//_________________________________________________________
//squareq.h

#include "headers.h"

class squareq{
public:
	squareq();
	void render(ConstantBuffer &cb);
	void movef(float x, float y, float z);
	void scalef(float x, float y, float z);
	void rotatef(char dir, float ang);
	vec::fixed<4> collision(squareq tester);
	fmat::fixed<4,4> rotation;
	fmat::fixed<4,4> translation;
	fmat::fixed<4,4> scaling;
	fmat::fixed<4,4> world;

	float ex[3];
	fvec::fixed<4> A[3], S[3], C;
private:
	SimpleVertex vertices[4];

};

//_________________________________________________________
//squareq.cpp

#include "headers.h"

extern XMMATRIX g_View;
extern XMMATRIX g_Projection;
extern ID3D11DeviceContext* g_pImmediateContext;
extern ID3D11Buffer* g_pConstantBuffer;
extern ID3D11VertexShader* g_pVertexShader;
extern ID3D11PixelShader* g_pPixelShader;


squareq::squareq(){
	rotation.eye();
	translation.eye();
	scaling.eye();
	S[0] << 1 << 0 << 0 << 0;
	S[1] << 0 << 1 << 0 << 0;
	S[2] << 0 << 0 << 1 << 0;
	ex[0] = 1;
	ex[1] = 1;
	ex[2] = 0;
	A[0] = S[0];
	A[1] = S[1];
	A[2] = S[2];
}

void squareq::render(ConstantBuffer &cb){
	world = rotation * translation * scaling;
	world = world.t();
	int i, j;
	for(i=0;i<4;i++){
		for(j=0;j<4;j++){
			cb.mWorld[i][j] = world(i,j);
		}
	}

	cb.mView = XMMatrixTranspose( g_View );
	cb.mProjection = XMMatrixTranspose( g_Projection );

	g_pImmediateContext->UpdateSubresource( g_pConstantBuffer, 0, NULL, &cb, 0, 0 );
	g_pImmediateContext->DrawIndexed( 12, 0, 0 );
}

void squareq::movef(float x, float y, float z){
	translation << 1 << 0 << 0 << 0 << endr
		<< 0 << 1 << 0 << 0 << endr
		<< 0 << 0 << 1 << 0 << endr
		<< x << y << z << 1; 
	C(0) = x;
	C(1) = y;
	C(2) = z;
}

void squareq::rotatef(char dir, float ang){
	if(dir == 'x'){
		rotation << 1 << 0 << 0 << 0 << endr
			<< 0 << cos(ang) << -sin(ang) << 0 << endr
			<< 0 << sin(ang) << cos(ang) << 0 << endr
			<< 0 << 0 << 0 << 1;
		A[1] = rotation * S[1];
		A[2] = rotation * S[2];
	}

	if(dir == 'y'){
		rotation << cos(ang) << 0 << sin(ang) << 0 << endr
			<< 0 << 1 << 0 << 0 << endr
			<< -sin(ang) << 0 << cos(ang) << 0 << endr
			<< 0 << 0 << 0 << 1;
		A[0] = rotation * S[0];
		A[2] = rotation * S[2];
		dir = 'h';
	}

	if(dir == 'z'){
		rotation << cos(ang) << -sin(ang) << 0 << 0 << endr
			<< sin(ang) << cos(ang) << 0 << 0 << endr
			<< 0 << 0 << 1 << 0 << endr
			<< 0 << 0 << 0 << 1;
		A[0] = rotation * S[0];
		A[1] = rotation * S[1];
	}
}

void squareq::scalef(float x, float y, float z){
	scaling << x << 0 << 0 << 0 << endr
		<< 0 << y << 0 << 0 << endr
		<< 0 << 0 << z << 0 << endr
		<< 0 << 0 << 0 << 1 << endr;
	ex[0] = x;
	ex[1] = y;
	ex[2] = z;
}

bool collision(squareq sq1, squareq sq2){
	int i, j, k, sign;
	fvec::fixed<3> A[3], B[3], C0, C1;
	for(i=0;i<3;i++){
		C0(i) = sq1.C(i);
		C1(i) = sq2.C(i);
		for(j=0;j<3;j++){
			A[i](j) = sq1.A[i](j);
			B[i](j) = sq2.A[i](j);
		}
	}

	float R = 0, R0 = 0, R1 = 0;
	fvec::fixed<3> D = C1 - C0;
	fvec::fixed<3> L;
	for(j = 0;j<3;j++){
		L = A[j];
		R = abs(dot(L, D));
		for(k=0;k<3;k++){
			if(dot(L, A[k]) > 0)
				sign = 1;
			else if(dot(L, A[k]) == 0)
				sign = 0;
			else
				sign = -1;
			R0 = R0 + sq1.ex[k]*sign*dot(L,A[k]);
			R1 = R1 + sq2.ex[k]*sign*dot(L,B[k]);
		}
		if(!(R > (R0 + R1)))
			return true;
		R0 = 0;
		R1 = 0;
		L = B[j];
		R = abs(dot(L, D));
		for(k=0;k<3;k++){
			if(dot(L, A[k]) > 0)
				sign = 1;
			else if(dot(L, A[k]) == 0)
				sign = 0;
			else
				sign = -1;
			R0 = R0 + sq1.ex[k]*sign*dot(L,A[k]);
			R1 = R1 + sq2.ex[k]*sign*dot(L,B[k]);
		}
		if(!(R > (R0 + R1)))
			return true;
		R0 = 0;
		R1 = 0;
		for(i=0;i<3;i++){
			L = cross(A[j], B[i]);
			R = abs(dot(L, D));
			for(k=0;k<3;k++){
				if(dot(L, A[k]) > 0)
					sign = 1;
				else if(dot(L, A[k]) == 0)
					sign = 0;
				else
					sign = -1;
				R0 = R0 + sq1.ex[k]*sign*dot(L,A[k]);
				R1 = R1 + sq2.ex[k]*sign*dot(L,B[k]);
			}
			if(!(R > (R0 + R1)))
				return true;
			R0 = 0;
			R1 = 0;
		}
	}
	return false;
}