/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

/*

  standard ODE geometry primitives: public API and pairwise collision functions.

  the rule is that only the low level primitive collision functions should set
  dContactGeom::g1 and dContactGeom::g2.

*/

#include <ode/common.h>
#include <ode/collision.h>
#include <ode/rotation.h>
#include "config.h"
#include "matrix.h"
#include "odemath.h"
#include "collision_kernel.h"
#include "collision_std.h"
#include "collision_util.h"

#ifdef _MSC_VER
#pragma warning(disable:4291)  // for VC++, no complaints about "no matching operator delete found"
#endif

//****************************************************************************
// box public API

dxBox::dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz) : dxGeom (space,1)
{
    dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
    type = dBoxClass;
    side[0] = lx;
    side[1] = ly;
    side[2] = lz;
    updateZeroSizedFlag(!lx || !ly || !lz);
}


void dxBox::computeAABB()
{
    const dMatrix3& R = final_posr->R;
    const dVector3& pos = final_posr->pos;

    dReal xrange = REAL(0.5) * (dFabs (R[0] * side[0]) +
        dFabs (R[1] * side[1]) + dFabs (R[2] * side[2]));
    dReal yrange = REAL(0.5) * (dFabs (R[4] * side[0]) +
        dFabs (R[5] * side[1]) + dFabs (R[6] * side[2]));
    dReal zrange = REAL(0.5) * (dFabs (R[8] * side[0]) +
        dFabs (R[9] * side[1]) + dFabs (R[10] * side[2]));
    aabb[0] = pos[0] - xrange;
    aabb[1] = pos[0] + xrange;
    aabb[2] = pos[1] - yrange;
    aabb[3] = pos[1] + yrange;
    aabb[4] = pos[2] - zrange;
    aabb[5] = pos[2] + zrange;
}


dGeomID dCreateBox (dSpaceID space, dReal lx, dReal ly, dReal lz)
{
    return new dxBox (space,lx,ly,lz);
}


void dGeomBoxSetLengths (dGeomID g, dReal lx, dReal ly, dReal lz)
{
    dUASSERT (g && g->type == dBoxClass,"argument not a box");
    dAASSERT (lx >= 0 && ly >= 0 && lz >= 0);
    dxBox *b = (dxBox*) g;
    b->side[0] = lx;
    b->side[1] = ly;
    b->side[2] = lz;
    b->updateZeroSizedFlag(!lx || !ly || !lz);
    dGeomMoved (g);
}


void dGeomBoxGetLengths (dGeomID g, dVector3 result)
{
    dUASSERT (g && g->type == dBoxClass,"argument not a box");
    dxBox *b = (dxBox*) g;
    result[0] = b->side[0];
    result[1] = b->side[1];
    result[2] = b->side[2];
}


dReal dGeomBoxPointDepth (dGeomID g, dReal x, dReal y, dReal z)
{
    dUASSERT (g && g->type == dBoxClass,"argument not a box");
    g->recomputePosr();
    dxBox *b = (dxBox*) g;

    // Set p = (x,y,z) relative to box center
    //
    // This will be (0,0,0) if the point is at (side[0]/2,side[1]/2,side[2]/2)

    dVector3 p,q;

    p[0] = x - b->final_posr->pos[0];
    p[1] = y - b->final_posr->pos[1];
    p[2] = z - b->final_posr->pos[2];

    // Rotate p into box's coordinate frame, so we can
    // treat the OBB as an AABB

    dMultiply1_331 (q,b->final_posr->R,p);

    // Record distance from point to each successive box side, and see
    // if the point is inside all six sides

    dReal dist[6];
    int   i;

    bool inside = true;

    for (i=0; i < 3; i++) {
        dReal side = b->side[i] * REAL(0.5);

        dist[i  ] = side - q[i];
        dist[i+3] = side + q[i];

        if ((dist[i] < 0) || (dist[i+3] < 0)) {
            inside = false;
        }
    }

    // If point is inside the box, the depth is the smallest positive distance
    // to any side

    if (inside) {
        dReal smallest_dist = (dReal) (unsigned) -1;

        for (i=0; i < 6; i++) {
            if (dist[i] < smallest_dist) smallest_dist = dist[i];
        }

        return smallest_dist;
    }

    // Otherwise, if point is outside the box, the depth is the largest
    // distance to any side.  This is an approximation to the 'proper'
    // solution (the proper solution may be larger in some cases).

    dReal largest_dist = 0;

    for (i=0; i < 6; i++) {
        if (dist[i] > largest_dist) largest_dist = dist[i];
    }

    return -largest_dist;
}

//****************************************************************************
// box-box collision utility


// find all the intersection points between the 2D rectangle with vertices
// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
//
// the intersection points are returned as x,y pairs in the 'ret' array.
// the number of intersection points is returned by the function (this will
// be in the range 0 to 8).

static int intersectRectQuad (dReal h[2], dReal p[8], dReal ret[16])
{
    // q (and r) contain nq (and nr) coordinate points for the current (and
    // chopped) polygons
    int nq=4,nr;
    dReal buffer[16];
    dReal *q = p;
    dReal *r = ret;
    for (int dir=0; dir <= 1; dir++) {
        // direction notation: xy[0] = x axis, xy[1] = y axis
        for (int sign=-1; sign <= 1; sign += 2) {
            // chop q along the line xy[dir] = sign*h[dir]
            dReal *pq = q;
            dReal *pr = r;
            nr = 0;
            for (int i=nq; i > 0; i--) {
                // go through all points in q and all lines between adjacent points
                if (sign*pq[dir] < h[dir]) {
                    // this point is inside the chopping line
                    pr[0] = pq[0];
                    pr[1] = pq[1];
                    pr += 2;
                    nr++;
                    if (nr & 8) {
                        q = r;
                        goto done;
                    }
                }
                dReal *nextq = (i > 1) ? pq+2 : q;
                if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
                    // this line crosses the chopping line
                    pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
                        (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
                    pr[dir] = sign*h[dir];
                    pr += 2;
                    nr++;
                    if (nr & 8) {
                        q = r;
                        goto done;
                    }
                }
                pq += 2;
            }
            q = r;
            r = (q==ret) ? buffer : ret;
            nq = nr;
        }
    }
done:
    if (q != ret) memcpy (ret,q,nr*2*sizeof(dReal));
    return nr;
}


// given n points in the plane (array p, of size 2*n), generate m points that
// best represent the whole set. the definition of 'best' here is not
// predetermined - the idea is to select points that give good box-box
// collision detection behavior. the chosen point indexes are returned in the
// array iret (of size m). 'i0' is always the first entry in the array.
// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
// in the range [0..n-1].

void cullPoints (int n, dReal p[], int m, int i0, int iret[])
{
    // compute the centroid of the polygon in cx,cy
    int i,j;
    dReal a,cx,cy,q;
    if (n==1) {
        cx = p[0];
        cy = p[1];
    }
    else if (n==2) {
        cx = REAL(0.5)*(p[0] + p[2]);
        cy = REAL(0.5)*(p[1] + p[3]);
    }
    else {
        a = 0;
        cx = 0;
        cy = 0;
        for (i=0; i<(n-1); i++) {
            q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
            a += q;
            cx += q*(p[i*2]+p[i*2+2]);
            cy += q*(p[i*2+1]+p[i*2+3]);
        }
        q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
        a = dRecip(REAL(3.0)*(a+q));
        cx = a*(cx + q*(p[n*2-2]+p[0]));
        cy = a*(cy + q*(p[n*2-1]+p[1]));
    }

    // compute the angle of each point w.r.t. the centroid
    dReal A[8];
    for (i=0; i<n; i++) A[i] = dAtan2(p[i*2+1]-cy,p[i*2]-cx);

    // search for points that have angles closest to A[i0] + i*(2*pi/m).
    int avail[8];
    for (i=0; i<n; i++) avail[i] = 1;
    avail[i0] = 0;
    iret[0] = i0;
    iret++;
    for (j=1; j<m; j++) {
        a = (dReal)(dReal(j)*(2*M_PI/m) + A[i0]);
        if (a > M_PI) a -= (dReal)(2*M_PI);
        dReal maxdiff=1e9,diff;
#ifndef dNODEBUG
        *iret = i0;			// iret is not allowed to keep this value
#endif
        for (i=0; i<n; i++) {
            if (avail[i]) {
                diff = dFabs (A[i]-a);
                if (diff > M_PI) diff = (dReal) (2*M_PI - diff);
                if (diff < maxdiff) {
                    maxdiff = diff;
                    *iret = i;
                }
            }
        }
#ifndef dNODEBUG
        dIASSERT (*iret != i0);	// ensure iret got set
#endif
        avail[*iret] = 0;
        iret++;
    }
}


// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
// generate contact points. this returns 0 if there is no contact otherwise
// it returns the number of contacts generated.
// `normal' returns the contact normal.
// `depth' returns the maximum penetration depth along that normal.
// `return_code' returns a number indicating the type of contact that was
// detected:
//        1,2,3 = box 2 intersects with a face of box 1
//        4,5,6 = box 1 intersects with a face of box 2
//        7..15 = edge-edge contact
// `maxc' is the maximum number of contacts allowed to be generated, i.e.
// the size of the `contact' array.
// `contact' and `skip' are the contact array information provided to the
// collision functions. this function only fills in the position and depth
// fields.


int dBoxBox (const dVector3 p1, const dMatrix3 R1,
             const dVector3 side1, const dVector3 p2,
             const dMatrix3 R2, const dVector3 side2,
             dVector3 normal, dReal *depth, int *return_code,
             int flags, dContactGeom *contact, int skip)
{
    const dReal fudge_factor = REAL(1.05);
    dVector3 p,pp,normalC={0,0,0};
    const dReal *normalR = 0;
    dReal A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
        Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l,expr1_val;
    int i,j,invert_normal,code;

    // get vector from centers of box 1 to box 2, relative to box 1
    p[0] = p2[0] - p1[0];
    p[1] = p2[1] - p1[1];
    p[2] = p2[2] - p1[2];
    dMultiply1_331 (pp,R1,p);		// get pp = p relative to body 1

    // get side lengths / 2
    A[0] = side1[0]*REAL(0.5);
    A[1] = side1[1]*REAL(0.5);
    A[2] = side1[2]*REAL(0.5);
    B[0] = side2[0]*REAL(0.5);
    B[1] = side2[1]*REAL(0.5);
    B[2] = side2[2]*REAL(0.5);

    // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
    R11 = dCalcVectorDot3_44(R1+0,R2+0); R12 = dCalcVectorDot3_44(R1+0,R2+1); R13 = dCalcVectorDot3_44(R1+0,R2+2);
    R21 = dCalcVectorDot3_44(R1+1,R2+0); R22 = dCalcVectorDot3_44(R1+1,R2+1); R23 = dCalcVectorDot3_44(R1+1,R2+2);
    R31 = dCalcVectorDot3_44(R1+2,R2+0); R32 = dCalcVectorDot3_44(R1+2,R2+1); R33 = dCalcVectorDot3_44(R1+2,R2+2);

    Q11 = dFabs(R11); Q12 = dFabs(R12); Q13 = dFabs(R13);
    Q21 = dFabs(R21); Q22 = dFabs(R22); Q23 = dFabs(R23);
    Q31 = dFabs(R31); Q32 = dFabs(R32); Q33 = dFabs(R33);

    // for all 15 possible separating axes:
    //   * see if the axis separates the boxes. if so, return 0.
    //   * find the depth of the penetration along the separating axis (s2)
    //   * if this is the largest depth so far, record it.
    // the normal vector will be set to the separating axis with the smallest
    // depth. note: normalR is set to point to a column of R1 or R2 if that is
    // the smallest depth normal so far. otherwise normalR is 0 and normalC is
    // set to a vector relative to body 1. invert_normal is 1 if the sign of
    // the normal should be flipped.

    do {
#define TST(expr1,expr2,norm,cc) \
    expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \
    s2 = dFabs(expr1_val) - (expr2); \
    if (s2 > 0) return 0; \
    if (s2 > s) { \
    s = s2; \
    normalR = norm; \
    invert_normal = ((expr1_val) < 0); \
    code = (cc); \
    if (flags & CONTACTS_UNIMPORTANT) break; \
    }

        s = -dInfinity;
        invert_normal = 0;
        code = 0;

        // separating axis = u1,u2,u3
        TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
        TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
        TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);

        // separating axis = v1,v2,v3
        TST (dCalcVectorDot3_41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
        TST (dCalcVectorDot3_41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
        TST (dCalcVectorDot3_41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);

        // note: cross product axes need to be scaled when s is computed.
        // normal (n1,n2,n3) is relative to box 1.
#undef TST
#define TST(expr1,expr2,n1,n2,n3,cc) \
    expr1_val = (expr1); /* Avoid duplicate evaluation of expr1 */ \
    s2 = dFabs(expr1_val) - (expr2); \
    if (s2 > 0) return 0; \
    l = dSqrt ((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
    if (l > 0) { \
    s2 /= l; \
    if (s2*fudge_factor > s) { \
    s = s2; \
    normalR = 0; \
    normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
    invert_normal = ((expr1_val) < 0); \
    code = (cc); \
    if (flags & CONTACTS_UNIMPORTANT) break; \
    } \
    }

        // We only need to check 3 edges per box 
        // since parallel edges are equivalent.

        // separating axis = u1 x (v1,v2,v3)
        TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
        TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
        TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);

        // separating axis = u2 x (v1,v2,v3)
        TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
        TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
        TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);

        // separating axis = u3 x (v1,v2,v3)
        TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
        TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
        TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
#undef TST
    } while (0);

    if (!code) return 0;

    // if we get to this point, the boxes interpenetrate. compute the normal
    // in global coordinates.
    if (normalR) {
        normal[0] = normalR[0];
        normal[1] = normalR[4];
        normal[2] = normalR[8];
    }
    else {
        dMultiply0_331 (normal,R1,normalC);
    }
    if (invert_normal) {
        normal[0] = -normal[0];
        normal[1] = -normal[1];
        normal[2] = -normal[2];
    }
    *depth = -s;

    // compute contact point(s)

    if (code > 6) {
        // An edge from box 1 touches an edge from box 2.
        // find a point pa on the intersecting edge of box 1
        dVector3 pa;
        dReal sign;
        // Copy p1 into pa
        for (i=0; i<3; i++) pa[i] = p1[i]; // why no memcpy?
        // Get world position of p2 into pa
        for (j=0; j<3; j++) {
            sign = (dCalcVectorDot3_14(normal,R1+j) > 0) ? REAL(1.0) : REAL(-1.0);
            for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
        }

        // find a point pb on the intersecting edge of box 2
        dVector3 pb;
        // Copy p2 into pb
        for (i=0; i<3; i++) pb[i] = p2[i]; // why no memcpy?
        // Get world position of p2 into pb
        for (j=0; j<3; j++) {
            sign = (dCalcVectorDot3_14(normal,R2+j) > 0) ? REAL(-1.0) : REAL(1.0);
            for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
        }

        dReal alpha,beta;
        dVector3 ua,ub;
        // Get direction of first edge
        for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
        // Get direction of second edge
        for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
        // Get closest points between edges (one at each)
        dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta);    
        for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
        for (i=0; i<3; i++) pb[i] += ub[i]*beta;
        // Set the contact point as halfway between the 2 closest points
        for (i=0; i<3; i++) contact[0].pos[i] = REAL(0.5)*(pa[i]+pb[i]);
        contact[0].depth = *depth;
        *return_code = code;
        return 1;
    }

    // okay, we have a face-something intersection (because the separating
    // axis is perpendicular to a face). define face 'a' to be the reference
    // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
    // the incident face (the closest face of the other box).
    // Note: Unmodified parameter values are being used here
    const dReal *Ra,*Rb,*pa,*pb,*Sa,*Sb;
    if (code <= 3) { // One of the faces of box 1 is the reference face
        Ra = R1; // Rotation of 'a'
        Rb = R2; // Rotation of 'b'
        pa = p1; // Center (location) of 'a'
        pb = p2; // Center (location) of 'b'
        Sa = A;  // Side Lenght of 'a'
        Sb = B;  // Side Lenght of 'b'
    }
    else { // One of the faces of box 2 is the reference face
        Ra = R2; // Rotation of 'a'
        Rb = R1; // Rotation of 'b'
        pa = p2; // Center (location) of 'a'
        pb = p1; // Center (location) of 'b'
        Sa = B;  // Side Lenght of 'a'
        Sb = A;  // Side Lenght of 'b'
    }

    // nr = normal vector of reference face dotted with axes of incident box.
    // anr = absolute values of nr.
    /*
    The normal is flipped if necessary so it always points outward from box 'a',
    box 'b' is thus always the incident box
    */
    dVector3 normal2,nr,anr;
    if (code <= 3) {
        normal2[0] = normal[0];
        normal2[1] = normal[1];
        normal2[2] = normal[2];
    }
    else {
        normal2[0] = -normal[0];
        normal2[1] = -normal[1];
        normal2[2] = -normal[2];
    }
    // Rotate normal2 in incident box opposite direction
    dMultiply1_331 (nr,Rb,normal2);
    anr[0] = dFabs (nr[0]);
    anr[1] = dFabs (nr[1]);
    anr[2] = dFabs (nr[2]);

    // find the largest compontent of anr: this corresponds to the normal
    // for the incident face. the other axis numbers of the incident face
    // are stored in a1,a2.
    int lanr,a1,a2;
    if (anr[1] > anr[0]) {
        if (anr[1] > anr[2]) {
            a1 = 0;
            lanr = 1;
            a2 = 2;
        }
        else {
            a1 = 0;
            a2 = 1;
            lanr = 2;
        }
    }
    else {
        if (anr[0] > anr[2]) {
            lanr = 0;
            a1 = 1;
            a2 = 2;
        }
        else {
            a1 = 0;
            a2 = 1;
            lanr = 2;
        }
    }

    // compute center point of incident face, in reference-face coordinates
    dVector3 center;
    if (nr[lanr] < 0) {
        for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
    }
    else {
        for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
    }

    // find the normal and non-normal axis numbers of the reference box
    int codeN,code1,code2;
    if (code <= 3) codeN = code-1; else codeN = code-4;
    if (codeN==0) {
        code1 = 1;
        code2 = 2;
    }
    else if (codeN==1) {
        code1 = 0;
        code2 = 2;
    }
    else {
        code1 = 0;
        code2 = 1;
    }

    // find the four corners of the incident face, in reference-face coordinates
    dReal quad[8];	// 2D coordinate of incident face (x,y pairs)
    dReal c1,c2,m11,m12,m21,m22;
    c1 = dCalcVectorDot3_14 (center,Ra+code1);
    c2 = dCalcVectorDot3_14 (center,Ra+code2);
    // optimize this? - we have already computed this data above, but it is not
    // stored in an easy-to-index format. for now it's quicker just to recompute
    // the four dot products.
    m11 = dCalcVectorDot3_44 (Ra+code1,Rb+a1);
    m12 = dCalcVectorDot3_44 (Ra+code1,Rb+a2);
    m21 = dCalcVectorDot3_44 (Ra+code2,Rb+a1);
    m22 = dCalcVectorDot3_44 (Ra+code2,Rb+a2);
    {
        dReal k1 = m11*Sb[a1];
        dReal k2 = m21*Sb[a1];
        dReal k3 = m12*Sb[a2];
        dReal k4 = m22*Sb[a2];
        quad[0] = c1 - k1 - k3;
        quad[1] = c2 - k2 - k4;
        quad[2] = c1 - k1 + k3;
        quad[3] = c2 - k2 + k4;
        quad[4] = c1 + k1 + k3;
        quad[5] = c2 + k2 + k4;
        quad[6] = c1 + k1 - k3;
        quad[7] = c2 + k2 - k4;
    }

    // find the size of the reference face
    dReal rect[2];
    rect[0] = Sa[code1];
    rect[1] = Sa[code2];

    // intersect the incident and reference faces
    dReal ret[16];
    int n = intersectRectQuad (rect,quad,ret);
    if (n < 1) return 0;		// this should never happen

    // convert the intersection points into reference-face coordinates,
    // and compute the contact position and depth for each point. only keep
    // those points that have a positive (penetrating) depth. delete points in
    // the 'ret' array as necessary so that 'point' and 'ret' correspond.
    dReal point[3*8];		// penetrating contact points
    dReal dep[8];			// depths for those points
    dReal det1 = dRecip(m11*m22 - m12*m21);
    m11 *= det1;
    m12 *= det1;
    m21 *= det1;
    m22 *= det1;
    int cnum = 0;			// number of penetrating contact points found
    for (j=0; j < n; j++) {
        dReal k1 =  m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
        dReal k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
        for (i=0; i<3; i++) point[cnum*3+i] =
            center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
        dep[cnum] = Sa[codeN] - dCalcVectorDot3(normal2,point+cnum*3);
        if (dep[cnum] >= 0) {
            ret[cnum*2] = ret[j*2];
            ret[cnum*2+1] = ret[j*2+1];
            cnum++;
            if ((cnum | CONTACTS_UNIMPORTANT) == (flags & (NUMC_MASK | CONTACTS_UNIMPORTANT))) {
                break;
            }
        }
    }
    if (cnum < 1) { 
        return 0;	// this should not happen, yet does at times (demo_plane2d single precision).
    }

    // we can't generate more contacts than we actually have
    int maxc = flags & NUMC_MASK;
    if (maxc > cnum) maxc = cnum;
    if (maxc < 1) maxc = 1;	// Even though max count must not be zero this check is kept for backward compatibility as this is a public function

    if (cnum <= maxc) {
        // we have less contacts than we need, so we use them all
        for (j=0; j < cnum; j++) {
            dContactGeom *con = CONTACT(contact,skip*j);
            for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
            con->depth = dep[j];
        }
    }
    else {
        dIASSERT(!(flags & CONTACTS_UNIMPORTANT)); // cnum should be generated not greater than maxc so that "then" clause is executed
        // we have more contacts than are wanted, some of them must be culled.
        // find the deepest point, it is always the first contact.
        int i1 = 0;
        dReal maxdepth = dep[0];
        for (i=1; i<cnum; i++) {
            if (dep[i] > maxdepth) {
                maxdepth = dep[i];
                i1 = i;
            }
        }

        int iret[8];
        cullPoints (cnum,ret,maxc,i1,iret);

        for (j=0; j < maxc; j++) {
            dContactGeom *con = CONTACT(contact,skip*j);
            for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
            con->depth = dep[iret[j]];
        }
        cnum = maxc;
    }

    *return_code = code;
    return cnum;
}



int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,
                    dContactGeom *contact, int skip)
{
    dIASSERT (skip >= (int)sizeof(dContactGeom));
    dIASSERT (o1->type == dBoxClass);
    dIASSERT (o2->type == dBoxClass);
    dIASSERT ((flags & NUMC_MASK) >= 1);

    dVector3 normal;
    dReal depth;
    int code;
    dxBox *b1 = (dxBox*) o1;
    dxBox *b2 = (dxBox*) o2;
    int num = dBoxBox (o1->final_posr->pos,o1->final_posr->R,b1->side, o2->final_posr->pos,o2->final_posr->R,b2->side,
        normal,&depth,&code,flags,contact,skip);
    for (int i=0; i<num; i++) {
        dContactGeom *currContact = CONTACT(contact,i*skip);
        currContact->normal[0] = -normal[0];
        currContact->normal[1] = -normal[1];
        currContact->normal[2] = -normal[2];
        currContact->g1 = o1;
        currContact->g2 = o2;
        currContact->side1 = -1;
        currContact->side2 = -1;
    }
    return num;
}


int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
                      int flags, dContactGeom *contact, int skip)
{
    dIASSERT (skip >= (int)sizeof(dContactGeom));
    dIASSERT (o1->type == dBoxClass);
    dIASSERT (o2->type == dPlaneClass);
    dIASSERT ((flags & NUMC_MASK) >= 1);

    dxBox *box = (dxBox*) o1;
    dxPlane *plane = (dxPlane*) o2;

    contact->g1 = o1;
    contact->g2 = o2;
    contact->side1 = -1;
    contact->side2 = -1;

    int ret = 0;

    //@@@ problem: using 4-vector (plane->p) as 3-vector (normal).
    const dReal *R = o1->final_posr->R;		// rotation of box
    const dReal *n = plane->p;		// normal vector

    // project sides lengths along normal vector, get absolute values
    dReal Q1 = dCalcVectorDot3_14(n,R+0);
    dReal Q2 = dCalcVectorDot3_14(n,R+1);
    dReal Q3 = dCalcVectorDot3_14(n,R+2);
    dReal A1 = box->side[0] * Q1;
    dReal A2 = box->side[1] * Q2;
    dReal A3 = box->side[2] * Q3;
    dReal B1 = dFabs(A1);
    dReal B2 = dFabs(A2);
    dReal B3 = dFabs(A3);

    // early exit test
    dReal depth = plane->p[3] + REAL(0.5)*(B1+B2+B3) - dCalcVectorDot3(n,o1->final_posr->pos);
    if (depth < 0) return 0;

    // find number of contacts requested
    int maxc = flags & NUMC_MASK;
    // if (maxc < 1) maxc = 1; // an assertion is made on entry
    if (maxc > 4) maxc = 4;	// not more than 4 contacts per box allowed

    // find deepest point
    dVector3 p;
    p[0] = o1->final_posr->pos[0];
    p[1] = o1->final_posr->pos[1];
    p[2] = o1->final_posr->pos[2];
#define FOO(i,op) \
    p[0] op REAL(0.5)*box->side[i] * R[0+i]; \
    p[1] op REAL(0.5)*box->side[i] * R[4+i]; \
    p[2] op REAL(0.5)*box->side[i] * R[8+i];
#define BAR(i,iinc) if (A ## iinc > 0) { FOO(i,-=) } else { FOO(i,+=) }
    BAR(0,1);
    BAR(1,2);
    BAR(2,3);
#undef FOO
#undef BAR

    // the deepest point is the first contact point
    contact->pos[0] = p[0];
    contact->pos[1] = p[1];
    contact->pos[2] = p[2];
    contact->depth = depth;
    ret = 1;		// ret is number of contact points found so far
    if (maxc == 1) goto done;

    // get the second and third contact points by starting from `p' and going
    // along the two sides with the smallest projected length.

#define FOO(i,j,op) \
    CONTACT(contact,i*skip)->pos[0] = p[0] op box->side[j] * R[0+j]; \
    CONTACT(contact,i*skip)->pos[1] = p[1] op box->side[j] * R[4+j]; \
    CONTACT(contact,i*skip)->pos[2] = p[2] op box->side[j] * R[8+j];
#define BAR(ctact,side,sideinc) \
    if (depth - B ## sideinc < 0) goto done; \
    if (A ## sideinc > 0) { FOO(ctact,side,+); } else { FOO(ctact,side,-); } \
    CONTACT(contact,ctact*skip)->depth = depth - B ## sideinc; \
    ret++;

    if (B1 < B2) {
        if (B3 < B1) goto use_side_3; else {
            BAR(1,0,1);	// use side 1
            if (maxc == 2) goto done;
            if (B2 < B3) goto contact2_2; else goto contact2_3;
        }
    }
    else {
        if (B3 < B2) {
use_side_3:	// use side 3
            BAR(1,2,3);
            if (maxc == 2) goto done;
            if (B1 < B2) goto contact2_1; else goto contact2_2;
        }
        else {
            BAR(1,1,2);	// use side 2
            if (maxc == 2) goto done;
            if (B1 < B3) goto contact2_1; else goto contact2_3;
        }
    }

contact2_1: BAR(2,0,1); goto done;
contact2_2: BAR(2,1,2); goto done;
contact2_3: BAR(2,2,3); goto done;
#undef FOO
#undef BAR

done:

    if (maxc == 4 && ret == 3) { // If user requested 4 contacts, and the first 3 were created...
        // Combine contacts 2 and 3 (vectorial sum) and get the fourth one
        // Result: if a box face is completely inside a plane, contacts are created for all the 4 vertices
        dReal d4 = CONTACT(contact,1*skip)->depth + CONTACT(contact,2*skip)->depth - depth;  // depth is the depth for first contact
        if (d4 > 0) {
            CONTACT(contact,3*skip)->pos[0] = CONTACT(contact,1*skip)->pos[0] + CONTACT(contact,2*skip)->pos[0] - p[0]; // p is the position of first contact
            CONTACT(contact,3*skip)->pos[1] = CONTACT(contact,1*skip)->pos[1] + CONTACT(contact,2*skip)->pos[1] - p[1];
            CONTACT(contact,3*skip)->pos[2] = CONTACT(contact,1*skip)->pos[2] + CONTACT(contact,2*skip)->pos[2] - p[2];
            CONTACT(contact,3*skip)->depth  = d4;
            ret++;
        }
    }

    for (int i=0; i<ret; i++) {
        dContactGeom *currContact = CONTACT(contact,i*skip);
        currContact->g1 = o1;
        currContact->g2 = o2;
        currContact->side1 = -1;
        currContact->side2 = -1;

        currContact->normal[0] = n[0];
        currContact->normal[1] = n[1];
        currContact->normal[2] = n[2];
    }
    return ret;
}