/*
* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
* its licensors.
*
* For complete copyright and license terms please see the LICENSE at the root of this
* distribution (the "License"). All use of this software is governed by the License,
* or, if provided, by the license below or the license accompanying this file. Do not
* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*
*/
// Original file Copyright Crytek GMBH or its affiliates, used under license.

#include "StdAfx.h"
#include "GeometryUtil.h"

#if 0
struct SPointSorter
{
    SPointSorter(const Vec3& pt)
        : pt(pt) {}
    bool operator()(const Vec3& lhs, const Vec3& rhs)
    {
        float isLeft = IsLeft(pt, lhs, rhs);
        if (isLeft > 0.0f)
        {
            return true;
        }
        else if (isLeft < 0.0f)
        {
            return false;
        }
        else
        {
            return (lhs - pt).GetLengthSquared2D() < (rhs - pt).GetLengthSquared2D();
        }
    }
    const Vec3 pt;
};

//===================================================================
// ConvexHull2D
// Implements Graham's scan
//===================================================================
void ConvexHull2DGraham(std::vector<Vec3>& ptsOut, const std::vector<Vec3>& ptsIn)
{
    FUNCTION_PROFILER(gEnv->pSystem, PROFILE_AI);
    const unsigned nPtsIn = ptsIn.size();
    if (nPtsIn < 3)
    {
        ptsOut = ptsIn;
        return;
    }
    unsigned iBotRight = 0;
    for (unsigned iPt = 1; iPt < nPtsIn; ++iPt)
    {
        if (ptsIn[iPt].y < ptsIn[iBotRight].y)
        {
            iBotRight = iPt;
        }
        else if (ptsIn[iPt].y == ptsIn[iBotRight].y && ptsIn[iPt].x < ptsIn[iBotRight].x)
        {
            iBotRight = iPt;
        }
    }

    static std::vector<Vec3> ptsSorted; // avoid memory allocation
    ptsSorted.assign(ptsIn.begin(), ptsIn.end());

    std::swap(ptsSorted[0], ptsSorted[iBotRight]);
    {
        FRAME_PROFILER("SORT Graham", gEnv->pSystem, PROFILE_AI)
        std::sort(ptsSorted.begin() + 1, ptsSorted.end(), SPointSorter(ptsSorted[0]));
    }
    ptsSorted.erase(std::unique(ptsSorted.begin(), ptsSorted.end(), ptEqual), ptsSorted.end());

    const unsigned nPtsSorted = ptsSorted.size();
    if (nPtsSorted < 3)
    {
        ptsOut = ptsSorted;
        return;
    }

    ptsOut.resize(0);
    ptsOut.push_back(ptsSorted[0]);
    ptsOut.push_back(ptsSorted[1]);
    unsigned int i = 2;
    while (i < nPtsSorted)
    {
        if (ptsOut.size() <= 1)
        {
            AIWarning("Badness in ConvexHull2D");
            AILogComment("i = %d ptsIn = ", i);
            for (unsigned j = 0; j < ptsIn.size(); ++j)
            {
                AILogComment("%6.3f, %6.3f, %6.3f", ptsIn[j].x, ptsIn[j].y, ptsIn[j].z);
            }
            AILogComment("ptsSorted = ");
            for (unsigned j = 0; j < ptsSorted.size(); ++j)
            {
                AILogComment("%6.3f, %6.3f, %6.3f", ptsSorted[j].x, ptsSorted[j].y, ptsSorted[j].z);
            }
            ptsOut.resize(0);
            return;
        }
        const Vec3& pt1 = ptsOut[ptsOut.size() - 1];
        const Vec3& pt2 = ptsOut[ptsOut.size() - 2];
        const Vec3& p = ptsSorted[i];
        float isLeft = IsLeft(pt2, pt1, p);
        if (isLeft > 0.0f)
        {
            ptsOut.push_back(p);
            ++i;
        }
        else if (isLeft < 0.0f)
        {
            ptsOut.pop_back();
        }
        else
        {
            ptsOut.pop_back();
            ptsOut.push_back(p);
            ++i;
        }
    }
}
#endif

//===================================================================
// IsLeft: tests if a point is Left|On|Right of an infinite line.
//    Input:  three points P0, P1, and P2
//    Return: >0 for P2 left of the line through P0 and P1
//            =0 for P2 on the line
//            <0 for P2 right of the line
//===================================================================
inline float IsLeft(Vec3 P0, Vec3 P1, const Vec3& P2)
{
    bool swap = false;
    if (P0.x < P1.x)
    {
        swap = true;
    }
    else if (P0.x == P1.x && P0.y < P1.y)
    {
        swap = true;
    }

    if (swap)
    {
        std::swap(P0, P1);
    }

    float res = (P1.x - P0.x) * (P2.y - P0.y) - (P2.x - P0.x) * (P1.y - P0.y);
    const float tol = 0.0000f;
    if (res > tol || res < -tol)
    {
        return swap ? -res : res;
    }
    else
    {
        return 0.0f;
    }
}

inline bool ptEqual(const Vec3& lhs, const Vec3& rhs)
{
    const float tol = 0.01f;
    return (fabs(lhs.x - rhs.x) < tol) && (fabs(lhs.y - rhs.y) < tol);
}

inline float IsLeftAndrew(const Vec3& p0, const Vec3& p1, const Vec3& p2)
{
    return (p1.x - p0.x) * (p2.y - p0.y) - (p2.x - p0.x) * (p1.y - p0.y);
}

inline bool PointSorterAndrew(const Vec3& lhs, const Vec3& rhs)
{
    if (lhs.x < rhs.x)
    {
        return true;
    }
    if (lhs.x > rhs.x)
    {
        return false;
    }
    return lhs.y < rhs.y;
}

//===================================================================
// ConvexHull2D
// Implements Andrew's algorithm
//
// Copyright 2001, softSurfer (www.softsurfer.com)
// This code may be freely used and modified for any purpose
// providing that this copyright notice is included with it.
// SoftSurfer makes no warranty for this code, and cannot be held
// liable for any real or imagined damage resulting from its use.
// Users of this code must verify correctness for their application.
//===================================================================
SANDBOX_API void ConvexHull2DAndrew(std::vector<Vec3>& ptsOut, const std::vector<Vec3>& ptsIn)
{
    FUNCTION_PROFILER(gEnv->pSystem, PROFILE_AI);
    const int n = (int)ptsIn.size();
    if (n < 3)
    {
        ptsOut = ptsIn;
        return;
    }

    std::vector<Vec3> P = ptsIn;
    {
        FRAME_PROFILER("SORT Andrew", gEnv->pSystem, PROFILE_AI)
        std::sort(P.begin(), P.end(), PointSorterAndrew);
    }

    // the output array ptsOut[] will be used as the stack
    int i;

    ptsOut.clear();
    ptsOut.reserve(P.size());

    // Get the indices of points with min x-coord and min|max y-coord
    int minmin = 0, minmax;
    float xmin = P[0].x;
    for (i = 1; i < n; i++)
    {
        if (P[i].x != xmin)
        {
            break;
        }
    }

    minmax = i - 1;
    if (minmax == n - 1)
    {
        // degenerate case: all x-coords == xmin
        ptsOut.push_back(P[minmin]);
        if (P[minmax].y != P[minmin].y) // a nontrivial segment
        {
            ptsOut.push_back(P[minmax]);
        }
        ptsOut.push_back(P[minmin]);           // add polygon endpoint
        return;
    }

    // Get the indices of points with max x-coord and min|max y-coord
    int maxmin, maxmax = n - 1;
    float xmax = P[n - 1].x;
    for (i = n - 2; i >= 0; i--)
    {
        if (P[i].x != xmax)
        {
            break;
        }
    }
    maxmin = i + 1;

    // Compute the lower hull on the stack H
    ptsOut.push_back(P[minmin]);      // push minmin point onto stack
    i = minmax;
    while (++i <= maxmin)
    {
        // the lower line joins P[minmin] with P[maxmin]
        if (IsLeftAndrew(P[minmin], P[maxmin], P[i]) >= 0 && i < maxmin)
        {
            continue;          // ignore P[i] above or on the lower line
        }
        while ((int)ptsOut.size() > 1) // there are at least 2 points on the stack
        {
            // test if P[i] is left of the line at the stack top
            if (IsLeftAndrew(ptsOut[ptsOut.size() - 2], ptsOut.back(), P[i]) > 0)
            {
                break;         // P[i] is a new hull vertex
            }
            else
            {
                ptsOut.pop_back(); // pop top point off stack
            }
        }
        ptsOut.push_back(P[i]);       // push P[i] onto stack
    }

    // Next, compute the upper hull on the stack H above the bottom hull
    if (maxmax != maxmin)      // if distinct xmax points
    {
        ptsOut.push_back(P[maxmax]);  // push maxmax point onto stack
    }
    int bot = (int)ptsOut.size() - 1;                 // the bottom point of the upper hull stack
    i = maxmin;
    while (--i >= minmax)
    {
        // the upper line joins P[maxmax] with P[minmax]
        if (IsLeftAndrew(P[maxmax], P[minmax], P[i]) >= 0 && i > minmax)
        {
            continue;          // ignore P[i] below or on the upper line
        }
        while ((int)ptsOut.size() > bot + 1)    // at least 2 points on the upper stack
        {
            // test if P[i] is left of the line at the stack top
            if (IsLeftAndrew(ptsOut[ptsOut.size() - 2], ptsOut.back(), P[i]) > 0)
            {
                break;         // P[i] is a new hull vertex
            }
            else
            {
                ptsOut.pop_back();         // pop top po2int off stack
            }
        }
        ptsOut.push_back(P[i]);       // push P[i] onto stack
    }
    if (minmax != minmin)
    {
        ptsOut.push_back(P[minmin]);  // push joining endpoint onto stack
    }
    if (!ptsOut.empty() && ptEqual(ptsOut.front(), ptsOut.back()))
    {
        ptsOut.pop_back();
    }
}