//----------------------------------------------------------------------------
//  EgalTech 2020-2020
//----------------------------------------------------------------------------
// File : CDePyramidTria.cpp   Data : 29.10.20     Versione : 2.2k1
// Contenuto : Implementazione della verifica di collisione tra 
//             Pyramid e Triangle3d.
//
//
// Modifiche : 29.10.20 LM Creazione modulo.
//
//
//----------------------------------------------------------------------------

//--------------------------- Include ----------------------------------------
#include "stdafx.h"
#include "EgtDev/Include/EGkCDePyramidTria.h"
#include "EgtDev/Include/EGkIntersTriaTria.h"

//----------------------------------------------------------------------------
// Il sistema di riferimento deve avere l'origine nel centro della base Base, asse X lungo
// un segmento della stessa e asse Z ortogonale alle basi e diretta verso la base Top.
bool
CDePyramidTria( const Frame3d& frPyrFrame, double dLenghtBaseX, double dLenghtBaseY, double dLenghtTopX, double dLenghtTopY, double dHeight,
                double dSafeDist, const Triangle3d& trTria)
{
   // Se il tronco di piramide o il triangolo non sono ben definiti non procedo
   if ( dLenghtBaseX < EPS_SMALL  ||  dLenghtBaseY < EPS_SMALL  ||
        dLenghtTopX < EPS_SMALL  ||  dLenghtTopY < EPS_SMALL  ||
        dHeight < EPS_SMALL  ||  ! trTria.IsValid())
      return false ;

   Frame3d frMyFrame = frPyrFrame ;
   // Se la distanza di sicurezza è maggiore di epsilon aumento le dimensioni del tronco di piramide.
   if ( dSafeDist > EPS_SMALL) {
      dLenghtBaseX += dSafeDist ;
      dLenghtBaseY += dSafeDist ;
      dLenghtTopX += dSafeDist ;
      dLenghtTopY += dSafeDist ;
      dHeight += ( 2 * dSafeDist) ;
      frMyFrame.Translate( - dSafeDist * frMyFrame.VersZ()) ;
   }

   // Porto il triangolo nel sistema di riferimento del tronco di cono
   Triangle3d trMyTria = trTria ;
   trMyTria.ToLoc( frMyFrame) ;

   // Se almeno un vertice collide ho finito
   for ( int nV = 0 ; nV < 3 ; ++ nV) {
      Point3d ptVert = trMyTria.GetP( nV) ;
      if (   ptVert.z > - EPS_SMALL  &&  ptVert.z < dHeight + EPS_SMALL  &&
           ( ptVert.x + dLenghtBaseX + EPS_SMALL) * dHeight > ( dLenghtBaseX - dLenghtTopX) * ptVert.z  &&
           ( ptVert.x - dLenghtBaseX - EPS_SMALL) * dHeight < ( dLenghtTopX - dLenghtBaseX) * ptVert.z  &&
           ( ptVert.y + dLenghtBaseY + EPS_SMALL) * dHeight > ( dLenghtBaseY - dLenghtTopY) * ptVert.z  &&
           ( ptVert.y - dLenghtBaseY - EPS_SMALL) * dHeight < ( dLenghtTopY - dLenghtBaseY) * ptVert.z)
         return true ;
   }
   
   // Se c'è collisione con almeno un triangolo delle facce ho finito
   double dHalfBaseX = 0.5 * dLenghtBaseX ;
   double dHalfBaseY = 0.5 * dLenghtBaseY ;
   double dHalfTopX = 0.5 * dLenghtTopX ;
   double dHalfTopY = 0.5 * dLenghtTopY ;
   Triangle3d trFaceTria1, trFaceTria2 ;
   // Faccia base
   trFaceTria1.Set( Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
                    Point3d( - dHalfBaseX,   dHalfBaseY, 0.),
                    Point3d(   dHalfBaseX,   dHalfBaseY, 0.)) ;
   trFaceTria1.Validate() ;
   trFaceTria2.Set( Point3d( - dHalfBaseX, - dHalfBaseY, 0.),
                    Point3d(   dHalfBaseX,   dHalfBaseY, 0.),
                    Point3d(   dHalfBaseX, - dHalfBaseY, 0.)) ;
   trFaceTria2.Validate() ;
   if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO  ||
        IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
      return true ;
   // Faccia top
   trFaceTria1.Set( Point3d( - dHalfTopX, - dHalfTopY, dHeight),
                    Point3d(   dHalfTopX,   dHalfTopY, dHeight),
                    Point3d( - dHalfTopX,   dHalfTopY, dHeight)) ;
   trFaceTria1.Validate() ;
   trFaceTria2.Set( Point3d( - dHalfTopX, - dHalfTopY, dHeight),
                    Point3d(   dHalfTopX, - dHalfTopY, dHeight),
                    Point3d(   dHalfTopX,   dHalfTopY, dHeight)) ;
   trFaceTria2.Validate() ;
   if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO  ||
        IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
      return true ;
   // Faccia laterale 1
   trFaceTria1.Set( Point3d( - dHalfBaseX, - dHalfBaseY,      0.),
                    Point3d(   dHalfTopX , - dHalfTopY , dHeight),
                    Point3d( - dHalfTopX , - dHalfTopY , dHeight)) ;
   trFaceTria1.Validate() ;
   trFaceTria2.Set( Point3d( - dHalfBaseX, - dHalfBaseY,      0.),
                    Point3d(   dHalfBaseX, - dHalfBaseY,      0.),
                    Point3d(   dHalfTopX,  - dHalfTopY , dHeight)) ;
   trFaceTria2.Validate() ;
   if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO  ||
        IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
      return true ;
   // Faccia laterale 2
   trFaceTria1.Set( Point3d( dHalfBaseX, - dHalfBaseY,      0.),
                    Point3d( dHalfTopX ,   dHalfTopY , dHeight),
                    Point3d( dHalfTopX , - dHalfTopY , dHeight)) ;
   trFaceTria1.Validate() ;
   trFaceTria2.Set( Point3d( dHalfBaseX, - dHalfBaseY,      0.),
                    Point3d( dHalfBaseX,   dHalfBaseY,      0.),
                    Point3d( dHalfTopX ,   dHalfTopY , dHeight)) ;
   trFaceTria2.Validate() ;
   if ( IntersTriaTria(trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO  ||
        IntersTriaTria(trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
      return true ;
   // Faccia laterale 3
   trFaceTria1.Set( Point3d(   dHalfBaseX, dHalfBaseY,      0.),
                    Point3d( - dHalfTopX , dHalfTopY , dHeight),
                    Point3d(   dHalfTopX , dHalfTopY , dHeight)) ;
   trFaceTria1.Validate() ;
   trFaceTria2.Set( Point3d(   dHalfBaseX, dHalfBaseY,      0.),
                    Point3d( - dHalfBaseX, dHalfBaseY,      0.),
                    Point3d( - dHalfTopX , dHalfTopY , dHeight)) ;
   trFaceTria2.Validate() ;
   if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO  ||
        IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
      return true ;
   // Faccia laterale 4
   trFaceTria1.Set( Point3d( - dHalfBaseX,   dHalfBaseY,      0.),
                    Point3d( - dHalfTopX , - dHalfTopY , dHeight),
                    Point3d( - dHalfTopX ,   dHalfTopY , dHeight)) ;
   trFaceTria1.Validate() ;
   trFaceTria2.Set( Point3d( - dHalfBaseX,   dHalfBaseY,      0.),
                    Point3d( - dHalfBaseX, - dHalfBaseY,      0.),
                    Point3d( - dHalfTopX , - dHalfTopY , dHeight)) ;
   trFaceTria2.Validate() ;
   if ( IntersTriaTria( trMyTria, trFaceTria1, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO  ||
        IntersTriaTria( trMyTria, trFaceTria2, Point3d(), Point3d(), TRIA3DVECTOR()) != ITTT_NO)
      return true ;
   return false ;
}