/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
*
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
*
* 3. This notice may not be removed or altered from any source distribution.
*/

#include "dgStdafx.h"
#include "dgDebug.h"
#include "dgPlane.h"
#include "dgSphere.h"
#include "dgMatrix.h"

static dgSphere identitySphere;
const dgSphere& GetIdentitySphere()
{
	return identitySphere;
}



namespace InternalSphere
{
	const dgFloat32 SPHERE_TOL = 0.002f;

	static dgFloat32 AspectRatio (dgFloat32 x, dgFloat32 y)
	{
		dgFloat32 tmp;
		x = dgAbsf (x);
		y = dgAbsf (y);

		if (y < x) {
			tmp = y;
			y = x;
			x = tmp;
		}
		if (y < 1.0e-12)	{
			y = 1.0e-12f;
		}
		return x / y;
	}


	static void BoundingBox (
		const dgMatrix &matrix,
		const dgFloat32 vertex[],
		dgInt32 stride,
		const dgInt32 index[],
		dgInt32 indexCount,
		dgVector &min,
		dgVector &max)
	{
		dgInt32 i;
		dgInt32 j;
		const dgFloat32 *ptr;
		dgFloat32 xmin;
		dgFloat32 xmax;
		dgFloat32 ymin;
		dgFloat32 ymax;
		dgFloat32 zmin;
		dgFloat32 zmax;

	   xmin = dgFloat32 (1.0e10f);
	   ymin = dgFloat32 (1.0e10f);
	   zmin = dgFloat32 (1.0e10f);

	   xmax = dgFloat32 (-1.0e10f);
	   ymax = dgFloat32 (-1.0e10f);
	   zmax = dgFloat32 (-1.0e10f);


		ptr = vertex;
	   for (j = 0 ; j < indexCount; j ++ ) {
			i = index[j] * stride;
			dgVector tmp (ptr[i + 0], ptr[i + 1], ptr[i + 2], dgFloat32 (0.0f));
			tmp = matrix.UnrotateVector (tmp);
			if (tmp.m_x < xmin) xmin = tmp.m_x;
			if (tmp.m_y < ymin) ymin = tmp.m_y;
			if (tmp.m_z < zmin) zmin = tmp.m_z;
			if (tmp.m_x > xmax) xmax = tmp.m_x;
			if (tmp.m_y > ymax) ymax = tmp.m_y;
			if (tmp.m_z > zmax) zmax = tmp.m_z;
	   }

	   min = dgVector (xmin, ymin, zmin, dgFloat32 (0.0f));
	   max = dgVector (xmax, ymax, zmax, dgFloat32 (0.0f));
	}

	// Compute axis aligned box
	static void BoundingBox (
		const dgMatrix &Mat,
		const dgFloat32 vertex[],
		dgInt32 vertexCount,
		dgInt32 stride,
		dgVector &min,
		dgVector &max)
	{
		dgInt32 i;
		const dgFloat32 *ptr;
		dgFloat32 xmin;
		dgFloat32 xmax;
		dgFloat32 ymin;
		dgFloat32 ymax;
		dgFloat32 zmin;
		dgFloat32 zmax;

		xmin = dgFloat32 (1.0e10f);
		ymin = dgFloat32 (1.0e10f);
		zmin = dgFloat32 (1.0e10f);

		xmax = dgFloat32 (-1.0e10f);
		ymax = dgFloat32 (-1.0e10f);
		zmax = dgFloat32 (-1.0e10f);

		ptr = vertex;
		for (i = 0 ; i < vertexCount; i ++ ) {
			dgVector tmp (ptr[0], ptr[1], ptr[2], dgFloat32 (0.0f));
			ptr += stride;
			tmp = Mat.UnrotateVector (tmp);
			if (tmp.m_x < xmin) xmin = tmp.m_x;
			if (tmp.m_y < ymin) ymin = tmp.m_y;
			if (tmp.m_z < zmin) zmin = tmp.m_z;
			if (tmp.m_x > xmax) xmax = tmp.m_x;
			if (tmp.m_y > ymax) ymax = tmp.m_y;
			if (tmp.m_z > zmax) zmax = tmp.m_z;
		}

		min = dgVector (xmin, ymin, zmin, dgFloat32 (0.0f));
		max = dgVector (xmax, ymax, zmax, dgFloat32 (0.0f));
	}


	static void Statistics (
		dgSphere &sphere,
		dgVector &eigenValues,
		dgVector &scaleVector,
		const dgFloat32 vertex[],
		const dgInt32 faceIndex[],
		dgInt32 indexCount,
		dgInt32 stride)
	{
/*
		dgInt32 i;
		dgInt32 j;
		dgFloat32 *ptr;
		dgFloat32 x;
		dgFloat32 z;
		dgFloat32 y;
		dgFloat64 k;
		dgFloat64 Ixx;
		dgFloat64 Iyy;
		dgFloat64 Izz;
		dgFloat64 Ixy;
		dgFloat64 Ixz;
		dgFloat64 Iyz;

		dgBigVector massCenter (0, 0, 0, 0);
		dgBigVector var (0, 0, 0, 0);
		dgBigVector cov (0, 0, 0, 0);

		ptr = (dgFloat32*)vertex;
		for (i = 0; i < indexCount; i ++) {
			j = index[i] * stride;
			x = ptr[j + 0] * scaleVector.m_x;
			y = ptr[j + 1] * scaleVector.m_y;
			z = ptr[j + 2] * scaleVector.m_z;
			massCenter += dgBigVector (x, y, z, 0);
			var += dgBigVector (x * x, y * y, z * z, 0);
			cov += dgBigVector (x * y, x * z, y * z, 0);
		}

		k = 1.0 / indexCount;
		var = var.Scale (k);
		cov = cov.Scale (k);
		massCenter = massCenter.Scale (k);

		Ixx = var.m_x - massCenter.m_x * massCenter.m_x;
		Iyy = var.m_y - massCenter.m_y * massCenter.m_y;
		Izz = var.m_z - massCenter.m_z * massCenter.m_z;

		Ixy = cov.m_x - massCenter.m_x * massCenter.m_y;
		Ixz = cov.m_y - massCenter.m_x * massCenter.m_z;
		Iyz = cov.m_z - massCenter.m_y * massCenter.m_z;

		sphere.m_front = dgVector (dgFloat32(Ixx), dgFloat32(Ixy), dgFloat32(Ixz), dgFloat32 (0.0f));
		sphere.m_up	   = dgVector (dgFloat32(Ixy), dgFloat32(Iyy), dgFloat32(Iyz), dgFloat32 (0.0f));
		sphere.m_right = dgVector (dgFloat32(Ixz), dgFloat32(Iyz), dgFloat32(Izz), dgFloat32 (0.0f));
		sphere.EigenVectors (eigenValues);
*/

		const dgFloat32 *ptr;
		dgFloat64 K;
		dgFloat64 Ixx;
		dgFloat64 Iyy;
		dgFloat64 Izz;
		dgFloat64 Ixy;
		dgFloat64 Ixz;
		dgFloat64 Iyz;
		dgFloat64 area;
		dgFloat64 totalArea;
//		const dgFace *Face;

		dgVector var (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
		dgVector cov (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
		dgVector centre (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
		dgVector massCenter (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));

		totalArea = dgFloat32 (0.0f);
		ptr = vertex;
		for (dgInt32 i = 0; i < indexCount; i += 3) {
//			Face = &face[i];
			dgInt32 index;

			index = faceIndex[i] * stride;
			dgVector p0 (&ptr[index]);
			p0 = p0.CompProduct (scaleVector);

			index = faceIndex[i + 1] * stride;;
			dgVector p1 (&ptr[index]);
			p1 = p1.CompProduct (scaleVector);

			index = faceIndex[i + 2] * stride;;
			dgVector p2 (&ptr[index]);
			p2 = p2.CompProduct (scaleVector);

			dgVector normal ((p1 - p0) * (p2 - p0));

			area = dgFloat32 (0.5f) * sqrt (normal % normal);

			centre = p0 + p1 + p2;
			centre = centre.Scale (dgFloat32  (1.0f / 3.0f));

			// Inertia of each point in the triangle
			Ixx = p0.m_x * p0.m_x + p1.m_x * p1.m_x + p2.m_x * p2.m_x;
			Iyy = p0.m_y * p0.m_y + p1.m_y * p1.m_y + p2.m_y * p2.m_y;
			Izz = p0.m_z * p0.m_z + p1.m_z * p1.m_z + p2.m_z * p2.m_z;

			Ixy = p0.m_x * p0.m_y + p1.m_x * p1.m_y + p2.m_x * p2.m_y;
			Iyz = p0.m_y * p0.m_z + p1.m_y * p1.m_z + p2.m_y * p2.m_z;
			Ixz = p0.m_x * p0.m_z + p1.m_x * p1.m_z + p2.m_x * p2.m_z;

			if (area > dgEPSILON * 10.0) {
				K = area / 12.0;
				//Coriollis teorem for Inercia of a triangle in an arbitrary orientation
				Ixx = K * (Ixx + 9.0 * centre.m_x * centre.m_x);
				Iyy = K * (Iyy + 9.0 * centre.m_y * centre.m_y);
				Izz = K * (Izz + 9.0 * centre.m_z * centre.m_z);

				Ixy = K * (Ixy + 9.0 * centre.m_x * centre.m_y);
				Ixz = K * (Ixz + 9.0 * centre.m_x * centre.m_z);
				Iyz = K * (Iyz + 9.0 * centre.m_y * centre.m_z);
				centre = centre.Scale ((dgFloat32)area);
			}

			totalArea += area;
			massCenter += centre;
			var += dgVector ((dgFloat32)Ixx, (dgFloat32)Iyy, (dgFloat32)Izz, dgFloat32 (0.0f));
			cov += dgVector ((dgFloat32)Ixy, (dgFloat32)Ixz, (dgFloat32)Iyz, dgFloat32 (0.0f));
		}

		if (totalArea > dgEPSILON * 10.0) {
			K = 1.0 / totalArea;
			var = var.Scale ((dgFloat32)K);
			cov = cov.Scale ((dgFloat32)K);
			massCenter = massCenter.Scale ((dgFloat32)K);
		}

		Ixx = var.m_x - massCenter.m_x * massCenter.m_x;
		Iyy = var.m_y - massCenter.m_y * massCenter.m_y;
		Izz = var.m_z - massCenter.m_z * massCenter.m_z;

		Ixy = cov.m_x - massCenter.m_x * massCenter.m_y;
		Ixz = cov.m_y - massCenter.m_x * massCenter.m_z;
		Iyz = cov.m_z - massCenter.m_y * massCenter.m_z;

		sphere.m_front = dgVector ((dgFloat32)Ixx, (dgFloat32)Ixy, (dgFloat32)Ixz, dgFloat32 (0.0f));
		sphere.m_up    = dgVector ((dgFloat32)Ixy, (dgFloat32)Iyy, (dgFloat32)Iyz, dgFloat32 (0.0f));
		sphere.m_right = dgVector ((dgFloat32)Ixz, (dgFloat32)Iyz, (dgFloat32)Izz, dgFloat32 (0.0f));
		sphere.EigenVectors(eigenValues);
	}


	static void Statistics (
		dgSphere &sphere,
		dgVector &eigenValues,
		dgVector &scaleVector,
		const dgFloat32 vertex[],
		dgInt32 vertexCount,
		dgInt32 stride)
	{
		dgInt32 i;
		const dgFloat32 *ptr;
		dgFloat32 x;
		dgFloat32 z;
		dgFloat32 y;
		dgFloat64 k;
		dgFloat64 Ixx;
		dgFloat64 Iyy;
		dgFloat64 Izz;
		dgFloat64 Ixy;
		dgFloat64 Ixz;
		dgFloat64 Iyz;

		dgBigVector var (0.0f, 0.0f, 0.0f, 0.0f);
		dgBigVector cov (0.0f, 0.0f, 0.0f, 0.0f);
		dgBigVector massCenter (0.0f, 0.0f, 0.0f, 0.0f);

		ptr = vertex;
		for (i = 0; i < vertexCount; i ++) {
			x = ptr[0] * scaleVector.m_x;
			y = ptr[1] * scaleVector.m_y;
			z = ptr[2] * scaleVector.m_z;
			ptr += stride;
			massCenter += dgBigVector (x, y, z, 0.0f);
			var += dgBigVector (x * x, y * y, z * z, 0.0f);
			cov += dgBigVector (x * y, x * z, y * z, 0.0f);
		}

		k = 1.0 / vertexCount;
		var = var.Scale (k);
		cov = cov.Scale (k);
		massCenter = massCenter.Scale (k);

		Ixx = var.m_x - massCenter.m_x * massCenter.m_x;
		Iyy = var.m_y - massCenter.m_y * massCenter.m_y;
		Izz = var.m_z - massCenter.m_z * massCenter.m_z;

		Ixy = cov.m_x - massCenter.m_x * massCenter.m_y;
		Ixz = cov.m_y - massCenter.m_x * massCenter.m_z;
		Iyz = cov.m_z - massCenter.m_y * massCenter.m_z;

		sphere.m_front = dgVector (dgFloat32(Ixx), dgFloat32(Ixy), dgFloat32(Ixz), dgFloat32 (0.0f));
		sphere.m_up    = dgVector (dgFloat32(Ixy), dgFloat32(Iyy), dgFloat32(Iyz), dgFloat32 (0.0f));
		sphere.m_right = dgVector (dgFloat32(Ixz), dgFloat32(Iyz), dgFloat32(Izz), dgFloat32 (0.0f));
 		sphere.EigenVectors (eigenValues);
	}

/*
	static void Statistics (
		dgSphere &sphere,
		dgVector &eigenValues,
		const dgVector &scaleVector,
		const dgFloat32 vertex[],
		dgInt32 stride,
		const dgFace face[],
		dgInt32 faceCount)
	{
		_ASSERTE (0);

		dgInt32 i;
		dgInt32 index;
		const dgFloat32 *ptr;
		dgFloat64 K;
		dgFloat64 Ixx;
		dgFloat64 Iyy;
		dgFloat64 Izz;
		dgFloat64 Ixy;
		dgFloat64 Ixz;
		dgFloat64 Iyz;
		dgFloat64 area;
		dgFloat64 totalArea;
		const dgFace *Face;

		dgVector var (0.0f, 0.0f, 0.0f);
		dgVector cov (0.0f, 0.0f, 0.0f);
		dgVector centre (0.0f, 0.0f, 0.0f);
		dgVector massCenter (0.0f, 0.0f, 0.0f);

		totalArea = 0.0;
		ptr = vertex;
		for (i = 0; i < faceCount; i ++) {
			 Face = &face[i];

			 index = Face->m_wireFrame[0] * stride;
			 dgVector p0 (&ptr[index]);
			 p0 = p0.CompProduct (scaleVector);

			 index = Face->m_wireFrame[1] * stride;
			 dgVector p1 (&ptr[index]);
			 p1 = p1.CompProduct (scaleVector);

			 index = Face->m_wireFrame[2] * stride;
			 dgVector p2 (&ptr[index]);
			 p2 = p2.CompProduct (scaleVector);

			 dgVector normal ((p1 - p0) * (p2 - p0));

			 area = 0.5 * sqrt (normal % normal);

			 centre = p0 + p1 + p2;
			 centre = centre.Scale (1.0f / 3.0f);

			 // Inercia of each point in the triangle
			 Ixx = p0.m_x * p0.m_x + p1.m_x * p1.m_x + p2.m_x * p2.m_x;
			 Iyy = p0.m_y * p0.m_y + p1.m_y * p1.m_y + p2.m_y * p2.m_y;
			 Izz = p0.m_z * p0.m_z + p1.m_z * p1.m_z + p2.m_z * p2.m_z;

			 Ixy = p0.m_x * p0.m_y + p1.m_x * p1.m_y + p2.m_x * p2.m_y;
			 Iyz = p0.m_y * p0.m_z + p1.m_y * p1.m_z + p2.m_y * p2.m_z;
			 Ixz = p0.m_x * p0.m_z + p1.m_x * p1.m_z + p2.m_x * p2.m_z;

			 if (area > dgEPSILON * 10.0) {
			     K = area / 12.0;
			     //Coriollis teorem for Inercia of a triangle in an arbitrary orientation
			     Ixx = K * (Ixx + 9.0 * centre.m_x * centre.m_x);
			     Iyy = K * (Iyy + 9.0 * centre.m_y * centre.m_y);
			     Izz = K * (Izz + 9.0 * centre.m_z * centre.m_z);

			     Ixy = K * (Ixy + 9.0 * centre.m_x * centre.m_y);
			     Ixz = K * (Ixz + 9.0 * centre.m_x * centre.m_z);
			     Iyz = K * (Iyz + 9.0 * centre.m_y * centre.m_z);
			     centre = centre.Scale ((dgFloat32)area);
			 }

			 totalArea += area;
			 massCenter += centre;
			 var += dgVector ((dgFloat32)Ixx, (dgFloat32)Iyy, (dgFloat32)Izz);
			 cov += dgVector ((dgFloat32)Ixy, (dgFloat32)Ixz, (dgFloat32)Iyz);
		}

		if (totalArea > dgEPSILON * 10.0) {
			K = 1.0 / totalArea;
			var = var.Scale ((dgFloat32)K);
			cov = cov.Scale ((dgFloat32)K);
			massCenter = massCenter.Scale ((dgFloat32)K);
		}

		Ixx = var.m_x - massCenter.m_x * massCenter.m_x;
		Iyy = var.m_y - massCenter.m_y * massCenter.m_y;
		Izz = var.m_z - massCenter.m_z * massCenter.m_z;

		Ixy = cov.m_x - massCenter.m_x * massCenter.m_y;
		Ixz = cov.m_y - massCenter.m_x * massCenter.m_z;
		Iyz = cov.m_z - massCenter.m_y * massCenter.m_z;

		sphere.m_front = dgVector ((dgFloat32)Ixx, (dgFloat32)Ixy, (dgFloat32)Ixz);
		sphere.m_up    = dgVector ((dgFloat32)Ixy, (dgFloat32)Iyy, (dgFloat32)Iyz);
		sphere.m_right = dgVector ((dgFloat32)Ixz, (dgFloat32)Iyz, (dgFloat32)Izz);
		sphere.EigenVectors(eigenValues);
	}
*/
}


dgSphere::dgSphere ()
	:dgMatrix(dgGetIdentityMatrix()), m_size (0, 0, 0, 0)
{
//	_ASSERTE (0);
//	planeTest = FrontTest;
}

dgSphere::dgSphere (
	const dgQuaternion &quat,
	const dgVector &position,
	const dgVector& dim)
	:dgMatrix(quat, position)
{
   SetDimensions (dim.m_x, dim.m_y, dim.m_z);
   _ASSERTE (0);
//	planeTest = FrontTest;
}

dgSphere::dgSphere(
	const dgMatrix &matrix,
	const dgVector& dim)
	:dgMatrix(matrix)
{
   SetDimensions (dim.m_x, dim.m_y, dim.m_z);
//   _ASSERTE (0);
//	planeTest = FrontTest;
}



void dgSphere::SetDimensions (
	const dgFloat32 vertex[],
	dgInt32 strideInBytes,
	const dgInt32 triangles[],
	dgInt32 indexCount,
	const dgMatrix *basis)
{
	dgInt32 i;
	dgInt32 j;
	dgInt32 k;
	dgInt32 stride;
	dgFloat32 aspect;
	dgVector eigen;
	dgVector scaleVector (dgFloat32 (1.0f), dgFloat32 (1.0f), dgFloat32 (1.0f), dgFloat32 (0.0f));

	if (indexCount < 3) {
		return;
	}

	stride = dgInt32 (strideInBytes / sizeof (dgFloat32));
	if (!basis)	{

		InternalSphere::Statistics (*this, eigen, scaleVector, vertex, triangles, indexCount, stride);

		k = 0;
		for (i = 0; i < 3; i ++) {
			if (k >= 6) {
				 break;
			}
			for (j = i + 1; j < 3; j ++) {
				aspect = InternalSphere::AspectRatio (eigen[i], eigen[j]);
				if (aspect > 0.9) {
					scaleVector[i] *= 2.0f;
					InternalSphere::Statistics (*this, eigen, scaleVector, vertex, triangles, indexCount, stride);
					k ++;
					i = -1;
					break;
				}
			}
		}
	} else {
		*this = *basis;
	}

	dgVector min;
	dgVector max;

	InternalSphere::BoundingBox (*this, vertex, stride, triangles, indexCount, min, max);

	dgVector massCenter	(max + min);
	massCenter = massCenter.Scale (0.5f);
	m_posit = TransformVector (massCenter);

	dgVector dim (max - min);
	dim = dim.Scale (0.5f);
	SetDimensions (dim.m_x, dim.m_y, dim.m_z);
}


void dgSphere::SetDimensions (
	const dgFloat32 vertex[],
	dgInt32 strideInBytes,
	dgInt32 count,
	const dgMatrix *basis)
{
	dgInt32 i;
	dgInt32 j;
	dgInt32 k;
	dgInt32 stride;
	dgFloat32 aspect;
	dgVector eigen;
	dgVector scaleVector (1.0f, 1.0f, 1.0f, 0.0f);

	stride = dgInt32 (strideInBytes / sizeof (dgFloat32));
	if (!basis)	{
		InternalSphere::Statistics (*this, eigen, scaleVector, vertex, count, stride);

		k = 0;
		for (i = 0; i < 3; i ++) {
			if (k >= 6) {
				 break;
			}
			for (j = i + 1; j < 3; j ++) {
				aspect = InternalSphere::AspectRatio (eigen[i], eigen[j]);
				if (aspect > 0.9) {
					scaleVector[i] *= 2.0f;
					InternalSphere::Statistics (*this, eigen, scaleVector, vertex, count, stride);
					k ++;
					i = -1;
					break;
				}
			}
		}
	} else {
		*this = *basis;
	}

   dgVector min;
   dgVector max;
   InternalSphere::BoundingBox (*this, vertex, count, stride, min, max);

	dgVector massCenter (max + min);
	massCenter = massCenter.Scale (0.5);
	m_posit = TransformVector (massCenter);

	dgVector dim (max - min);
	dim = dim.Scale (0.5f);
	SetDimensions (dim.m_x + InternalSphere::SPHERE_TOL,
				   dim.m_y + InternalSphere::SPHERE_TOL,
				   dim.m_z + InternalSphere::SPHERE_TOL);

}

/*
void dgSphere::SetDimensions (
	const dgFloat32 vertex[],
	dgInt32 strideInBytes,
	const dgInt32 index[],
	dgInt32 indexCount,
	const dgMatrix *basis)
{
	dgInt32 i;
	dgInt32 j;
	dgInt32 k;
	dgInt32 stride;
	dgFloat32 aspect;
	dgVector eigen;
	dgVector scaleVector (1.0f, 1.0f, 1.0f, 0.0f);

	stride = strideInBytes / sizeof (dgFloat32);
	if (!basis)	{
		InternalSphere::Statistics (*this, eigen, scaleVector, vertex, index, indexCount, stride);

		k = 0;
		for (i = 0; i < 3; i ++) {
			if (k >= 6) {
				 break;
			}
			for (j = i + 1; j < 3; j ++) {
				aspect = InternalSphere::AspectRatio (eigen[i], eigen[j]);
				if (aspect > 0.9) {
					scaleVector[i] *= 2.0f;
					InternalSphere::Statistics (*this, eigen, scaleVector, vertex, index, indexCount, stride);
					i = -1;
					k ++;
					break;
				}
			}
		}
	} else {
		*this = *basis;
	}

   dgVector min;
   dgVector max;
   InternalSphere::BoundingBox (*this, vertex, stride, index, indexCount, min, max);

	dgVector massCenter (max + min);
	massCenter = massCenter.Scale (0.5f);
	m_posit = TransformVector (massCenter);

	dgVector dim (max - min);
	dim = dim.Scale (0.5f);
	SetDimensions (dim.m_x + InternalSphere::SPHERE_TOL,
				   dim.m_y + InternalSphere::SPHERE_TOL,
				   dim.m_z + InternalSphere::SPHERE_TOL);
}
*/



/*
dgSphere::dgSphere (
	const dgSphere &dgSphere,
	const dgVector &Dir)
{
	if ((Dir % Dir) < EPSILON * 0.01f) {
		*this = dgSphere;
		return;
	}

	front = Dir;
	front.Fast_Normalize();

	if (dgAbsf (front % dgSphere.right) < 0.995) {
		up = front * dgSphere.right;
		up.Fast_Normalize();
	} else {
		up	= dgSphere.up;
	}
	right = up * front;

	dgVector Step (Dir.Scale(0.5));
	size.m_x = (dgFloat32)(dgSphere.size.m_x * dgAbsf (right % dgSphere.right) +
						 dgSphere.size.m_y * dgAbsf (right % dgSphere.up) +
						 dgSphere.size.m_z * dgAbsf (right % dgSphere.front));

	size.m_y = (dgFloat32)(dgSphere.size.m_x * dgAbsf (up % dgSphere.right) +
						  dgSphere.size.m_y * dgAbsf (up % dgSphere.up) +
						  dgSphere.size.m_z * dgAbsf (up % dgSphere.front));

	size.m_z = (dgFloat32)(sqrt (Step % Step) +
							dgSphere.size.m_x * dgAbsf (front % dgSphere.right) +
							dgSphere.size.m_y * dgAbsf (front % dgSphere.up) +
							dgSphere.size.m_z * dgAbsf (front % dgSphere.front));
	posit = dgSphere.posit + Step;

}



bool dgSphere::dgSphere_Overlap_Test (const dgSphere &dgSphere)
{
	dgFloat64 R;
	dgVector Dir (dgSphere.posit - posit);

  	R = size.m_x * dgAbsf (right % Dir) + dgSphere.size.m_x * dgAbsf (dgSphere.right % Dir) +
	    size.m_y * dgAbsf (up % Dir) + dgSphere.size.m_y * dgAbsf (dgSphere.up % Dir) +
		 size.m_z * dgAbsf (front %Dir) + dgSphere.size.m_z * dgAbsf (dgSphere.front % Dir);
	if (R	< (Dir % Dir)) {
		return false;
	}

	R = size.m_x * dgAbsf (right % dgSphere.right) +
	    size.m_y * dgAbsf (up % dgSphere.right) +
		 size.m_z * dgAbsf (front % dgSphere.right) + dgSphere.size.m_x;
	if (R	< dgAbsf (Dir % dgSphere.right)) {
		return false;
	}

	R = size.m_x * dgAbsf (right % dgSphere.up) +
	    size.m_y * dgAbsf (up % dgSphere.up) +
		 size.m_z * dgAbsf (front % dgSphere.up) + dgSphere.size.m_y;
	if (R	< dgAbsf (Dir % dgSphere.up)) {
		return false;
	}

	R = size.m_x * dgAbsf (right % dgSphere.front) +
	    size.m_y * dgAbsf (up % dgSphere.front) +
		 size.m_z * dgAbsf (front % dgSphere.front) + dgSphere.size.m_z;
	if (R	< dgAbsf (Dir % dgSphere.front)) {
		return false;
	}

	R = dgSphere.size.m_x * dgAbsf (dgSphere.right % right) +
	    dgSphere.size.m_y * dgAbsf (dgSphere.up % right) +
		 dgSphere.size.m_z * dgAbsf (dgSphere.front % right) + size.m_x;
	if (R	< dgAbsf (Dir % right)) {
		return false;
	}

	R = dgSphere.size.m_x * dgAbsf (dgSphere.right % up) +
	    dgSphere.size.m_y * dgAbsf (dgSphere.up % up) +
		 dgSphere.size.m_z * dgAbsf (dgSphere.front % up) + size.m_y;
	if (R	< dgAbsf (Dir % up)) {
		return false;
	}

	R = dgSphere.size.m_x * dgAbsf (dgSphere.right % front) +
	    dgSphere.size.m_y * dgAbsf (dgSphere.up % front) +
		 dgSphere.size.m_z * dgAbsf (dgSphere.front % front) + size.m_z;
	if (R	< dgAbsf (Dir % front)) {
		return false;
	}

	return true;
}


void dgSphere::Swept_Volume (
	dgVector &min,
	dgVector &max)
{
	dgFloat32 w;
	dgFloat32 h;
	dgFloat32 b;

	w = (dgFloat32)(size.m_x * dgAbsf(right.m_x) + size.m_y * dgAbsf(up.m_x) + size.m_z * dgAbsf(front.m_x));
	h = (dgFloat32)(size.m_x * dgAbsf(right.m_y) + size.m_y * dgAbsf(up.m_y) + size.m_z * dgAbsf(front.m_y));
	b = (dgFloat32)(size.m_x * dgAbsf(right.m_z) + size.m_y * dgAbsf(up.m_z) + size.m_z * dgAbsf(front.m_z));

	min.m_x = posit.m_x - w;
	min.m_y = posit.m_y - h;
	min.m_z = posit.m_z - b;

	max.m_x = posit.m_x + w;
	max.m_y = posit.m_y + h;
	max.m_z = posit.m_z + b;
}
*/


/*
dgInt32 dgSphere::FrontTest (
	const dgMatrix &matrix,
	const dgPlane* plane) const
{
	dgFloat32 R;
	dgFloat32 dR;
	InternalSphere::dgFloatSign flag0;
	InternalSphere::dgFloatSign flag1;

	dR = m_size.m_x * dgAbsf (matrix.m_front.m_x) + m_size.m_y * dgAbsf (matrix.m_up.m_x) + m_size.m_z * dgAbsf (matrix.m_right.m_x);
	R = plane[5].m_x * matrix.m_posit.m_x + plane[5].m_w;

	flag0.f = R + dR;
	flag1.f = R - dR;
	flag0.i = flag0.i >> 30 & 2;
	flag1.i = flag1.i >> 31 & 1;
	return InternalSphere::CodeTbl[flag0.i | flag1.i];
}

dgInt32 dgSphere::RearTest (const dgMatrix &matrix, const dgPlane* plane) const
{
	dgFloat32 R;
	dgFloat32 dR;
	InternalSphere::dgFloatSign flag0;
	InternalSphere::dgFloatSign flag1;

	dR = m_size.m_x * dgAbsf (matrix.m_front.m_x) + m_size.m_y * dgAbsf (matrix.m_up.m_x) + m_size.m_z * dgAbsf (matrix.m_right.m_x);
	R = plane[4].m_x * matrix.m_posit.m_x + plane[4].m_w;

	flag0.f = R + dR;
	flag1.f = R - dR;
	flag0.i = flag0.i >> 30 & 2;
	flag1.i = flag1.i >> 31 & 1;
	return InternalSphere::CodeTbl[flag0.i | flag1.i];
}


dgInt32 dgSphere::LeftTest (const dgMatrix &matrix, const dgPlane* plane) const
{
	dgFloat32 R;
	dgFloat32 dR;
	InternalSphere::dgFloatSign flag0;
	InternalSphere::dgFloatSign flag1;

	dR = m_size.m_x * dgAbsf (matrix.m_front.m_x * plane[0].m_x + matrix.m_front.m_z * plane[0].m_z) +
		 m_size.m_y * dgAbsf (matrix.m_up.m_x    * plane[0].m_x + matrix.m_up.m_z    * plane[0].m_z) +
		 m_size.m_z * dgAbsf (matrix.m_right.m_x * plane[0].m_x + matrix.m_right.m_z * plane[0].m_z);
	R = plane[0].m_x * matrix.m_posit.m_x + plane[0].m_z * matrix.m_posit.m_z;

	flag0.f = R + dR;
	flag1.f = R - dR;
	flag0.i = (flag0.i >> 30) & 2;
	flag1.i = (flag1.i >> 31) & 1;
	return InternalSphere::CodeTbl[flag0.i | flag1.i];
}

dgInt32 dgSphere::RightTest (const dgMatrix &matrix, const dgPlane* plane) const
{
	dgFloat32 R;
	dgFloat32 dR;
	InternalSphere::dgFloatSign flag0;
	InternalSphere::dgFloatSign flag1;

	dR = m_size.m_x * dgAbsf (matrix.m_front.m_x * plane[1].m_x + matrix.m_front.m_z * plane[1].m_z) +
		 m_size.m_y * dgAbsf (matrix.m_up.m_x    * plane[1].m_x + matrix.m_up.m_z    * plane[1].m_z) +
		 m_size.m_z * dgAbsf (matrix.m_right.m_x * plane[1].m_x + matrix.m_right.m_z * plane[1].m_z);
	R = plane[1].m_x * matrix.m_posit.m_x + plane[1].m_z * matrix.m_posit.m_z;

	flag0.f = R + dR;
	flag1.f = R - dR;
	flag0.i = (flag0.i >> 30) & 2;
	flag1.i = (flag1.i >> 31) & 1;
	return InternalSphere::CodeTbl[flag0.i | flag1.i];
}

dgInt32 dgSphere::BottomTest (const dgMatrix &matrix, const dgPlane* plane) const
{
	dgFloat32 R;
	dgFloat32 dR;
	InternalSphere::dgFloatSign flag0;
	InternalSphere::dgFloatSign flag1;

	dR = m_size.m_x * dgAbsf (matrix.m_front.m_x * plane[2].m_x + matrix.m_front.m_y * plane[2].m_y) +
		 m_size.m_y * dgAbsf (matrix.m_up.m_x    * plane[2].m_x + matrix.m_up.m_y    * plane[2].m_y) +
		 m_size.m_z * dgAbsf (matrix.m_right.m_x * plane[2].m_x + matrix.m_right.m_y * plane[2].m_y);

	R = plane[2].m_x * matrix.m_posit.m_x + plane[2].m_y * matrix.m_posit.m_y;

	flag0.f = R + dR;
	flag1.f = R - dR;
	flag0.i = (flag0.i >> 30) & 2;
	flag1.i = (flag1.i >> 31) & 1;

	return InternalSphere::CodeTbl[flag0.i | flag1.i];
}

dgInt32 dgSphere::TopTest (const dgMatrix &matrix, const dgPlane* plane) const
{
	dgFloat32 R;
	dgFloat32 dR;
	InternalSphere::dgFloatSign flag0;
	InternalSphere::dgFloatSign flag1;

	dR = m_size.m_x * dgAbsf (matrix.m_front.m_x * plane[3].m_x + matrix.m_front.m_y * plane[3].m_y) +
		 m_size.m_y * dgAbsf (matrix.m_up.m_x    * plane[3].m_x + matrix.m_up.m_y    * plane[3].m_y) +
		 m_size.m_z * dgAbsf (matrix.m_right.m_x * plane[3].m_x + matrix.m_right.m_y * plane[3].m_y);

	R = plane[3].m_x * matrix.m_posit.m_x + plane[3].m_y * matrix.m_posit.m_y;

	flag0.f = R + dR;
	flag1.f = R - dR;
	flag0.i = (flag0.i >> 30) & 2;
	flag1.i = (flag1.i >> 31) & 1;
	return InternalSphere::CodeTbl[flag0.i | flag1.i];
}



dgInt32 dgSphere::VisibilityTestLow (
	const dgCamera* camera,
	const dgMatrix& matrix) const
{
	dgInt32 i;
	dgInt32 code;
	const dgPlane* planes;
	const dgPlane* guardPlanes;

	planes = camera->GetViewVolume();

	code = (this->*planeTest) (matrix, planes);
	if (code != -1) {
		for (i = 0; i < 6; i ++) {
			code |= (this->*planeTestArray[i]) (matrix, planes);
			if (code == -1) {
				planeTest = planeTestArray[i];
				return -1;
			}
		}

		if (code) {
			guardPlanes = camera->GetGuardViewVolume();
			if (guardPlanes) {
				code = 0;
				for (i = 0; i < 6; i ++) {
					code |= (this->*planeTestArray[i]) (matrix, guardPlanes);
					_ASSERTE (code >= 0);
					if (code) {
						return code;
					}
				}
			}
		}
	}

   return code;
}


dgInt32 dgSphere::VisibilityTest (const dgCamera* camera) const
{
	dgMatrix viewMatrix (*this * camera->GetViewMatrix());
	return VisibilityTestLow (camera, viewMatrix);
}

dgInt32 dgSphere::VisibilityTest (const dgCamera* camera, const dgMatrix &worldMatrix) const
{
	dgMatrix viewMatrix (*this * worldMatrix * camera->GetViewMatrix());
	return VisibilityTestLow (camera, viewMatrix);
}

void dgSphere::Render (
	const dgCamera* camera,
	const dgMatrix &worldMatrix,
	dgUnsigned32 rgb) const
{
	dgInt32 i;
	struct ColorVertex
	{
		dgFloat32 m_x;
		dgFloat32 m_y;
		dgFloat32 m_z;
		dgColor m_color;
	};

	dgUnsigned32 index [][2] = {
		{0, 4}, {1, 5}, {2, 6}, {3, 7},
		{0, 1}, {4, 5}, {7, 6}, {3, 2},
		{1, 2}, {5, 6}, {4, 7}, {0, 3},
	};

	ColorVertex* ptr;
	ColorVertex box[8];

	box[0].m_x = -size.m_x;
	box[0].m_y = -size.m_y;
	box[0].m_z = -size.m_z;
	box[0].m_color.m_val = rgb;

	box[1].m_x =  size.m_x;
	box[1].m_y = -size.m_y;
	box[1].m_z = -size.m_z;
	box[1].m_color.m_val = rgb;

	box[2].m_x =  size.m_x;
	box[2].m_y = -size.m_y;
	box[2].m_z =  size.m_z;
	box[2].m_color.m_val = rgb;

	box[3].m_x = -size.m_x;
	box[3].m_y = -size.m_y;
	box[3].m_z =  size.m_z;
	box[3].m_color.m_val = rgb;

	box[4].m_x = -size.m_x;
	box[4].m_y =  size.m_y;
	box[4].m_z = -size.m_z;
	box[4].m_color.m_val = rgb;

	box[5].m_x =  size.m_x;
	box[5].m_y =  size.m_y;
	box[5].m_z = -size.m_z;
	box[5].m_color.m_val = rgb;

	box[6].m_x =  size.m_x;
	box[6].m_y =  size.m_y;
	box[6].m_z =  size.m_z;
	box[6].m_color.m_val = rgb;

	box[7].m_x = -size.m_x;
	box[7].m_y =  size.m_y;
	box[7].m_z =  size.m_z;
	box[7].m_color.m_val = rgb;

	dgRenderDescriptorParams param;
	param.m_indexCount = 0;
	param.m_vertexCount = sizeof (index) / sizeof (dgInt32);
	param.m_descType = dgDynamicVertex;
	param.m_primitiveType = RENDER_LINELIST;
	param.m_vertexFlags = VERTEX_ENABLE_XYZ | COLOR_ENABLE;

	dgRenderDescriptor desc (param);

	dgMatrix tmpMat (*this * worldMatrix);
	camera->SetWorldMatrix (&tmpMat);

	desc.m_material = dgMaterial::UseDebugMaterial();

  	dgVertexRecord vertexRecord (desc.LockVertex());
	ptr = (ColorVertex*) vertexRecord.vertex.ptr;
	for (i = 0; i < (sizeof (index) / (2 * sizeof (dgUnsigned32))); i ++) {
		 ptr[0] = box[index[i][0]];
		 ptr[1] = box[index[i][1]];
		 ptr += 2;
	}
	desc.UnlockVertex();

	camera->Render (desc);

	desc.m_material->Release();
}
*/

