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#include "NvBlastExtTriangleProcessor.h"
#include "NvBlastExtAuthoringInternalCommon.h"
#define COLLIN_EPS 1e-4f
#define V_COMP_EPS 1e-5f

using namespace physx;

namespace Nv
{
namespace Blast
{
/**
	Segments bounding box interseciton test
*/
bool boundingRectangleIntersection(const PxVec2& s1, const PxVec2& e1, const PxVec2& s2, const PxVec2& e2)
{
	// sl1/sl2 is always left bottom end of rectangle
	// se1/el2 is always right top end of rectangle

	PxF32 sl1, sl2, el1, el2;
	if (s1.x < e1.x)
	{
		sl1 = s1.x;
		el1 = e1.x;
	}
	else
	{
		el1 = s1.x;
		sl1 = e1.x;
	}

	if (s2.x < e2.x)
	{
		sl2 = s2.x;
		el2 = e2.x;
	}
	else
	{
		el2 = s2.x;
		sl2 = e2.x;
	}
	if (PxMax(sl1, sl2) > PxMin(el1, el2))
		return false;

	if (s1.y < e1.y)
	{
		sl1 = s1.y;
		el1 = e1.y;
	}
	else
	{
		el1 = s1.y;
		sl1 = e1.y;
	}

	if (s2.y < e2.y)
	{
		sl2 = s2.y;
		el2 = e2.y;
	}
	else
	{
		el2 = s2.y;
		sl2 = e2.y;
	}
	if (PxMax(sl1, sl2) > PxMin(el1, el2))
		return false;

	return true;
}

inline PxF32 getRotation(PxVec2 a, PxVec2 b)
{
	return a.x * b.y - a.y * b.x;
}

inline PxF32 getParameter(const PxVec2& a, const PxVec2& b, const PxVec2& point)
{
	return (point - a).magnitude() / (b - a).magnitude();
}
inline PxVec3 lerp3D(const PxVec3& a, const PxVec3& b, const PxF32 t)
{
	return (b - a) * t + a;
}



struct Line2D
{
	PxVec2 normal;
	PxF32 c;
	Line2D(PxVec2 vec, PxVec2 point)
	{
		normal.x = vec.y;
		normal.y = -vec.x;
		c = -normal.dot(point);
	}
};


uint32_t TriangleProcessor::getSegmentIntersection(const PxVec2& s1, const PxVec2& e1, const PxVec2& s2, const PxVec2& e2, PxF32& t1)
{
	if (!boundingRectangleIntersection(s1, e1, s2, e2))
		return 0;

	PxVec2 vec1 = e1 - s1;
	PxVec2 vec2 = e2 - s2;
	PxF32 det1 = getRotation(vec1, vec2);
	if (PxAbs(det1) < COLLIN_EPS)
	{
		return 0;
	}
	Line2D lineA(vec1, s1);
	Line2D lineB(vec2, s2);
	PxVec2 fInt;

	PxF32 detX = lineA.normal.y * lineB.c - lineA.c * lineB.normal.y;
	PxF32 detY = lineA.c * lineB.normal.x - lineB.c * lineA.normal.x;
	PxF32 x = detX / det1;
	PxF32 y = detY / det1;

	if (x + V_COMP_EPS >= PxMax(PxMin(s1.x, e1.x), PxMin(s2.x, e2.x)) &&
		x - V_COMP_EPS <= PxMin(PxMax(s1.x, e1.x), PxMax(s2.x, e2.x)) &&
		y + V_COMP_EPS >= PxMax(PxMin(s1.y, e1.y), PxMin(s2.y, e2.y)) &&
		y - V_COMP_EPS <= PxMin(PxMax(s1.y, e1.y), PxMax(s2.y, e2.y)))
	{
		fInt.x = x;
		fInt.y = y;
		t1 = getParameter(s1, e1, fInt);
		return 1;
	}

	return 0;
}

struct cwComparer
{
	PxVec3 basePoint;
	PxVec3 normal;
	cwComparer(PxVec3 basePointIn, PxVec3 norm)
	{
		basePoint = basePointIn;
		normal = norm;
	};
	bool operator()(const PxVec3& a, const PxVec3& b)
	{
		PxVec3 norm = (a - basePoint).cross(b - basePoint);
		return normal.dot(norm) > 0;		
	}
};

bool vec3Comparer(const PxVec3& a, const PxVec3& b)
{
		if (a.x + V_COMP_EPS < b.x) return true;
		if (a.x - V_COMP_EPS > b.x) return false;
		if (a.y + V_COMP_EPS < b.y) return true;
		if (a.y - V_COMP_EPS > b.y) return false;
		if (a.z + V_COMP_EPS < b.z) return true;
		return false;
}

void TriangleProcessor::sortToCCW(std::vector<PxVec3>& points, PxVec3& normal)
{
	std::sort(points.begin(), points.end(), vec3Comparer);
	int lastUnique = 0;
	for (uint32_t i = 1; i < points.size(); ++i)
	{
		PxVec3 df = (points[i] - points[lastUnique]).abs();
		if (df.x > V_COMP_EPS || df.y > V_COMP_EPS || df.z > V_COMP_EPS)
		{
			points[++lastUnique] = points[i];
		}
	}
	points.resize(lastUnique + 1);
	if (points.size() > 2)
	{
		cwComparer compr(points[0], normal);
		std::sort(points.begin() + 1, points.end(), compr);
	}
}



void TriangleProcessor::buildConvexHull(std::vector<PxVec3>& points, std::vector<PxVec3>& convexHull,const PxVec3& normal)
{

	std::sort(points.begin(), points.end(), vec3Comparer);
	int lastUnique = 0;
	for (uint32_t i = 1; i < points.size(); ++i)
	{
		PxVec3 df = (points[i] - points[lastUnique]).abs();
		if (df.x > V_COMP_EPS || df.y > V_COMP_EPS || df.z > V_COMP_EPS)
		{
			points[++lastUnique] = points[i];
		}
	}
	points.resize(lastUnique + 1);
	if (points.size() > 2)
	{
		cwComparer compr(points[0], normal);
		std::sort(points.begin() + 1, points.end(), compr);
	}
	if (points.size() < 3)
		return;
	convexHull.push_back(points[0]);
	convexHull.push_back(points[1]);
	ProjectionDirections projectionDirection = getProjectionDirection(normal);
	for (uint32_t i = 2; i < points.size(); ++i)
	{
		PxVec2 pnt = getProjectedPointWithWinding(points[i], projectionDirection);
		PxVec2 vec = pnt - getProjectedPointWithWinding(convexHull.back(), projectionDirection);
		if (PxAbs(vec.x) < V_COMP_EPS && PxAbs(vec.y) < V_COMP_EPS)
		{
			continue;
		}
		if (getRotation(vec, getProjectedPointWithWinding(convexHull.back(), projectionDirection) - getProjectedPointWithWinding(convexHull[convexHull.size() - 2], projectionDirection)) < 0)
		{
			convexHull.push_back(points[i]);
		}
		else
		{
			while (convexHull.size() > 1 && getRotation(vec, getProjectedPointWithWinding(convexHull.back(), projectionDirection) - getProjectedPointWithWinding(convexHull[convexHull.size() - 2], projectionDirection)) > 0)
			{
				convexHull.pop_back();
				vec = pnt - getProjectedPointWithWinding(convexHull.back(), projectionDirection);
			}
			convexHull.push_back(points[i]);
		}
	}
}


uint32_t TriangleProcessor::getTriangleIntersection(TrPrcTriangle& a, TrPrcTriangle2d& aProjected, TrPrcTriangle &b, PxVec3& centroid, std::vector<PxVec3>& intersectionBuffer, PxVec3 normal)
{

	b.points[0] -= centroid;
	b.points[1] -= centroid;
	b.points[2] -= centroid;

	ProjectionDirections prjDir = getProjectionDirection(normal);

	TrPrcTriangle2d bProjected;
	bProjected.points[0] = getProjectedPointWithWinding(b.points[0], prjDir);
	bProjected.points[1] = getProjectedPointWithWinding(b.points[1], prjDir);
	bProjected.points[2] = getProjectedPointWithWinding(b.points[2], prjDir);


	if (!triangleBoundingBoxIntersection(aProjected, bProjected)) return 0;

	//* Check triangle A against points of B *//
	for (int i = 0; i < 3; ++i)
	{
		if (isPointInside(bProjected.points[i], aProjected))
		{
			intersectionBuffer.push_back(b.points[i]);
		}
	}
	//* Check triangle B against points of A *//
	for (int i = 0; i < 3; ++i)
	{
		if (isPointInside(aProjected.points[i], bProjected))
		{
			intersectionBuffer.push_back(a.points[i]);
		}
	}

	//* Check edges intersection *//
	float param = 0;
	for (int i = 0; i < 3; ++i)
	{
		for (int j = 0; j < 3; ++j)
		{
			if (getSegmentIntersection(aProjected.points[i], aProjected.points[(i + 1) % 3], bProjected.points[j], bProjected.points[(j + 1) % 3], param))
			{
				intersectionBuffer.push_back(lerp3D(a.points[i], a.points[(i + 1) % 3], param));
			}
		}
	}

	if (intersectionBuffer.size() == 0)
		return 0;

	// Intersection between two triangles is convex, but points should be reordered to construct right polygon //
	std::vector<PxVec3> intrs;
	buildConvexHull(intersectionBuffer, intrs, normal);
	intersectionBuffer = intrs;

	// Return all points back from origin //
	for (uint32_t i = 0; i < intersectionBuffer.size(); ++i)
	{
		intersectionBuffer[i] += centroid;
	}
	return 1;
}



bool TriangleProcessor::triangleBoundingBoxIntersection(TrPrcTriangle2d& a, TrPrcTriangle2d& b)
{
	float fb = std::min(a.points[0].x, std::min(a.points[1].x, a.points[2].x));
	float fe = std::max(a.points[0].x, std::max(a.points[1].x, a.points[2].x));

	float sb = std::min(b.points[0].x, std::min(b.points[1].x, b.points[2].x));
	float se = std::max(b.points[0].x, std::max(b.points[1].x, b.points[2].x));

	if (std::min(fe, se) + V_COMP_EPS < std::max(fb, sb)) return 0;

	fb = std::min(a.points[0].y, std::min(a.points[1].y, a.points[2].y));
	fe = std::max(a.points[0].y, std::max(a.points[1].y, a.points[2].y));

	sb = std::min(b.points[0].y, std::min(b.points[1].y, b.points[2].y));
	se = std::max(b.points[0].y, std::max(b.points[1].y, b.points[2].y));
	if (std::min(fe, se) + V_COMP_EPS < std::max(fb, sb)) return 0;
	return 1;
}


uint32_t TriangleProcessor::isPointInside(const PxVec2& point, const TrPrcTriangle2d& triangle)
{
	PxF32 av = getRotation(point - triangle.points[0], triangle.points[1] - triangle.points[0]);
	PxF32 bv = getRotation(point - triangle.points[1], triangle.points[2] - triangle.points[1]);
	PxF32 cv = getRotation(point - triangle.points[2], triangle.points[0] - triangle.points[2]);


	if (PxAbs(av) < COLLIN_EPS) av = 0;
	if (PxAbs(bv) < COLLIN_EPS) bv = 0;
	if (PxAbs(cv) < COLLIN_EPS) cv = 0;

	if (av >= 0 && bv >= 0 && cv >= 0)
	{
		if (av == 0 || bv == 0 || cv == 0)
			return 2;
		return 1;
	}
	if (av <= 0 && bv <= 0 && cv <= 0)
	{
		if (av == 0 || bv == 0 || cv == 0)
			return 2;
		return 1;
	}
	return 0;
}

} // namespace Blast
} // namespace Nv