/*
 * gleem -- OpenGL Extremely Easy-To-Use Manipulators.
 * Copyright (C) 1998-2003 Kenneth B. Russell (kbrussel@alum.mit.edu)
 *
 * Copying, distribution and use of this software in source and binary
 * forms, with or without modification, is permitted provided that the
 * following conditions are met:
 *
 * Distributions of source code must reproduce the copyright notice,
 * this list of conditions and the following disclaimer in the source
 * code header files; and Distributions of binary code must reproduce
 * the copyright notice, this list of conditions and the following
 * disclaimer in the documentation, Read me file, license file and/or
 * other materials provided with the software distribution.
 *
 * The names of Sun Microsystems, Inc. ("Sun") and/or the copyright
 * holder may not be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED "AS IS," WITHOUT A WARRANTY OF ANY
 * KIND. ALL EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND
 * WARRANTIES, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE, NON-INTERFERENCE, ACCURACY OF
 * INFORMATIONAL CONTENT OR NON-INFRINGEMENT, ARE HEREBY EXCLUDED. THE
 * COPYRIGHT HOLDER, SUN AND SUN'S LICENSORS SHALL NOT BE LIABLE FOR
 * ANY DAMAGES SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR
 * DISTRIBUTING THIS SOFTWARE OR ITS DERIVATIVES. IN NO EVENT WILL THE
 * COPYRIGHT HOLDER, SUN OR SUN'S LICENSORS BE LIABLE FOR ANY LOST
 * REVENUE, PROFIT OR DATA, OR FOR DIRECT, INDIRECT, SPECIAL,
 * CONSEQUENTIAL, INCIDENTAL OR PUNITIVE DAMAGES, HOWEVER CAUSED AND
 * REGARDLESS OF THE THEORY OF LIABILITY, ARISING OUT OF THE USE OF OR
 * INABILITY TO USE THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
 * OF SUCH DAMAGES. YOU ACKNOWLEDGE THAT THIS SOFTWARE IS NOT
 * DESIGNED, LICENSED OR INTENDED FOR USE IN THE DESIGN, CONSTRUCTION,
 * OPERATION OR MAINTENANCE OF ANY NUCLEAR FACILITY. THE COPYRIGHT
 * HOLDER, SUN AND SUN'S LICENSORS DISCLAIM ANY EXPRESS OR IMPLIED
 * WARRANTY OF FITNESS FOR SUCH USES.
 */

package gleem.linalg;

/** Represents a line in 3D space. */

public class Line {
  private Vec3f point;
  /** Normalized */
  private Vec3f direction;
  /** For computing projections along line */
  private Vec3f alongVec;

  /** Default constructor initializes line to point (0, 0, 0) and
      direction (1, 0, 0) */
  public Line() {
    point = new Vec3f(0, 0, 0);
    direction = new Vec3f(1, 0, 0);
    alongVec = new Vec3f();
    recalc();
  }

  /** Line goes in direction <b>direction</b> through the point
      <b>point</b>. <b>direction</b> does not need to be normalized but must
      not be the zero vector. */
  public Line(Vec3f direction, Vec3f point) {
    direction = new Vec3f(direction);
    direction.normalize();
    point = new Vec3f(point);
    alongVec = new Vec3f();
    recalc();
  }

  /** Setter does some work to maintain internal caches.
      <b>direction</b> does not need to be normalized but must not be
      the zero vector. */
  public void setDirection(Vec3f direction) {
    this.direction.set(direction);
    this.direction.normalize();
    recalc();
  }

  /** Direction is normalized internally, so <b>direction</b> is not
      necessarily equal to <code>plane.setDirection(direction);
      plane.getDirection();</code> */
  public Vec3f getDirection() {
    return direction;
  }

  /** Setter does some work to maintain internal caches. */
  public void setPoint(Vec3f point) {
    this.point.set(point);
    recalc();
  }

  public Vec3f getPoint() {
    return point;
  }

  /** Project a point onto the line */
  public void projectPoint(Vec3f pt,
                           Vec3f projPt) {
    float dotp = direction.dot(pt);
    projPt.set(direction);
    projPt.scale(dotp);
    projPt.add(alongVec);
  }

  /** Find closest point on this line to the given ray, specified by
      start point and direction. If ray is parallel to this line,
      returns false and closestPoint is not modified. */
  public boolean closestPointToRay(Vec3f rayStart,
                                   Vec3f rayDirection,
                                   Vec3f closestPoint) {
    // Line 1 is this one. Line 2 is the incoming one.
    Mat2f A = new Mat2f();
    A.set(0, 0, -direction.lengthSquared());
    A.set(1, 1, -rayDirection.lengthSquared());
    A.set(0, 1, direction.dot(rayDirection));
    A.set(1, 0, A.get(0, 1));
    if (Math.abs(A.determinant()) == 0.0f) {
      return false;
    }
    if (!A.invert()) {
      return false;
    }
    Vec2f b = new Vec2f();
    b.setX(point.dot(direction) - rayStart.dot(direction));
    b.setY(rayStart.dot(rayDirection) - point.dot(rayDirection));
    Vec2f x = new Vec2f();
    A.xformVec(b, x);
    if (x.y() < 0) {
      // Means that ray start is closest point to this line
      closestPoint.set(rayStart);
    } else {
      closestPoint.set(direction);
      closestPoint.scale(x.x());
      closestPoint.add(point);
    }
    return true;
  }

  //----------------------------------------------------------------------
  // Internals only below this point
  //
  
  private void recalc() {
    float denom = direction.lengthSquared();
    if (denom == 0.0f) {
      throw new RuntimeException("Line.recalc: ERROR: direction was the zero vector " +
                                 "(not allowed)");
    }
    alongVec.set(point.minus(direction.times(point.dot(direction))));
  }
}