=0,Vector3 *r_norm=0) {


		Vector3 sphere_pos=p_sphere_pos-p_from;
		Vector3 rel=(p_to-p_from);
		float  rel_l=rel.length();
		if (rel_l<CMP_EPSILON)
			return false; // both points are the same
		Vector3 normal=rel/rel_l;

		float sphere_d=normal.dot(sphere_pos);

		//Vector3 ray_closest=normal*sphere_d;

		float ray_distance=sphere_pos.distance_to(normal*sphere_d);

		if (ray_distance>=p_sphere_radius)
			return false;

		float inters_d2=p_sphere_radius*p_sphere_radius - ray_distance*ray_distance;
		float inters_d=sphere_d;

		if (inters_d2>=CMP_EPSILON)
			inters_d-=Math::sqrt(inters_d2);

		// check in segment
		if (inters_d<0 || inters_d>rel_l)
			return false;

		Vector3 result=p_from+normal*inters_d;;

		if (r_res)
			*r_res=result;
		if (r_norm)
			*r_norm=(result-p_sphere_pos).normalized();

		return true;
	}

	static inline bool segment_intersects_cylinder( const Vector3& p_from, const Vector3& p_to, float p_height,float p_radius,Vector3* r_res=0,Vector3 *r_norm=0) {

		Vector3 rel=(p_to-p_from);
		float  rel_l=rel.length();
		if (rel_l<CMP_EPSILON)
			return false; // both points are the same

		// first check if they are parallel
		Vector3 normal=(rel/rel_l);
		Vector3 crs = normal.cross(Vector3(0,0,1));
		float crs_l=crs.length();

		Vector3 z_dir;

		if(crs_l<CMP_EPSILON) {
			//blahblah parallel
			z_dir=Vector3(1,0,0); //any x/y vector ok
		} else {
			z_dir=crs/crs_l;
		}

		float dist=z_dir.dot(p_from);

		if (dist>=p_radius)
			return false; // too far away

		// convert to 2D
		float w2=p_radius*p_radius-dist*dist;
		if (w2<CMP_EPSILON)
			return false; //avoid numerical error
		Size2 size(Math::sqrt(w2),p_height*0.5);

		Vector3 x_dir=z_dir.cross(Vector3(0,0,1)).normalized();

		Vector2 from2D(x_dir.dot(p_from),p_from.z);
		Vector2 to2D(x_dir.dot(p_to),p_to.z);

		float min=0,max=1;

		int axis=-1;

		for(int i=0;i<2;i++) {

			real_t seg_from=from2D[i];
			real_t seg_to=to2D[i];
			real_t box_begin=-size[i];
			real_t box_end=size[i];
			real_t cmin,cmax;

	
			if (seg_from < seg_to) {
	
				if (seg_from > box_end || seg_to < box_begin)
					return false;
				real_t length=seg_to-seg_from;
				cmin = (seg_from < box_begin)?((box_begin - seg_from)/length):0;
				cmax = (seg_to > box_end)?((box_end - seg_from)/length):1;
	
			} else {
	
				if (seg_to > box_end || seg_from < box_begin)
					return false;
				real_t length=seg_to-seg_from;
				cmin = (seg_from > box_end)?(box_end - seg_from)/length:0;
				cmax = (seg_to < box_begin)?(box_begin - seg_from)/length:1;
			}
	
			if (cmin > min) {
				min = cmin;
				axis=i;
			}
			if (cmax < max)
				max = cmax;
			if (max < min)
				return false;
		}


		// convert to 3D again
		Vector3 result = p_from + (rel*min);
		Vector3 res_normal = result;

		if (axis==0) {
			res_normal.z=0;
		} else {
			res_normal.x=0;
			res_normal.y=0;
		}


		res_normal.normalize();

		if (r_res)
			*r_res=result;
		if (r_norm)
			*r_norm=res_normal;

		return true;
	}


	static bool segment_intersects_convex(const Vector3& p_from, const Vector3& p_to,const Plane* p_planes, int p_plane_count,Vector3 *p_res, Vector3 *p_norm) {

		real_t min=-1e20,max=1e20;

		Vector3 rel=p_to-p_from;
		real_t rel_l=rel.length();

		if (rel_l<CMP_EPSILON)
			return false;

		Vector3 dir=rel/rel_l;

		int min_index=-1;

		for (int i=0;i<p_plane_count;i++) {

			const Plane&p=p_planes[i];

			real_t den=p.normal.dot( dir );

			//printf("den is %i\n",den);
			if (Math::abs(den)<=CMP_EPSILON)
				continue; // ignore parallel plane


			real_t dist=-p.distance_to(p_from ) / den;

			if (den>0) {
				//backwards facing plane
				if (dist<max)
					max=dist;
			} else {

				//front facing plane
				if (dist>min) {
					min=dist;
					min_index=i;
				}
			}
		}

		if (max<=min || min<0 || min>rel_l || min_index==-1) // exit conditions
			return false; // no intersection

		if (p_res)
			*p_res=p_from+dir*min;
		if (p_norm)
			*p_norm=p_planes[min_index].normal;

		return true;
	}

	static Vector3 get_closest_point_to_segment(const Vector3& p_point, const Vector3 *p_segment) {

		Vector3 p=p_point-p_segment[0];
		Vector3 n=p_segment[1]-p_segment[0];
		float l =n.length();
		if (l<1e-10)
			return p_segment[0]; // both points are the same, just give any
		n/=l;
	
		float d=n.dot(p);
	
		if (d<=0.0)
			return p_segment[0]; // before first point
		else if (d>=l)
			return p_segment[1]; // after first point
		else
			return p_segment[0]+n*d; // inside
	}

	static Vector3 get_closest_point_to_segment_uncapped(const Vector3& p_point, const Vector3 *p_segment) {

		Vector3 p=p_point-p_segment[0];
		Vector3 n=p_segment[1]-p_segment[0];
		float l =n.length();
		if (l<1e-10)
			return p_segment[0]; // both points are the same, just give any
		n/=l;

		float d=n.dot(p);

		return p_segment[0]+n*d; // inside
	}

	static Vector2 get_closest_point_to_segment_2d(const Vector2& p_point, const Vector2 *p_segment) {

		Vector2 p=p_point-p_segment[0];
		Vector2 n=p_segment[1]-p_segment[0];
		float l =n.length();
		if (l<1e-10)
			return p_segment[0]; // both points are the same, just give any
		n/=l;

		float d=n.dot(p);

		if (d<=0.0)
			return p_segment[0]; // before first point
		else if (d>=l)
			return p_segment[1]; // after first point
		else
			return p_segment[0]+n*d; // inside
	}
	static Vector2 get_closest_point_to_segment_uncapped_2d(const Vector2& p_point, const Vector2 *p_segment) {

		Vector2 p=p_point-p_segment[0];
		Vector2 n=p_segment[1]-p_segment[0];
		float l =n.length();
		if (l<1e-10)
			return p_segment[0]; // both points are the same, just give any
		n/=l;

		float d=n.dot(p);

		return p_segment[0]+n*d; // inside
	}

	static bool segment_intersects_segment_2d(const Vector2& p_from_a,const Vector2& p_to_a,const Vector2& p_from_b,const Vector2& p_to_b,Vector2* r_result) {

		Vector2 B = p_to_a-p_from_a;
		Vector2 C = p_from_b-p_from_a;
		Vector2 D = p_to_b-p_from_a;

		real_t ABlen = B.dot(B);
		if (ABlen<=0)
			return false;
		Vector2 Bn = B/ABlen;
		C = Vector2( C.x*Bn.x + C.y*Bn.y, C.y*Bn.x - C.x*Bn.y );
		D = Vector2( D.x*Bn.x + D.y*Bn.y, D.y*Bn.x - D.x*Bn.y );

		if ((C.y<0 && D.y<0) || (C.y>=0 && D.y>=0))
			return false;

		float ABpos=D.x+(C.x-D.x)*D.y/(D.y-C.y);

		//  Fail if segment C-D crosses line A-B outside of segment A-B.
		if (ABpos<0 || ABpos>1.0)
			return false;

		//  (4) Apply the discovered position to line A-B in the original coordinate system.
		if (r_result)
			*r_result=p_from_a+B*ABpos;

		return true;
	}


	static inline bool point_in_projected_triangle(const Vector3& p_point,const Vector3& p_v1,const Vector3& p_v2,const Vector3& p_v3) {
	
	
		Vector3 face_n =  (p_v1-p_v3).cross(p_v1-p_v2);		
		
		Vector3 n1 =  (p_point-p_v3).cross(p_point-p_v2);		
		
		if (face_n.dot(n1)<0)
			return false;
			
		Vector3 n2 =  (p_v1-p_v3).cross(p_v1-p_point);		
		
		if (face_n.dot(n2)<0)
			return false;
		
		Vector3 n3 =  (p_v1-p_point).cross(p_v1-p_v2);		
	
		if (face_n.dot(n3)<0)
			return false;
	
		return true;
	
	}

	static inline bool triangle_sphere_intersection_test(const Vector3 *p_triangle,const Vector3& p_normal,const Vector3& p_sphere_pos, real_t p_sphere_radius,Vector3& r_triangle_contact,Vector3& r_sphere_contact) {

		float d=p_normal.dot(p_sphere_pos)-p_normal.dot(p_triangle[0]);

		if (d > p_sphere_radius || d < -p_sphere_radius) // not touching the plane of the face, return
			return false;

		Vector3 contact=p_sphere_pos - (p_normal*d);

		/** 2nd) TEST INSIDE TRIANGLE **/


		if (Geometry::point_in_projected_triangle(contact,p_triangle[0],p_triangle[1],p_triangle[2])) {
			r_triangle_contact=contact;
			r_sphere_contact=p_sphere_pos-p_normal*p_sphere_radius;
			//printf("solved inside triangle\n");
			return true;
		}

		/** 3rd TEST INSIDE EDGE CYLINDERS **/

		const Vector3 verts[4]={p_triangle[0],p_triangle[1],p_triangle[2],p_triangle[0]}; // for() friendly

		for (int i=0;i<3;i++) {

			// check edge cylinder

			Vector3 n1=verts[i]-verts[i+1];
			Vector3 n2=p_sphere_pos-verts[i+1];

			///@TODO i could discard by range here to make the algorithm quicker? dunno..

			// check point within cylinder radius
			Vector3 axis =n1.cross(n2).cross(n1);
			axis.normalize(); // ugh

			float ad=axis.dot(n2);

			if (ABS(ad)>p_sphere_radius) {
				// no chance with this edge, too far away
				continue;
			}

			// check point within edge capsule cylinder
			/** 4th TEST INSIDE EDGE POINTS **/

			float sphere_at = n1.dot(n2);

			if (sphere_at>=0 && sphere_at<n1.dot(n1)) {

				r_triangle_contact=p_sphere_pos-axis*(axis.dot(n2));
				r_sphere_contact=p_sphere_pos-axis*p_sphere_radius;
				// point inside here
				//printf("solved inside edge\n");
				return true;
			}

			float r2=p_sphere_radius*p_sphere_radius;

			if (n2.length_squared()<r2) {

				Vector3 n=(p_sphere_pos-verts[i+1]).normalized();

				//r_triangle_contact=verts[i+1]+n*p_sphere_radius;p_sphere_pos+axis*(p_sphere_radius-axis.dot(n2));
				r_triangle_contact=verts[i+1];
				r_sphere_contact=p_sphere_pos-n*p_sphere_radius;
				//printf("solved inside point segment 1\n");
				return true;
			}

			if (n2.distance_squared_to(n1)<r2) {
				Vector3 n=(p_sphere_pos-verts[i]).normalized();

				//r_triangle_contact=verts[i]+n*p_sphere_radius;p_sphere_pos+axis*(p_sphere_radius-axis.dot(n2));
				r_triangle_contact=verts[i];
				r_sphere_contact=p_sphere_pos-n*p_sphere_radius;
				//printf("solved inside point segment 1\n");
				return true;
			}

			break; // It's pointless to continue at this point, so save some cpu cycles
		}

		return false;
	}



	static real_t segment_intersects_circle(const Vector2& p_from, const Vector2& p_to, const Vector2& p_circle_pos, real_t p_circle_radius) {

			Vector2 line_vec = p_to - p_from;
			Vector2 vec_to_line = p_from - p_circle_pos;

			/* create a quadratic formula of the form ax^2 + bx + c = 0 */
			real_t a, b, c;

			a = line_vec.dot(line_vec);
			b = 2 * vec_to_line.dot(line_vec);
			c = vec_to_line.dot(vec_to_line) - p_circle_radius * p_circle_radius;

			/* solve for t */
			real_t sqrtterm = b*b - 4*a*c;

			/* if the term we intend to square root is less than 0 then the answer won't be real, so it definitely won't be t in the range 0 to 1 */
			if(sqrtterm < 0) return -1;

			/* if we can assume that the line segment starts outside the circle (e.g. for continuous time collision detection) then the following can be skipped and we can just return the equivalent of res1 */
			sqrtterm = Math::sqrt(sqrtterm);
			real_t res1 = ( -b - sqrtterm ) / (2 * a);
			//real_t res2 = ( -b + sqrtterm ) / (2 * a);

			return  (res1 >= 0 && res1 <= 1) ? res1 : -1;

	}


	static Vector<int> triangulate_polygon(const Vector<Vector2>& p_polygon) {

		Vector<int> triangles;
		if (!Triangulate::triangulate(p_polygon,triangles))
			return Vector<int>(); //fail
		return triangles;
	}

	static Vector< Vector<Vector2> > (*_decompose_func)(const Vector<Vector2>& p_polygon);
	static Vector< Vector<Vector2> > decompose_polygon(const Vector<Vector2>& p_polygon) {

		if (_decompose_func)
			return _decompose_func(p_polygon);

		return Vector< Vector<Vector2> >();

	}


	static DVector< DVector< Face3 > > separate_objects( DVector< Face3 > p_array );

	static DVector< Face3 > wrap_geometry( DVector< Face3 > p_array, float *p_error=NULL ); ///< create a "wrap" that encloses the given geometry


	struct MeshData {
		
		struct Face {
			Plane plane;
			Vector<int> indices;
		};
		
		Vector<Face> faces;
		
		struct Edge {
		
			int a,b;
		};
		
		Vector<Edge> edges;
		
		Vector< Vector3 > vertices;

		void optimize_vertices();
	};


	static MeshData build_convex_mesh(const DVector<Plane> &p_planes);
	static DVector<Plane> build_sphere_planes(float p_radius, int p_lats, int p_lons, Vector3::Axis p_axis=Vector3::AXIS_Z);
	static DVector<Plane> build_box_planes(const Vector3& p_extents);
	static DVector<Plane> build_cylinder_planes(float p_radius, float p_height, int p_sides, Vector3::Axis p_axis=Vector3::AXIS_Z);
	static DVector<Plane> build_capsule_planes(float p_radius, float p_height, int p_sides, int p_lats, Vector3::Axis p_axis=Vector3::AXIS_Z);
	
	
};



#endif