text: /*************************************************************************/
  /*  shape_sw.cpp                                                         */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                    http://www.godotengine.org                         */
  /*************************************************************************/
  /* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur.                 */
  /*                                                                       */
  /* Permission is hereby granted, free of charge, to any person obtaining */
  /* a copy of this software and associated documentation files (the       */
  /* "Software"), to deal in the Software without restriction, including   */
  /* without limitation the rights to use, copy, modify, merge, publish,   */
  /* distribute, sublicense, and/or sell copies of the Software, and to    */
  /* permit persons to whom the Software is furnished to do so, subject to */
  /* the following conditions:                                             */
  /*                                                                       */
  /* The above copyright notice and this permission notice shall be        */
  /* included in all copies or substantial portions of the Software.       */
  /*                                                                       */
  /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
  /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
  /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
  /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
  /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
  /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
  /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
  /*************************************************************************/
  #include "shape_sw.h"
  #include "geometry.h"
  #include "sort.h"
  #include "quick_hull.h"
  #define _POINT_SNAP 0.001953125
  #define _EDGE_IS_VALID_SUPPORT_TRESHOLD 0.0002
  #define _FACE_IS_VALID_SUPPORT_TRESHOLD 0.9998
  
  
  void ShapeSW::configure(const AABB& p_aabb) {
  	aabb=p_aabb;
  	configured=true;
  	for (Map<ShapeOwnerSW*,int>::Element *E=owners.front();E;E=E->next()) {
  		ShapeOwnerSW* co=(ShapeOwnerSW*)E->key();
  		co->_shape_changed();
  	}
  }
  
  
  Vector3 ShapeSW::get_support(const Vector3& p_normal) const {
  
  	Vector3 res;
  	int amnt;
  	get_supports(p_normal,1,&res,amnt);
  	return res;
  }
  
  void ShapeSW::add_owner(ShapeOwnerSW *p_owner) {
  
  	Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
  	if (E) {
  		E->get()++;
  	} else {
  		owners[p_owner]=1;
  	}
  }
  
  void ShapeSW::remove_owner(ShapeOwnerSW *p_owner){
  
  	Map<ShapeOwnerSW*,int>::Element *E=owners.find(p_owner);
  	ERR_FAIL_COND(!E);
  	E->get()--;
  	if (E->get()==0) {
  		owners.erase(E);
  	}
  
  }
  
  bool ShapeSW::is_owner(ShapeOwnerSW *p_owner) const{
  
  	return owners.has(p_owner);
  
  }
  
  const Map<ShapeOwnerSW*,int>& ShapeSW::get_owners() const{
  	return owners;
  }
  
  
  ShapeSW::ShapeSW() {
  
  	custom_bias=0;
  	configured=false;
  }
  
  
  ShapeSW::~ShapeSW() {
  
  	ERR_FAIL_COND(owners.size());
  }
  
  
  
  Plane PlaneShapeSW::get_plane() const {
  
  	return plane;
  }
  
  void PlaneShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	// gibberish, a plane is infinity
  	r_min=-1e7;
  	r_max=1e7;
  }
  
  Vector3 PlaneShapeSW::get_support(const Vector3& p_normal) const {
  
  	return p_normal*1e15;
  }
  
  
  bool PlaneShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  	bool inters=plane.intersects_segment(p_begin,p_end,&r_result);
  	if(inters)
  		r_normal=plane.normal;
  	return inters;
  }
  
  Vector3 PlaneShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	return Vector3(); //wtf
  }
  
  void PlaneShapeSW::_setup(const Plane& p_plane)  {
  
  	plane=p_plane;
  	configure(AABB(Vector3(-1e4,-1e4,-1e4),Vector3(1e4*2,1e4*2,1e4*2)));
  }
  
  void PlaneShapeSW::set_data(const Variant& p_data) {
  
  	_setup(p_data);
  
  }
  
  Variant PlaneShapeSW::get_data() const {
  
  	return plane;
  }
  
  PlaneShapeSW::PlaneShapeSW()  {
  
  
  }
  
  //
  
  float RayShapeSW::get_length() const {
  
  	return length;
  }
  
  void RayShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	// don't think this will be even used
  	r_min=0;
  	r_max=1;
  }
  
  Vector3 RayShapeSW::get_support(const Vector3& p_normal) const {
  
  	if (p_normal.z>0)
  		return Vector3(0,0,length);
  	else
  		return Vector3(0,0,0);
  }
  
  void RayShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
  
  	if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
  
  		r_amount=2;
  		r_supports[0]=Vector3(0,0,0);
  		r_supports[1]=Vector3(0,0,length);
  	} if (p_normal.z>0) {
  		r_amount=1;
  		*r_supports=Vector3(0,0,length);
  	} else {
  		r_amount=1;
  		*r_supports=Vector3(0,0,0);
  	}
  }
  
  
  bool RayShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  	return false; //simply not possible
  }
  
  Vector3 RayShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	return Vector3();
  }
  
  void RayShapeSW::_setup(float p_length)  {
  
  	length=p_length;
  	configure(AABB(Vector3(0,0,0),Vector3(0.1,0.1,length)));
  }
  
  void RayShapeSW::set_data(const Variant& p_data) {
  
  	_setup(p_data);
  
  }
  
  Variant RayShapeSW::get_data() const {
  
  	return length;
  }
  
  RayShapeSW::RayShapeSW()  {
  
  	length=1;
  }
  
  
  
  /********** SPHERE *************/
  
  real_t SphereShapeSW::get_radius() const {
  
  	return radius;
  }
  
  void SphereShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	float d = p_normal.dot( p_transform.origin );
  
  	// figure out scale at point
  	Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
  	float scale = local_normal.length();
  
  	r_min = d - (radius) * scale;
  	r_max = d + (radius) * scale;
  
  }
  
  Vector3 SphereShapeSW::get_support(const Vector3& p_normal) const {
  
  	return p_normal*radius;
  }
  
  void SphereShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
  
  	*r_supports=p_normal*radius;
  	r_amount=1;
  }
  
  bool SphereShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  	return Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(),radius,&r_result,&r_normal);
  }
  
  Vector3 SphereShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	float s = 0.4 * p_mass * radius * radius;
  	return Vector3(s,s,s);
  }
  
  void SphereShapeSW::_setup(real_t p_radius) {
  
  
  	radius=p_radius;
  	configure(AABB( Vector3(-radius,-radius,-radius), Vector3(radius*2.0,radius*2.0,radius*2.0)));
  
  }
  
  void SphereShapeSW::set_data(const Variant& p_data) {
  
  	_setup(p_data);
  }
  
  Variant SphereShapeSW::get_data() const {
  
  	return radius;
  }
  
  SphereShapeSW::SphereShapeSW() {
  
  	radius=0;
  }
  
  
  /********** BOX *************/
  
  
  void BoxShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	// no matter the angle, the box is mirrored anyway
  	Vector3 local_normal=p_transform.basis.xform_inv(p_normal);
  
  	float length = local_normal.abs().dot(half_extents);
  	float distance = p_normal.dot( p_transform.origin );
  
  	r_min = distance - length;
  	r_max = distance + length;
  
  
  }
  
  Vector3 BoxShapeSW::get_support(const Vector3& p_normal) const {
  
  
  	Vector3 point(
  		(p_normal.x<0) ? -half_extents.x : half_extents.x,
  		(p_normal.y<0) ? -half_extents.y : half_extents.y,
  		(p_normal.z<0) ? -half_extents.z : half_extents.z
  	);
  
  	return point;
  }
  
  void BoxShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
  
  	static const int next[3]={1,2,0};
  	static const int next2[3]={2,0,1};
  
  	for (int i=0;i<3;i++) {
  
  		Vector3 axis;
  		axis[i]=1.0;
  		float dot = p_normal.dot( axis );
  		if ( Math::abs( dot ) >  _FACE_IS_VALID_SUPPORT_TRESHOLD ) {
  
  			//Vector3 axis_b;
  
  			bool neg = dot<0;
  			r_amount = 4;
  
  			Vector3 point;
  			point[i]=half_extents[i];
  
  			int i_n=next[i];
  			int i_n2=next2[i];
  
  			static const float sign[4][2]={
  
  				{-1.0, 1.0},
  				{ 1.0, 1.0},
  				{ 1.0,-1.0},
  				{-1.0,-1.0},
  			};
  
  			for (int j=0;j<4;j++) {
  
  				point[i_n]=sign[j][0]*half_extents[i_n];
  				point[i_n2]=sign[j][1]*half_extents[i_n2];
  				r_supports[j]=neg?-point:point;
  
  			}
  
  			if (neg) {
  				SWAP( r_supports[1], r_supports[2] );
  				SWAP( r_supports[0], r_supports[3] );
  			}
  
  			return;
  		}
  
  		r_amount=0;
  
  	}
  
  	for (int i=0;i<3;i++) {
  
  		Vector3 axis;
  		axis[i]=1.0;
  
  		if (Math::abs(p_normal.dot(axis))<_EDGE_IS_VALID_SUPPORT_TRESHOLD) {
  
  			r_amount= 2;
  
  			int i_n=next[i];
  			int i_n2=next2[i];
  
  			Vector3 point=half_extents;
  
  			if (p_normal[i_n]<0) {
  				point[i_n]=-point[i_n];
  			}
  			if (p_normal[i_n2]<0) {
  				point[i_n2]=-point[i_n2];
  			}
  
  			r_supports[0] = point;
  			point[i]=-point[i];
  			r_supports[1] = point;
  			return;
  		}
  	}
  	/* USE POINT */
  
  	Vector3 point(
  		(p_normal.x<0) ? -half_extents.x : half_extents.x,
  		(p_normal.y<0) ? -half_extents.y : half_extents.y,
  		(p_normal.z<0) ? -half_extents.z : half_extents.z
  	);
  
  	r_amount=1;
  	r_supports[0]=point;
  }
  
  bool BoxShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  	AABB aabb(-half_extents,half_extents*2.0);
  
  	return aabb.intersects_segment(p_begin,p_end,&r_result,&r_normal);
  
  }
  
  Vector3 BoxShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	float lx=half_extents.x;
  	float ly=half_extents.y;
  	float lz=half_extents.z;
  
  	return Vector3(	(p_mass/3.0) * (ly*ly + lz*lz), (p_mass/3.0) * (lx*lx + lz*lz), (p_mass/3.0) * (lx*lx + ly*ly) );
  
  }
  
  void BoxShapeSW::_setup(const Vector3& p_half_extents)  {
  
  	half_extents=p_half_extents.abs();
  
  	configure(AABB(-half_extents,half_extents*2));
  
  
  }
  
  void BoxShapeSW::set_data(const Variant& p_data) {
  
  
  	_setup(p_data);
  }
  
  Variant BoxShapeSW::get_data() const {
  
  	return half_extents;
  }
  
  BoxShapeSW::BoxShapeSW()  {
  
  
  }
  
  
  /********** CAPSULE *************/
  
  
  void CapsuleShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	Vector3 n=p_transform.basis.xform_inv(p_normal).normalized();
  	float h = (n.z > 0) ? height : -height;
  
  	n *= radius;
  	n.z += h * 0.5;
  
  	r_max=p_normal.dot(p_transform.xform(n));
  	r_min=p_normal.dot(p_transform.xform(-n));
  	return;
  
  	n = p_transform.basis.xform(n);
  
  	float distance = p_normal.dot( p_transform.origin );
  	float length = Math::abs(p_normal.dot(n));
  	r_min = distance - length;
  	r_max = distance + length;
  
  	ERR_FAIL_COND( r_max < r_min );
  
  }
  
  Vector3 CapsuleShapeSW::get_support(const Vector3& p_normal) const {
  
  	Vector3 n=p_normal;
  
  	float h = (n.z > 0) ? height : -height;
  
  	n*=radius;
  	n.z += h*0.5;
  	return n;
  }
  
  void CapsuleShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
  
  
  	Vector3 n=p_normal;
  
  	float d = n.z;
  
  	if (Math::abs( d )<_EDGE_IS_VALID_SUPPORT_TRESHOLD ) {
  
  		// make it flat
  		n.z=0.0;
  		n.normalize();
  		n*=radius;
  
  		r_amount=2;
  		r_supports[0]=n;
  		r_supports[0].z+=height*0.5;
  		r_supports[1]=n;
  		r_supports[1].z-=height*0.5;
  
  	} else {
  
  		float h = (d > 0) ? height : -height;
  
  		n*=radius;
  		n.z += h*0.5;
  		r_amount=1;
  		*r_supports=n;
  
  	}
  
  }
  
  
  bool CapsuleShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  	Vector3 norm=(p_end-p_begin).normalized();
  	float min_d=1e20;
  
  
  	Vector3 res,n;
  	bool collision=false;
  
  	Vector3 auxres,auxn;
  	bool collided;
  
  	// test against cylinder and spheres :-|
  
  	collided = Geometry::segment_intersects_cylinder(p_begin,p_end,height,radius,&auxres,&auxn);
  
  	if (collided) {
  		float d=norm.dot(auxres);
  		if (d<min_d) {
  			min_d=d;
  			res=auxres;
  			n=auxn;
  			collision=true;
  		}
  	}
  
  	collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*0.5),radius,&auxres,&auxn);
  
  	if (collided) {
  		float d=norm.dot(auxres);
  		if (d<min_d) {
  			min_d=d;
  			res=auxres;
  			n=auxn;
  			collision=true;
  		}
  	}
  
  	collided = Geometry::segment_intersects_sphere(p_begin,p_end,Vector3(0,0,height*-0.5),radius,&auxres,&auxn);
  
  	if (collided) {
  		float d=norm.dot(auxres);
  
  		if (d<min_d) {
  			min_d=d;
  			res=auxres;
  			n=auxn;
  			collision=true;
  		}
  	}
  
  	if (collision) {
  
  		r_result=res;
  		r_normal=n;
  	}
  	return collision;
  }
  
  Vector3 CapsuleShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	// use crappy AABB approximation
  	Vector3 extents=get_aabb().size*0.5;
  
  	return Vector3(
  		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
  		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
  		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
  	);
  
  }
  
  
  
  
  void CapsuleShapeSW::_setup(real_t p_height,real_t p_radius)  {
  
  	height=p_height;
  	radius=p_radius;
  	configure(AABB(Vector3(-radius,-radius,-height*0.5-radius),Vector3(radius*2,radius*2,height+radius*2.0)));
  
  }
  
  void CapsuleShapeSW::set_data(const Variant& p_data) {
  
  	Dictionary d = p_data;
  	ERR_FAIL_COND(!d.has("radius"));
  	ERR_FAIL_COND(!d.has("height"));
  	_setup(d["height"],d["radius"]);
  
  }
  
  Variant CapsuleShapeSW::get_data() const {
  
  	Dictionary d;
  	d["radius"]=radius;
  	d["height"]=height;
  	return d;
  
  }
  
  
  CapsuleShapeSW::CapsuleShapeSW()  {
  
  	height=radius=0;
  
  }
  
  /********** CONVEX POLYGON *************/
  
  
  void ConvexPolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  
  	int vertex_count=mesh.vertices.size();
  	if (vertex_count==0)
  		return;
  
  	const Vector3 *vrts=&mesh.vertices[0];
  
  	for (int i=0;i<vertex_count;i++) {
  
  		float d=p_normal.dot( p_transform.xform( vrts[i] ) );
  
  		if (i==0 || d > r_max)
  			r_max=d;
  		if (i==0 || d < r_min)
  			r_min=d;
  	}
  }
  
  Vector3 ConvexPolygonShapeSW::get_support(const Vector3& p_normal) const {
  
  	Vector3 n=p_normal;
  
  	int vert_support_idx=-1;
  	float support_max;
  
  	int vertex_count=mesh.vertices.size();
  	if (vertex_count==0)
  		return Vector3();
  
  	const Vector3 *vrts=&mesh.vertices[0];
  
  	for (int i=0;i<vertex_count;i++) {
  
  		float d=n.dot(vrts[i]);
  
  		if (i==0 || d > support_max) {
  			support_max=d;
  			vert_support_idx=i;
  		}
  	}
  
  	return  vrts[vert_support_idx];
  
  }
  
  
  
  void ConvexPolygonShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
  
  	const Geometry::MeshData::Face *faces = mesh.faces.ptr();
  	int fc = mesh.faces.size();
  
  	const Geometry::MeshData::Edge *edges = mesh.edges.ptr();
  	int ec = mesh.edges.size();
  
  	const Vector3 *vertices = mesh.vertices.ptr();
  	int vc = mesh.vertices.size();
  
  	//find vertex first
  	real_t max;
  	int vtx;
  
  	for (int i=0;i<vc;i++) {
  
  		float d=p_normal.dot(vertices[i]);
  
  		if (i==0 || d > max) {
  			max=d;
  			vtx=i;
  		}
  	}
  
  
  	for(int i=0;i<fc;i++) {
  
  		if (faces[i].plane.normal.dot(p_normal)>_FACE_IS_VALID_SUPPORT_TRESHOLD) {
  
  			int ic = faces[i].indices.size();
  			const int *ind=faces[i].indices.ptr();
  
  			bool valid=false;
  			for(int j=0;j<ic;j++) {
  				if (ind[j]==vtx) {
  					valid=true;
  					break;
  				}
  			}
  
  			if (!valid)
  				continue;
  
  			int m = MIN(p_max,ic);
  			for(int j=0;j<m;j++) {
  
  				r_supports[j]=vertices[ind[j]];
  			}
  			r_amount=m;
  			return;
  		}
  	}
  
  	for(int i=0;i<ec;i++) {
  
  
  		float dot=(vertices[edges[i].a]-vertices[edges[i].b]).normalized().dot(p_normal);
  		dot=ABS(dot);
  		if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD && (edges[i].a==vtx || edges[i].b==vtx)) {
  
  			r_amount=2;
  			r_supports[0]=vertices[edges[i].a];
  			r_supports[1]=vertices[edges[i].b];
  			return;
  		}
  	}
  
  
  	r_supports[0]=vertices[vtx];
  	r_amount=1;
  }
  
  bool ConvexPolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  
  
  	const Geometry::MeshData::Face *faces = mesh.faces.ptr();
  	int fc = mesh.faces.size();
  
  	const Vector3 *vertices = mesh.vertices.ptr();
  	int vc = mesh.vertices.size();
  
  	Vector3 n = p_end-p_begin;
  	float min = 1e20;
  	bool col=false;
  
  	for(int i=0;i<fc;i++) {
  
  		if (faces[i].plane.normal.dot(n) > 0)
  			continue; //opposing face
  
  		int ic = faces[i].indices.size();
  		const int *ind=faces[i].indices.ptr();
  
  		for(int j=1;j<ic-1;j++) {
  
  			Face3 f(vertices[ind[0]],vertices[ind[j]],vertices[ind[j+1]]);
  			Vector3 result;
  			if (f.intersects_segment(p_begin,p_end,&result)) {
  				float d = n.dot(result);
  				if (d<min) {
  					min=d;
  					r_result=result;
  					r_normal=faces[i].plane.normal;
  					col=true;
  				}
  
  				break;
  			}
  
  		}
  	}
  
  	return col;
  
  }
  
  Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	// use crappy AABB approximation
  	Vector3 extents=get_aabb().size*0.5;
  
  	return  Vector3(
  		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
  		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
  		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
  	);
  
  }
  
  void ConvexPolygonShapeSW::_setup(const Vector<Vector3>& p_vertices)  {
  
  	Error err = QuickHull::build(p_vertices,mesh);
  	AABB _aabb;
  
  	for(int i=0;i<mesh.vertices.size();i++) {
  
  		if (i==0)
  			_aabb.pos=mesh.vertices[i];
  		else
  			_aabb.expand_to(mesh.vertices[i]);
  	}
  
  	configure(_aabb);
  
  
  }
  
  void ConvexPolygonShapeSW::set_data(const Variant& p_data) {
  
  	_setup(p_data);
  
  }
  
  Variant ConvexPolygonShapeSW::get_data() const {
  
  	return mesh.vertices;
  }
  
  
  ConvexPolygonShapeSW::ConvexPolygonShapeSW()  {
  
  
  }
  
  
  /********** FACE POLYGON *************/
  
  
  void FaceShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	for (int i=0;i<3;i++) {
  
  		Vector3 v=p_transform.xform(vertex[i]);
  		float d=p_normal.dot(v);
  
  		if (i==0 || d > r_max)
  			r_max=d;
  
  		if (i==0 || d < r_min)
  			r_min=d;
  	}
  }
  
  Vector3 FaceShapeSW::get_support(const Vector3& p_normal) const {
  
  
  	Vector3 n=p_normal;
  
  	int vert_support_idx=-1;
  	float support_max;
  
  	for (int i=0;i<3;i++) {
  
  		//float d=n.dot(vertex[i]);
  		float d=p_normal.dot(vertex[i]);
  
  		if (i==0 || d > support_max) {
  			support_max=d;
  			vert_support_idx=i;
  		}
  	}
  
  	return vertex[vert_support_idx];
  }
  
  void FaceShapeSW::get_supports(const Vector3& p_normal,int p_max,Vector3 *r_supports,int & r_amount) const {
  
  	Vector3 n=p_normal;
  
  	/** TEST FACE AS SUPPORT **/
  	if (normal.dot(n) > _FACE_IS_VALID_SUPPORT_TRESHOLD) {
  
  		r_amount=3;
  		for (int i=0;i<3;i++) {
  
  			r_supports[i]=vertex[i];
  		}
  		return;
  
  	}
  
  	/** FIND SUPPORT VERTEX **/
  
  	int vert_support_idx=-1;
  	float support_max;
  
  	for (int i=0;i<3;i++) {
  
  		float d=n.dot(vertex[i]);
  
  		if (i==0 || d > support_max) {
  			support_max=d;
  			vert_support_idx=i;
  		}
  	}
  
  	/** TEST EDGES AS SUPPORT **/
  
  	for (int i=0;i<3;i++) {
  
  		int nx=(i+1)%3;
  		if (i!=vert_support_idx && nx!=vert_support_idx)
  			continue;
  
  	// check if edge is valid as a support
  		float dot=(vertex[i]-vertex[nx]).normalized().dot(n);
  		dot=ABS(dot);
  		if (dot < _EDGE_IS_VALID_SUPPORT_TRESHOLD) {
  
  			r_amount=2;
  			r_supports[0]=vertex[i];
  			r_supports[1]=vertex[nx];
  			return;
  		}
  	}
  
  	r_amount=1;
  	r_supports[0]=vertex[vert_support_idx];
  }
  
  bool FaceShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  
  	bool c=Geometry::segment_intersects_triangle(p_begin,p_end,vertex[0],vertex[1],vertex[2],&r_result);
  	if (c) {
  		r_normal=Plane(vertex[0],vertex[1],vertex[2]).normal;
  		if (r_normal.dot(p_end-p_begin)>0) {
  			r_normal=-r_normal;
  		}
  	}
  
  	return c;
  }
  
  Vector3 FaceShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	return Vector3(); // Sorry, but i don't think anyone cares, FaceShape!
  
  }
  
  FaceShapeSW::FaceShapeSW()  {
  
  	configure(AABB());
  
  }
  
  
  
  DVector<Vector3> ConcavePolygonShapeSW::get_faces() const {
  
  
  	DVector<Vector3> rfaces;
  	rfaces.resize(faces.size()*3);
  
  	for(int i=0;i<faces.size();i++) {
  
  		Face f=faces.get(i);
  
  		for(int j=0;j<3;j++) {
  
  			rfaces.set(i*3+j, vertices.get( f.indices[j] ) );
  		}
  	}
  
  	return rfaces;
  }
  
  void ConcavePolygonShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	int count=vertices.size();
  	if (count==0) {
  		r_min=0;
  		r_max=0;
  		return;
  	}
  	DVector<Vector3>::Read r=vertices.read();
  	const Vector3 *vptr=r.ptr();
  
  	for (int i=0;i<count;i++) {
  
  		float d=p_normal.dot( p_transform.xform( vptr[i] ) );
  
  		if (i==0 || d > r_max)
  			r_max=d;
  		if (i==0 || d < r_min)
  			r_min=d;
  
  	}
  }
  
  Vector3 ConcavePolygonShapeSW::get_support(const Vector3& p_normal) const {
  
  
  	int count=vertices.size();
  	if (count==0)
  		return Vector3();
  
  	DVector<Vector3>::Read r=vertices.read();
  	const Vector3 *vptr=r.ptr();
  
  	Vector3 n=p_normal;
  
  	int vert_support_idx=-1;
  	float support_max;
  
  	for (int i=0;i<count;i++) {
  
  		float d=n.dot(vptr[i]);
  
  		if (i==0 || d > support_max) {
  			support_max=d;
  			vert_support_idx=i;
  		}
  	}
  
  
  	return vptr[vert_support_idx];
  
  }
  
  void ConcavePolygonShapeSW::_cull_segment(int p_idx,_SegmentCullParams *p_params) const {
  
  	const BVH *bvh=&p_params->bvh[p_idx];
  
  
  	//if (p_params->dir.dot(bvh->aabb.get_support(-p_params->dir))>p_params->min_d)
  	//	return; //test against whole AABB, which isn't very costly
  
  
  	//printf("addr: %p\n",bvh);
  	if (!bvh->aabb.intersects_segment(p_params->from,p_params->to)) {
  
  		return;
  	}
  
  
  	if (bvh->face_index>=0) {
  
  
  		Vector3 res;
  		Vector3 vertices[3]={
  			p_params->vertices[ p_params->faces[ bvh->face_index ].indices[0] ],
  			p_params->vertices[ p_params->faces[ bvh->face_index ].indices[1] ],
  			p_params->vertices[ p_params->faces[ bvh->face_index ].indices[2] ]
  		};
  
  		if (Geometry::segment_intersects_triangle(
  				p_params->from,
  				p_params->to,
  				vertices[0],
  				vertices[1],
  				vertices[2],
  				&res)) {
  
  
  			float d=p_params->dir.dot(res) - p_params->dir.dot(p_params->from);
  			//TODO, seems segmen/triangle intersection is broken :(
  			if (d>0 && d<p_params->min_d) {
  
  				p_params->min_d=d;
  				p_params->result=res;
  				p_params->normal=Plane(vertices[0],vertices[1],vertices[2]).normal;
  				if (p_params->normal.dot(p_params->dir)>0)
  					p_params->normal=-p_params->normal;
  				p_params->collisions++;
  			}
  
  		}
  
  
  
  	} else {
  
  		if (bvh->left>=0)
  			_cull_segment(bvh->left,p_params);
  		if (bvh->right>=0)
  			_cull_segment(bvh->right,p_params);
  
  
  	}
  }
  
  bool ConcavePolygonShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_result, Vector3 &r_normal) const {
  
  	if (faces.size()==0)
  		return false;
  
  	// unlock data
  	DVector<Face>::Read fr=faces.read();
  	DVector<Vector3>::Read vr=vertices.read();
  	DVector<BVH>::Read br=bvh.read();
  
  
  	_SegmentCullParams params;
  	params.from=p_begin;
  	params.to=p_end;
  	params.collisions=0;
  	params.dir=(p_end-p_begin).normalized();
  
  	params.faces=fr.ptr();
  	params.vertices=vr.ptr();
  	params.bvh=br.ptr();
  
  	params.min_d=1e20;
  	// cull
  	_cull_segment(0,&params);
  
  	if (params.collisions>0) {
  
  
  		r_result=params.result;
  		r_normal=params.normal;
  		return true;
  	} else {
  
  		return false;
  	}
  }
  
  void ConcavePolygonShapeSW::_cull(int p_idx,_CullParams *p_params) const {
  
  	const BVH* bvh=&p_params->bvh[p_idx];
  
  	if (!p_params->aabb.intersects( bvh->aabb ))
  		return;
  
  	if (bvh->face_index>=0) {
  
  		const Face *f=&p_params->faces[ bvh->face_index ];
  		FaceShapeSW *face=p_params->face;
  		face->normal=f->normal;
  		face->vertex[0]=p_params->vertices[f->indices[0]];
  		face->vertex[1]=p_params->vertices[f->indices[1]];
  		face->vertex[2]=p_params->vertices[f->indices[2]];
  		p_params->callback(p_params->userdata,face);
  
  	} else {
  
  		if (bvh->left>=0) {
  
  			_cull(bvh->left,p_params);
  
  		}
  
  		if (bvh->right>=0) {
  
  			_cull(bvh->right,p_params);
  		}
  
  	}
  }
  
  void ConcavePolygonShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
  
  	// make matrix local to concave
  	if (faces.size()==0)
  		return;
  
  	AABB local_aabb=p_local_aabb;
  
  	// unlock data
  	DVector<Face>::Read fr=faces.read();
  	DVector<Vector3>::Read vr=vertices.read();
  	DVector<BVH>::Read br=bvh.read();
  
  	FaceShapeSW face; // use this to send in the callback
  
  	_CullParams params;
  	params.aabb=local_aabb;
  	params.face=&face;
  	params.faces=fr.ptr();
  	params.vertices=vr.ptr();
  	params.bvh=br.ptr();
  	params.callback=p_callback;
  	params.userdata=p_userdata;
  
  	// cull
  	_cull(0,&params);
  
  }
  
  Vector3 ConcavePolygonShapeSW::get_moment_of_inertia(float p_mass) const {
  
  	// use crappy AABB approximation
  	Vector3 extents=get_aabb().size*0.5;
  
  	return Vector3(
  		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
  		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
  		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
  	);
  }
  
  
  struct _VolumeSW_BVH_Element {
  
  	AABB aabb;
  	Vector3 center;
  	int face_index;
  };
  
  struct _VolumeSW_BVH_CompareX {
  
  	_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
  
  		return a.center.x<b.center.x;
  	}
  };
  
  
  struct _VolumeSW_BVH_CompareY {
  
  	_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
  
  		return a.center.y<b.center.y;
  	}
  };
  
  struct _VolumeSW_BVH_CompareZ {
  
  	_FORCE_INLINE_ bool operator ()(const _VolumeSW_BVH_Element& a, const _VolumeSW_BVH_Element& b) const {
  
  		return a.center.z<b.center.z;
  	}
  };
  
  struct _VolumeSW_BVH {
  
  	AABB aabb;
  	_VolumeSW_BVH *left;
  	_VolumeSW_BVH *right;
  
  	int face_index;
  };
  
  
  _VolumeSW_BVH* _volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements,int p_size,int &count) {
  
  	_VolumeSW_BVH* bvh = memnew( _VolumeSW_BVH );
  
  	if (p_size==1) {
  		//leaf
  		bvh->aabb=p_elements[0].aabb;
  		bvh->left=NULL;
  		bvh->right=NULL;
  		bvh->face_index=p_elements->face_index;
  		count++;
  		return bvh;
  	} else {
  
  		bvh->face_index=-1;
  	}
  
  	AABB aabb;
  	for(int i=0;i<p_size;i++) {
  
  		if (i==0)
  			aabb=p_elements[i].aabb;
  		else
  			aabb.merge_with(p_elements[i].aabb);
  	}
  	bvh->aabb=aabb;
  	switch(aabb.get_longest_axis_index()) {
  
  		case 0: {
  
  			SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareX> sort_x;
  			sort_x.sort(p_elements,p_size);
  
  		} break;
  		case 1: {
  
  			SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareY> sort_y;
  			sort_y.sort(p_elements,p_size);
  		} break;
  		case 2: {
  
  			SortArray<_VolumeSW_BVH_Element,_VolumeSW_BVH_CompareZ> sort_z;
  			sort_z.sort(p_elements,p_size);
  		} break;
  	}
  
  	int split=p_size/2;
  	bvh->left=_volume_sw_build_bvh(p_elements,split,count);
  	bvh->right=_volume_sw_build_bvh(&p_elements[split],p_size-split,count);
  
  //	printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index);
  	count++;
  	return bvh;
  }
  
  
  void ConcavePolygonShapeSW::_fill_bvh(_VolumeSW_BVH* p_bvh_tree,BVH* p_bvh_array,int& p_idx) {
  
  	int idx=p_idx;
  
  
  	p_bvh_array[idx].aabb=p_bvh_tree->aabb;
  	p_bvh_array[idx].face_index=p_bvh_tree->face_index;
  //	printf("%p - %i: %i(%p)  -- %p:%p\n",%p_bvh_array[idx],p_idx,p_bvh_array[i]->face_index,&p_bvh_tree->face_index,p_bvh_tree->left,p_bvh_tree->right);
  
  
  	if (p_bvh_tree->left) {
  		p_bvh_array[idx].left=++p_idx;
  		_fill_bvh(p_bvh_tree->left,p_bvh_array,p_idx);
  
  	} else {
  
  		p_bvh_array[p_idx].left=-1;
  	}
  
  	if (p_bvh_tree->right) {
  		p_bvh_array[idx].right=++p_idx;
  		_fill_bvh(p_bvh_tree->right,p_bvh_array,p_idx);
  
  	} else {
  
  		p_bvh_array[p_idx].right=-1;
  	}
  
  	memdelete(p_bvh_tree);
  
  }
  
  void ConcavePolygonShapeSW::_setup(DVector<Vector3> p_faces) {
  
  	int src_face_count=p_faces.size();
  	ERR_FAIL_COND(src_face_count%3);
  	src_face_count/=3;
  
  	DVector<Vector3>::Read r = p_faces.read();
  	const Vector3 * facesr= r.ptr();
  
  #if 0
  	Map<Vector3,int> point_map;
  	List<Face> face_list;
  
  
  	for(int i=0;i<src_face_count;i++) {
  
  		Face3 faceaux;
  
  		for(int j=0;j<3;j++) {
  
  			faceaux.vertex[j]=facesr[i*3+j].snapped(_POINT_SNAP);
  			//faceaux.vertex[j]=facesr[i*3+j];//facesr[i*3+j].snapped(_POINT_SNAP);
  		}
  
  		ERR_CONTINUE( faceaux.is_degenerate() );
  
  		Face face;
  
  		for(int j=0;j<3;j++) {
  
  
  			Map<Vector3,int>::Element *E=point_map.find(faceaux.vertex[j]);
  			if (E) {
  
  				face.indices[j]=E->value();
  			} else {
  
  				face.indices[j]=point_map.size();
  				point_map.insert(faceaux.vertex[j],point_map.size());
  
  			}
  		}
  
  		face_list.push_back(face);
  	}
  
  	vertices.resize( point_map.size() );
  
  	DVector<Vector3>::Write vw = vertices.write();
  	Vector3 *verticesw=vw.ptr();
  
  	AABB _aabb;
  
  	for( Map<Vector3,int>::Element *E=point_map.front();E;E=E->next()) {
  
  		if (E==point_map.front()) {
  			_aabb.pos=E->key();
  		} else {
  
  			_aabb.expand_to(E->key());
  		}
  		verticesw[E->value()]=E->key();
  	}
  
  	point_map.clear(); // not needed anymore
  
  	faces.resize(face_list.size());
  	DVector<Face>::Write w = faces.write();
  	Face *facesw=w.ptr();
  
  	int fc=0;
  
  	for( List<Face>::Element *E=face_list.front();E;E=E->next()) {
  
  		facesw[fc++]=E->get();
  	}
  
  	face_list.clear();
  
  
  	DVector<_VolumeSW_BVH_Element> bvh_array;
  	bvh_array.resize( fc );
  
  	DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
  	_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
  
  
  	for(int i=0;i<fc;i++) {
  
  		AABB face_aabb;
  		face_aabb.pos=verticesw[facesw[i].indices[0]];
  		face_aabb.expand_to( verticesw[facesw[i].indices[1]] );
  		face_aabb.expand_to( verticesw[facesw[i].indices[2]] );
  
  		bvh_arrayw[i].face_index=i;
  		bvh_arrayw[i].aabb=face_aabb;
  		bvh_arrayw[i].center=face_aabb.pos+face_aabb.size*0.5;
  
  	}
  
  	w=DVector<Face>::Write();
  	vw=DVector<Vector3>::Write();
  
  
  	int count=0;
  	_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,fc,count);
  
  	ERR_FAIL_COND(count==0);
  
  	bvhw=DVector<_VolumeSW_BVH_Element>::Write();
  
  	bvh.resize( count+1 );
  
  	DVector<BVH>::Write bvhw2 = bvh.write();
  	BVH*bvh_arrayw2=bvhw2.ptr();
  
  	int idx=0;
  	_fill_bvh(bvh_tree,bvh_arrayw2,idx);
  
  	set_aabb(_aabb);
  
  #else
  	DVector<_VolumeSW_BVH_Element> bvh_array;
  	bvh_array.resize( src_face_count );
  
  	DVector<_VolumeSW_BVH_Element>::Write bvhw = bvh_array.write();
  	_VolumeSW_BVH_Element *bvh_arrayw=bvhw.ptr();
  
  	faces.resize(src_face_count);
  	DVector<Face>::Write w = faces.write();
  	Face *facesw=w.ptr();
  
  	vertices.resize( src_face_count*3 );
  
  	DVector<Vector3>::Write vw = vertices.write();
  	Vector3 *verticesw=vw.ptr();
  
  	AABB _aabb;
  
  
  	for(int i=0;i<src_face_count;i++) {
  
  		Face3 face( facesr[i*3+0], facesr[i*3+1], facesr[i*3+2] );
  
  		bvh_arrayw[i].aabb=face.get_aabb();
  		bvh_arrayw[i].center = bvh_arrayw[i].aabb.pos + bvh_arrayw[i].aabb.size * 0.5;
  		bvh_arrayw[i].face_index=i;
  		facesw[i].indices[0]=i*3+0;
  		facesw[i].indices[1]=i*3+1;
  		facesw[i].indices[2]=i*3+2;
  		facesw[i].normal=face.get_plane().normal;
  		verticesw[i*3+0]=face.vertex[0];
  		verticesw[i*3+1]=face.vertex[1];
  		verticesw[i*3+2]=face.vertex[2];
  		if (i==0)
  			_aabb=bvh_arrayw[i].aabb;
  		else
  			_aabb.merge_with(bvh_arrayw[i].aabb);
  
  	}
  
  	w=DVector<Face>::Write();
  	vw=DVector<Vector3>::Write();
  
  	int count=0;
  	_VolumeSW_BVH *bvh_tree=_volume_sw_build_bvh(bvh_arrayw,src_face_count,count);
  
  	bvh.resize( count+1 );
  
  	DVector<BVH>::Write bvhw2 = bvh.write();
  	BVH*bvh_arrayw2=bvhw2.ptr();
  
  	int idx=0;
  	_fill_bvh(bvh_tree,bvh_arrayw2,idx);
  
  	configure(_aabb); // this type of shape has no margin
  
  
  #endif
  }
  
  
  void ConcavePolygonShapeSW::set_data(const Variant& p_data) {
  
  
  	_setup(p_data);
  }
  
  Variant ConcavePolygonShapeSW::get_data() const {
  
  	return get_faces();
  }
  
  ConcavePolygonShapeSW::ConcavePolygonShapeSW() {
  
  
  }
  
  
  
  /* HEIGHT MAP SHAPE */
  
  DVector<float> HeightMapShapeSW::get_heights() const {
  
  	return heights;
  }
  int HeightMapShapeSW::get_width() const {
  
  	return width;
  }
  int HeightMapShapeSW::get_depth() const {
  
  	return depth;
  }
  float HeightMapShapeSW::get_cell_size() const {
  
  	return cell_size;
  }
  
  
  void HeightMapShapeSW::project_range(const Vector3& p_normal, const Transform& p_transform, real_t &r_min, real_t &r_max) const {
  
  	//not very useful, but not very used either
  	p_transform.xform(get_aabb()).project_range_in_plane( Plane(p_normal,0),r_min,r_max );
  
  }
  
  Vector3 HeightMapShapeSW::get_support(const Vector3& p_normal) const {
  
  
  	//not very useful, but not very used either
  	return get_aabb().get_support(p_normal);
  
  }
  
  bool HeightMapShapeSW::intersect_segment(const Vector3& p_begin,const Vector3& p_end,Vector3 &r_point, Vector3 &r_normal) const {
  
  
  	return false;
  }
  
  
  void HeightMapShapeSW::cull(const AABB& p_local_aabb,Callback p_callback,void* p_userdata) const {
  
  
  
  }
  
  
  Vector3 HeightMapShapeSW::get_moment_of_inertia(float p_mass) const {
  
  
  	// use crappy AABB approximation
  	Vector3 extents=get_aabb().size*0.5;
  
  	return Vector3(
  		(p_mass/3.0) * (extents.y*extents.y + extents.z*extents.z),
  		(p_mass/3.0) * (extents.x*extents.x + extents.z*extents.z),
  		(p_mass/3.0) * (extents.y*extents.y + extents.y*extents.y)
  	);
  }
  
  
  void HeightMapShapeSW::_setup(DVector<real_t> p_heights,int p_width,int p_depth,real_t p_cell_size) {
  
  	heights=p_heights;
  	width=p_width;
  	depth=p_depth;;
  	cell_size=p_cell_size;
  
  	DVector<real_t>::Read r = heights. read();
  
  	AABB aabb;
  
  	for(int i=0;i<depth;i++) {
  
  		for(int j=0;j<width;j++) {
  
  			float h = r[i*width+j];
  
  			Vector3 pos( j*cell_size, h, i*cell_size );
  			if (i==0 || j==0)
  				aabb.pos=pos;
  			else
  				aabb.expand_to(pos);
  
  		}
  	}
  
  
  	configure(aabb);
  }
  
  void HeightMapShapeSW::set_data(const Variant& p_data) {
  
  	ERR_FAIL_COND( p_data.get_type()!=Variant::DICTIONARY );
  	Dictionary d=p_data;
  	ERR_FAIL_COND( !d.has("width") );
  	ERR_FAIL_COND( !d.has("depth") );
  	ERR_FAIL_COND( !d.has("cell_size") );
  	ERR_FAIL_COND( !d.has("heights") );
  
  	int width=d["width"];
  	int depth=d["depth"];
  	float cell_size=d["cell_size"];
  	DVector<float> heights=d["heights"];
  
  	ERR_FAIL_COND( width<= 0);
  	ERR_FAIL_COND( depth<= 0);
  	ERR_FAIL_COND( cell_size<= CMP_EPSILON);
  	ERR_FAIL_COND( heights.size() != (width*depth) );
  	_setup(heights, width, depth, cell_size );
  
  }
  
  Variant HeightMapShapeSW::get_data() const {
  
  	ERR_FAIL_V(Variant());
  
  }
  
  HeightMapShapeSW::HeightMapShapeSW() {
  
  	width=0;
  	depth=0;
  	cell_size=0;
  }
  
  
  
  