/*
 *	OPCODE - Optimized Collision Detection
 * http://www.codercorner.com/Opcode.htm
 * 
 * Copyright (c) 2001-2008 Pierre Terdiman,  pierre@codercorner.com

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#define LOCAL_EPSILON 0.000001f

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
 *	Computes a ray-triangle intersection test.
 *	Original code from Tomas Möller's "Fast Minimum Storage Ray-Triangle Intersection".
 *	It's been optimized a bit with integer code, and modified to return a non-intersection if distance from
 *	ray origin to triangle is negative.
 *
 *	\param		vert0	[in] triangle vertex
 *	\param		vert1	[in] triangle vertex
 *	\param		vert2	[in] triangle vertex
 *	\return		true on overlap. mStabbedFace is filled with relevant info.
 */
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
inline_ BOOL RayCollider::RayTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2)
{
	// Stats
	mNbRayPrimTests++;

	// Find vectors for two edges sharing vert0
	Point edge1 = vert1 - vert0;
	Point edge2 = vert2 - vert0;

	// Begin calculating determinant - also used to calculate U parameter
	Point pvec = mDir^edge2;

	// If determinant is near zero, ray lies in plane of triangle
	float det = edge1|pvec;

	if(mCulling)
	{
		if(det<LOCAL_EPSILON)														return FALSE;
		// From here, det is > 0. So we can use integer cmp.

		// Calculate distance from vert0 to ray origin
		Point tvec = mOrigin - vert0;

		// Calculate U parameter and test bounds
		mStabbedFace.mU = tvec|pvec;
//		if(IR(u)&0x80000000 || u>det)					return FALSE;
		if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IR(det))		return FALSE;

		// Prepare to test V parameter
		Point qvec = tvec^edge1;

		// Calculate V parameter and test bounds
		mStabbedFace.mV = mDir|qvec;
		if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>det)	return FALSE;

		// Calculate t, scale parameters, ray intersects triangle
		mStabbedFace.mDistance = edge2|qvec;
		// Det > 0 so we can early exit here
		// Intersection point is valid if distance is positive (else it can just be a face behind the orig point)
		if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance))								return FALSE;
		// Else go on
		float OneOverDet = 1.0f / det;
		mStabbedFace.mDistance *= OneOverDet;
		mStabbedFace.mU *= OneOverDet;
		mStabbedFace.mV *= OneOverDet;
	}
	else
	{
		// the non-culling branch
		if(det>-LOCAL_EPSILON && det<LOCAL_EPSILON)									return FALSE;
		float OneOverDet = 1.0f / det;

		// Calculate distance from vert0 to ray origin
		Point tvec = mOrigin - vert0;

		// Calculate U parameter and test bounds
		mStabbedFace.mU = (tvec|pvec) * OneOverDet;
//		if(IR(u)&0x80000000 || u>1.0f)					return FALSE;
		if(IS_NEGATIVE_FLOAT(mStabbedFace.mU) || IR(mStabbedFace.mU)>IEEE_1_0)		return FALSE;

		// prepare to test V parameter
		Point qvec = tvec^edge1;

		// Calculate V parameter and test bounds
		mStabbedFace.mV = (mDir|qvec) * OneOverDet;
		if(IS_NEGATIVE_FLOAT(mStabbedFace.mV) || mStabbedFace.mU+mStabbedFace.mV>1.0f)	return FALSE;

		// Calculate t, ray intersects triangle
		mStabbedFace.mDistance = (edge2|qvec) * OneOverDet;
		// Intersection point is valid if distance is positive (else it can just be a face behind the orig point)
		if(IS_NEGATIVE_FLOAT(mStabbedFace.mDistance))								return FALSE;
	}
	return TRUE;
}