/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001-2003 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.                     *
 *                                                                       *
 *************************************************************************/

// TriMesh code by Erwin de Vries.

#include <gazebo/ode/collision.h>
#include <gazebo/ode/matrix.h>
#include <gazebo/ode/rotation.h>
#include <gazebo/ode/odemath.h>
#include "config.h"

#if dTRIMESH_ENABLED

#include "collision_util.h"
#include "collision_trimesh_internal.h"

#if dTRIMESH_OPCODE
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
	dIASSERT (Stride >= (int)sizeof(dContactGeom));
	dIASSERT (g1->type == dTriMeshClass);
	dIASSERT (RayGeom->type == dRayClass);
	dIASSERT ((Flags & NUMC_MASK) >= 1);

	dxTriMesh* TriMesh = (dxTriMesh*)g1;

	const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
	const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);

	const unsigned uiTLSKind = TriMesh->getParentSpaceTLSKind();
	dIASSERT(uiTLSKind == RayGeom->getParentSpaceTLSKind()); // The colliding spaces must use matching cleanup method
	TrimeshCollidersCache *pccColliderCache = GetTrimeshCollidersCache(uiTLSKind);
	RayCollider& Collider = pccColliderCache->_RayCollider;

	dReal Length = dGeomRayGetLength(RayGeom);

	int FirstContact, BackfaceCull;
	dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
	int ClosestHit = dGeomRayGetClosestHit(RayGeom);

	Collider.SetFirstContact(FirstContact != 0);
	Collider.SetClosestHit(ClosestHit != 0);
	Collider.SetCulling(BackfaceCull != 0);
	Collider.SetMaxDist(Length);

	dVector3 Origin, Direction;
	dGeomRayGet(RayGeom, Origin, Direction);

	/* Make Ray */
	Ray WorldRay;
	WorldRay.mOrig.x = Origin[0];
	WorldRay.mOrig.y = Origin[1];
	WorldRay.mOrig.z = Origin[2];
	WorldRay.mDir.x = Direction[0];
	WorldRay.mDir.y = Direction[1];
	WorldRay.mDir.z = Direction[2];

	/* Intersect */
	Matrix4x4 amatrix;
        int TriCount = 0;
        if (Collider.Collide(WorldRay, TriMesh->Data->BVTree, &MakeMatrix(TLPosition, TLRotation, amatrix))) {
                TriCount = pccColliderCache->Faces.GetNbFaces();
        }

        if (TriCount == 0) {
                return 0;
        }
	
	const CollisionFace* Faces = pccColliderCache->Faces.GetFaces();

	int OutTriCount = 0;
	for (int i = 0; i < TriCount; i++) {
		if (TriMesh->RayCallback == null ||
                    TriMesh->RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
                                         Faces[i].mU, Faces[i].mV)) {
			const int& TriIndex = Faces[i].mFaceID;
			if (!Callback(TriMesh, RayGeom, TriIndex)) {
                                continue;
                        }

			dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);

			dVector3 dv[3];
			FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);

			dVector3 vu;
			vu[0] = dv[1][0] - dv[0][0];
			vu[1] = dv[1][1] - dv[0][1];
			vu[2] = dv[1][2] - dv[0][2];
			vu[3] = REAL(0.0);
				
			dVector3 vv;
			vv[0] = dv[2][0] - dv[0][0];
			vv[1] = dv[2][1] - dv[0][1];
			vv[2] = dv[2][2] - dv[0][2];
			vv[3] = REAL(0.0);

			dCalcVectorCross3(Contact->normal, vv, vu);	// Reversed

			// Even though all triangles might be initially valid, 
			// a triangle may degenerate into a segment after applying 
			// space transformation.
			if (dSafeNormalize3(Contact->normal))
			{
				// No sense to save on single type conversion in algorithm of this size.
				// If there would be a custom typedef for distance type it could be used 
				// instead of dReal. However using float directly is the loss of abstraction 
				// and possible loss of precision in future.
				/*float*/ dReal T = Faces[i].mDistance;
				Contact->pos[0] = Origin[0] + (Direction[0] * T);
				Contact->pos[1] = Origin[1] + (Direction[1] * T);
				Contact->pos[2] = Origin[2] + (Direction[2] * T);
				Contact->pos[3] = REAL(0.0);

				Contact->depth = T;
				Contact->g1 = TriMesh;
				Contact->g2 = RayGeom;
				Contact->side1 = TriIndex;
				Contact->side2 = -1;
					
				OutTriCount++;

				// Putting "break" at the end of loop prevents unnecessary checks on first pass and "continue"
				if (OutTriCount >= (Flags & NUMC_MASK)) {
					break;
				}
			}
		}
	}
	return OutTriCount;
}
#endif // dTRIMESH_OPCODE

#if dTRIMESH_GIMPACT
int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride)
{
	dIASSERT (Stride >= (int)sizeof(dContactGeom));
	dIASSERT (g1->type == dTriMeshClass);
	dIASSERT (RayGeom->type == dRayClass);
	dIASSERT ((Flags & NUMC_MASK) >= 1);
	
	dxTriMesh* TriMesh = (dxTriMesh*)g1;

    dReal Length = dGeomRayGetLength(RayGeom);
	int FirstContact, BackfaceCull;
	dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
	int ClosestHit = dGeomRayGetClosestHit(RayGeom);
	dVector3 Origin, Direction;
	dGeomRayGet(RayGeom, Origin, Direction);

    char intersect=0;
    GIM_TRIANGLE_RAY_CONTACT_DATA contact_data;

	if(ClosestHit)
	{
		intersect = gim_trimesh_ray_closest_collisionODE(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
	}
	else
	{
	    intersect = gim_trimesh_ray_collisionODE(&TriMesh->m_collision_trimesh,Origin,Direction,Length,&contact_data);
	}

    if(intersect == 0)
	{
        return 0;
    }


	if(!TriMesh->RayCallback || 
		TriMesh->RayCallback(TriMesh, RayGeom, contact_data.m_face_id, contact_data.u , contact_data.v))
	{
		dContactGeom* Contact = &( Contacts[ 0 ] );
        VEC_COPY(Contact->pos,contact_data.m_point);
        VEC_COPY(Contact->normal,contact_data.m_normal);
        Contact->depth = contact_data.tparam;
        Contact->g1 = TriMesh;
        Contact->g2 = RayGeom;
		Contact->side1 = contact_data.m_face_id;
		Contact->side2 = -1;
		return 1;
	}

	return 0;
}
#endif  // dTRIMESH_GIMPACT

#endif // dTRIMESH_ENABLED


