creep-flight-distance-calculation/include/geometry_utils.hpp

#pragma once

#include "vector3.hpp"
#include "CommonStructs.hpp"

#include <vector>
#include <string>

struct Triangle {
    Vector3 a;
    Vector3 b;
    Vector3 c;
};

using TriangleMesh = std::vector<Triangle>;

// ֻ��������� OBJ��
//   v x y z
//   f i j k        (�� f i/j/k ��ʽ��1-based ��������)
// ����������/����
bool loadObjAsTriangleMesh(const IniInPutStruct* inputData, size_t inputCount, TriangleMesh& mesh);

namespace GeometryUtils {

    // P ����������������
    void closestPointOnTriangle(
        const Vector3& p,
        const Triangle& tri,
        Vector3& closest,
        float& dist2);

    // P ��������������������
    void closestPointOnMesh(
        const Vector3& p,
        const TriangleMesh& mesh,
        Vector3& closest,
        float& dist);

    float signedDistanceToMesh(
        const Vector3& p,
        const TriangleMesh& mesh,
        Vector3* outClosestPoint = nullptr,
        Vector3* outNormal = nullptr);

    float signedDistanceToMeshForEndpoint(
        const Vector3& p,
        const TriangleMesh& mesh,
        Vector3* outClosestPoint,
        Vector3* outNormal);

    // �� mesh �������ҵ���� k ���������ѡ�㡱
    void getSurfaceCandidatesOnMesh(
        const Vector3& p,
        const TriangleMesh& mesh,
        int k,
        std::vector<Vector3>& outPoints);

    // ��������
    void getSurfaceSlideCandidates(
        const Vector3& p,
        const TriangleMesh& mesh,
        int k,
        const Vector3* pathDir,
        float slideRadius,
        std::vector<Vector3>& outPoints);

    bool findEndpointHitOnMesh(
        const Vector3& p0,
        const Vector3& p1,
        const TriangleMesh& mesh,
        float maxRayDist,
        Vector3& hitPoint);

    bool SegmentCollidesWithMesh(
        const Vector3& P0,
        const Vector3& P1,
        const TriangleMesh& mesh,
        double safe_epsilon);

    bool IsSegmentCollides(
        const Vector3& P0,
        const Vector3& P1,
        const TriangleMesh& mesh);
}