/*  Starshatter OpenSource Distribution
    Copyright (c) 1997-2004, Destroyer Studios LLC.
    All Rights Reserved.

    Redistribution and use in source and binary forms, with or without
    modification, are permitted provided that the following conditions are met:

    * Redistributions of source code must retain the above copyright notice,
      this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright notice,
      this list of conditions and the following disclaimer in the documentation
      and/or other materials provided with the distribution.
    * Neither the name "Destroyer Studios" nor the names of its contributors
      may be used to endorse or promote products derived from this software
      without specific prior written permission.

    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
    LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    POSSIBILITY OF SUCH DAMAGE.

    SUBSYSTEM:    nGenEx.lib
    FILE:         Geometry.h
    AUTHOR:       John DiCamillo


    OVERVIEW
    ========
    Geometric classes: Rect, Vec3, Point, Matrix, Plane
*/

#ifndef Geometry_h
#define Geometry_h

#include "Types.h"

// +--------------------------------------------------------------------+

struct Rect;
struct Insets;
struct Matrix;
struct Vec3;
struct Point;
struct Quaternion;
struct Plane;

#ifndef PI
const double PI = 3.14159265358979323846;
#endif
const double DEGREES = (PI/180);

// +--------------------------------------------------------------------+

struct Rect
{
    static const char* TYPENAME() { return "Rect"; }

    Rect()                                 : x(0),  y(0),  w(0),  h(0)  { }
    Rect(int ix, int iy, int iw, int ih)   : x(ix), y(iy), w(iw), h(ih) { }

    int    operator==(const Rect& r)  const { return x==r.x && y==r.y && w==r.w && h==r.h; }
    int    operator!=(const Rect& r)  const { return x!=r.x || y!=r.y || w!=r.w || h!=r.h; }

    void   Inflate(int dw, int dh);
    void   Deflate(int dw, int dh);
    void   Inset(int left, int right, int top, int bottom);
    int    Contains(int x, int y) const;

    int x, y, w, h;
};

// +--------------------------------------------------------------------+

struct Insets
{
    Insets() : left(0), right(0), top(0), bottom(0) { }
    Insets(WORD l, WORD r, WORD t, WORD b) : left(l), right(r), top(t), bottom(b) { }

    WORD  left;
    WORD  right;
    WORD  top;
    WORD  bottom;
};

// +--------------------------------------------------------------------+

struct Matrix
{
    static const char* TYPENAME() { return "Matrix"; }

    Matrix();
    Matrix(const Matrix& m);
    Matrix(const Point& vrt, const Point& vup, const Point& vpn);

    Matrix& operator =  (const Matrix& m);
    Matrix& operator *= (const Matrix& m);

    double  operator() (int i, int j)   const { return elem[i][j]; }
    double& operator() (int i, int j)         { return elem[i][j]; }

    void Identity();
    void Transpose();
    void Rotate(double roll, double pitch, double yaw);
    void Roll(double roll);
    void Pitch(double pitch);
    void Yaw(double yaw);
    void ComputeEulerAngles(double& roll, double& pitch, double& yaw) const;

    double Cofactor(int i, int j) const;
    void   Invert();

    Matrix Inverse() const {
        Matrix result(*this);
        result.Invert();
        return result;
    }

    Matrix operator*(const Matrix& m) const;
    Point  operator*(const Point & p) const;
    Vec3   operator*(const Vec3&   v) const;

    double elem[3][3];

private:
    Matrix(int no_init) { }
};

// +--------------------------------------------------------------------+

struct Vec2
{
    static const char* TYPENAME() { return "Vec2"; }

    Vec2()                                                      { }
    Vec2(int    ix, int    iy) : x((float) ix), y((float) iy)   { }
    Vec2(float  ix, float  iy) : x(ix),         y(iy)           { }
    Vec2(double ix, double iy) : x((float) ix), y((float) iy)   { }

    operator void*()          const { return (void*) (x || y);    }
    int    operator==(const Vec2& p) const { return x==p.x && y==p.y;    }
    int    operator!=(const Vec2& p) const { return x!=p.x || y!=p.y;    }
    Vec2   operator+ (const Vec2& p) const { return Vec2(x+p.x, y+p.y);  }
    Vec2   operator- (const Vec2& p) const { return Vec2(x-p.x, y-p.y);  }
    Vec2   operator- ()              const { return Vec2(-x, -y);        }
    Vec2   operator* (float s)       const { return Vec2(x*s, y*s);      }
    Vec2   operator/ (float s)       const { return Vec2(x/s, y/s);      }
    float  operator*(const Vec2& p)  const { return (x*p.x + y*p.y);     }

    Vec2&  operator= (const Vec2& p) { x =p.x; y =p.y; return *this;     }
    Vec2&  operator+=(const Vec2& p) { x+=p.x; y+=p.y; return *this;     }
    Vec2&  operator-=(const Vec2& p) { x-=p.x; y-=p.y; return *this;     }
    Vec2&  operator*=(float  s)      { x*=s;   y*=s;   return *this;     }
    Vec2&  operator/=(float  s)      { x/=s;   y/=s;   return *this;     }

    float    length()             const { return (float) sqrt(x*x+y*y);  }
    float    Normalize();
    float    dot(const Vec2& p)   const { return (x*p.x + y*p.y);        }
    Vec2     normal()             const { return Vec2(-y, x);            }

    float x, y;
};

// +--------------------------------------------------------------------+

struct Vec3
{
    static const char* TYPENAME() { return "Vec3"; }

    Vec3() { }
    Vec3(int    ix, int    iy, int    iz) : x((float) ix), y((float) iy), z((float) iz) { }
    Vec3(float  ix, float  iy, float  iz) : x(ix),         y(iy),         z(iz)         { }
    Vec3(double ix, double iy, double iz) : x((float) ix), y((float) iy), z((float) iz) { }

    operator void*()           const { return (void*) (x || y || z);      }
    int    operator==(const Vec3& p)  const { return x==p.x && y==p.y && z==p.z; }
    int    operator!=(const Vec3& p)  const { return x!=p.x || y!=p.y || z!=p.z; }
    Vec3   operator+ (const Vec3& p)  const { return Vec3(x+p.x, y+p.y, z+p.z);  }
    Vec3   operator- (const Vec3& p)  const { return Vec3(x-p.x, y-p.y, z-p.z);  }
    Vec3   operator- ()               const { return Vec3(-x, -y, -z);           }
    Vec3   operator* (float s)        const { return Vec3(x*s, y*s, z*s);        }
    Vec3   operator/ (float s)        const { return Vec3(x/s, y/s, z/s);        }
    float  operator* (const Vec3& p)  const { return (x*p.x + y*p.y + z*p.z);    }
    Vec3   operator* (const Matrix&)  const;

    Vec3&  operator= (const Vec3& p)  { x =p.x; y =p.y; z =p.z; return *this; }
    Vec3&  operator+=(const Vec3& p)  { x+=p.x; y+=p.y; z+=p.z; return *this; }
    Vec3&  operator-=(const Vec3& p)  { x-=p.x; y-=p.y; z-=p.z; return *this; }
    Vec3&  operator*=(float  s)       { x*=s;   y*=s;   z*=s;   return *this; }
    Vec3&  operator/=(float  s)       { x/=s;   y/=s;   z/=s;   return *this; }

    void     SwapYZ() { float t = y; y = z; z = t; }
    float    length() const           { return (float) sqrt(x*x+y*y+z*z); }
    float    Normalize();

    float    dot(const Vec3& p)   const { return (x*p.x + y*p.y + z*p.z);    }
    Vec3     cross(const Vec3& v) const { return Vec3((y*v.z) - (z*v.y),
        (z*v.x) - (x*v.z),
        (x*v.y) - (y*v.x));    }

    float x, y, z;
};

double ClosestApproachTime(const Vec3& loc1, const Vec3& vel1,
const Vec3& loc2, const Vec3& vel2);

// +--------------------------------------------------------------------+

struct Point
{
    static const char* TYPENAME() { return "Point"; }

    Point()                                : x(0),   y(0),   z(0)    { }
    Point(double ix, double iy, double iz) : x(ix),  y(iy),  z(iz)   { }
    Point(const Point& p)                  : x(p.x), y(p.y), z(p.z)  { }
    Point(const Vec3& v)                   : x(v.x), y(v.y), z(v.z)  { }

    operator Vec3() const { return Vec3((float) x, (float) y, (float) z); }

    operator void*()           const { return (void*) (x || y || z);      }
    int   operator==(const Point& p) const { return x==p.x && y==p.y && z==p.z; }
    int   operator!=(const Point& p) const { return x!=p.x || y!=p.y || z!=p.z; }
    Point operator+ (const Point& p) const { return Point(x+p.x, y+p.y, z+p.z); }
    Point operator- (const Point& p) const { return Point(x-p.x, y-p.y, z-p.z); }
    Point operator- ()               const { return Point(-x, -y, -z);          }
    Point operator* (double s)       const { return Point(x*s, y*s, z*s);       }
    Point operator/ (double s)       const { return Point(x/s, y/s, z/s);       }
    double operator*(const Point& p) const { return (x*p.x + y*p.y + z*p.z);    }
    Point operator* (const Matrix& m) const;

    Point& operator= (const Point& p)      { x =p.x; y =p.y; z =p.z; return *this; }
    Point& operator+=(const Point& p)      { x+=p.x; y+=p.y; z+=p.z; return *this; }
    Point& operator-=(const Point& p)      { x-=p.x; y-=p.y; z-=p.z; return *this; }
    Point& operator*=(double s)            { x*=s;   y*=s;   z*=s;   return *this; }
    Point& operator/=(double s)            { x/=s;   y/=s;   z/=s;   return *this; }

    double   length()                const { return sqrt(x*x+y*y+z*z); }
    double   Normalize();
    void     SwapYZ()                      { double t = y; y = z; z = t; }
    Point    OtherHand()             const { return Point(-x, z, y); }

    void     SetElement(int i, double v);

    double   dot(const Point& p)     const { return (x*p.x + y*p.y + z*p.z);    }
    Point    cross(const Point& p)   const { return Point((y*p.z) - (z*p.y),
        (z*p.x) - (x*p.z),
        (x*p.y) - (y*p.x));   }

    double x, y, z;
};

double ClosestApproachTime(const Point& loc1, const Point& vel1,
const Point& loc2, const Point& vel2);

// +--------------------------------------------------------------------+

struct Quaternion
{
    static const char* TYPENAME() { return "Quaternion"; }

    Quaternion()                     : x(0),   y(0),   z(0),   w(0)   { }
    Quaternion(double ix,
    double iy,
    double iz,
    double iw)            : x(ix),  y(iy),  z(iz),  w(iw)  { }
    Quaternion(const Quaternion& q)  : x(q.x), y(q.y), z(q.z), w(q.w) { }

    int   operator==(const Quaternion& q)  const { return x==q.x && y==q.y && z==q.z && w==q.w;  }
    int   operator!=(const Quaternion& q)  const { return x!=q.x || y!=q.y || z!=q.z || w!=q.w;  }

    Quaternion operator+ (const Quaternion& q) const { return Quaternion(x+q.x, y+q.y, z+q.z, w+q.w); }
    Quaternion operator- (const Quaternion& q) const { return Quaternion(x-q.x, y-q.y, z-q.z, w-q.w); }
    Quaternion operator- ()                const { return Quaternion(-x, -y, -z, -w);            }
    Quaternion operator* (double s)        const { return Quaternion(x*s, y*s, z*s, w*s);        }
    Quaternion operator/ (double s)        const { return Quaternion(x/s, y/s, z/s, w/s);        }

    Quaternion& operator= (const Quaternion& q)  { x =q.x; y =q.y; z =q.z; w =q.w; return *this; }
    Quaternion& operator+=(const Quaternion& q)  { x+=q.x; y+=q.y; z+=q.z; w+=q.w; return *this; }
    Quaternion& operator-=(const Quaternion& q)  { x-=q.x; y-=q.y; z-=q.z; w-=q.w; return *this; }
    Quaternion& operator*=(double s)             { x*=s;   y*=s;   z*=s;   w*=s;   return *this; }
    Quaternion& operator/=(double s)             { x/=s;   y/=s;   z/=s;   w/=s;   return *this; }

    double   length()                      const { return sqrt(x*x + y*y + z*z + w*w); }
    double   Normalize();

    double x, y, z, w;
};

// +--------------------------------------------------------------------+

struct Plane
{
    static const char* TYPENAME() { return "Plane"; }

    Plane();
    Plane(const Point& p0,  const Point& p1,  const Point& p2);
    Plane(const Vec3&  v0,  const Vec3&  v1,  const Vec3&  v2);

    void Rotate(const Vec3& v0, const Matrix& m);
    void Translate(const Vec3& v0);

    float          distance;
    Vec3           normal;
};

// +--------------------------------------------------------------------+

double DotProduct(const Point& a, const Point& b);
void   CrossProduct(const Point& a, const Point& b, Point& out);
void   MConcat(double in1[3][3], double in2[3][3], double out[3][3]);

// +--------------------------------------------------------------------+

int lines_intersect(
/* 1st line segment */ double x1, double y1, double x2, double y2,
/* 2nd line segment */ double x3, double y3, double x4, double y4,
/* intersect point  */ double& x, double& y);

// +--------------------------------------------------------------------+

#endif  // Geometry_h