CWE-ou-minkata/Sources/Plasma/CoreLib/hsBounds.cpp

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#include "HeadSpin.h"
#pragma hdrstop

#include "hsBounds.h"
#include "hsStream.h"

#include "hsFastMath.h"

const float hsBounds::kRealSmall = 1.0e-5f;

///////////////////////////////////////////////////////////////////////////////////////
//
// hsBounds
//
/////////////////////////////////////////////////////////////////////////////////////////

void hsBounds::Read(hsStream *s)
{
    fType =(hsBoundsType) s->ReadLE32();
}

void hsBounds::Write(hsStream *s) 
{
    s->WriteLE32((int32_t)fType);
}

///////////////////////////////////////////////////////////////////////////////////////
//
// hsBounds3
//
/////////////////////////////////////////////////////////////////////////////////////////

void hsBounds3::Transform(const hsMatrix44 *mat) 
{
#if 0 // IDENT
    if( mat->fFlags & hsMatrix44::kIsIdent )
        return;
#endif // IDENT

    hsAssert(fType != kBoundsUninitialized, "Can't transform an unitialized bound");
    if(fType == kBoundsNormal)
    {
        hsPoint3 corners[8];
        this->GetCorners(corners);
        
        mat->MapPoints(8, corners);
        this->Reset(8,corners);
        fBounds3Flags &= ~kCenterValid;
    }
}

void hsBounds3::Reset(const hsPoint3 *p)
{
    fType = kBoundsNormal;
    fMins = fMaxs = *p;
    fBounds3Flags |= kCenterValid;
    fCenter = *p;
}

void hsBounds3::Reset(const hsBounds3 *b)
{
    if( kBoundsNormal == b->fType )
    {
        fType = kBoundsNormal;
        fMins = b->fMins;
        fMaxs = b->fMaxs;
        if( b->fBounds3Flags & kCenterValid )
        {
            fBounds3Flags |= kCenterValid;
            fCenter = b->fCenter;
        }
        else
            fBounds3Flags &= ~kCenterValid;
    }
    else
        fType = b->fType;
}

void hsBounds3::Reset(int n, const hsPoint3 *p)
{
    fType = kBoundsNormal;
    fMins = fMaxs = *p;
    for(int i = 1; i < n ; i++)
        this->Union(&p[i]);
    fBounds3Flags &= ~kCenterValid;
}

void hsBounds3::Union(const hsPoint3 *p)
{
    if(fType == kBoundsNormal) // Add this point if bounds is normal
    {
        for (int i = 0; i < 3; i++)
        {
            if ((*p)[i] > fMaxs[i])
                fMaxs[i] =(*p)[i];
            else if ((*p)[i] < fMins[i])
                fMins[i] =(*p)[i];
        }
        fBounds3Flags &= ~kCenterValid;
    }
    else
    {
        if(fType != kBoundsFull)    // Otherwise re-init unless bounds is full already
            this->Reset(p);
    }   
}

void hsBounds3::Union(const hsVector3 *v)
{
    if(fType == kBoundsNormal) // Add this point if bounds is normal
    {
        for (int i = 0; i < 3; i++)
        {
            if( (*v)[i] > 0 )
                fMaxs[i] += (*v)[i];
            else
                fMins[i] += (*v)[i];
        }
        fBounds3Flags &= ~kCenterValid;
    }
}


void hsBounds3::Union(const hsBounds3 *p)
{
    if(fType == kBoundsNormal && p->GetType() == kBoundsNormal) // Add this point if bounds is normal
    {
        for (int i = 0; i < 3; i++)
        {
            if (p->fMaxs[i] > fMaxs[i])
                fMaxs[i] = p->fMaxs[i];
            if (p->fMins[i] < fMins[i])
                fMins[i] = p->fMins[i];
        }
        fBounds3Flags &= ~kCenterValid;
    }
    else if(fType == kBoundsEmpty || fType == kBoundsUninitialized)
    {
        *this = *p;
    }
    // If fType is kBoundsFull don't do anything
}

void hsBounds3::MakeSymmetric(const hsPoint3* p)
{
    if( fType != kBoundsNormal )
        return;

    float delMax = 0;
    int i;
    for( i = 0; i < 3; i++ )
    {
        float delUp;

        delUp = fMaxs[i] - (*p)[i];
        delMax = std::max(delMax, delUp);
        delUp = (*p)[i] - fMins[i];
        delMax = std::max(delMax, delUp);
    }
    const float sqrtTwo = 1.41421f;
    delMax *= sqrtTwo;
    hsAssert((delMax > -1.e6f)&&(delMax < 1.e6f), "MakeSymmetric going out to sea");
    fCenter = *p;
    fMaxs.Set(delMax, delMax, delMax);
    fMaxs += fCenter;
    fMins.Set(-delMax, -delMax, -delMax);
    fMins += fCenter;
    fBounds3Flags |= kCenterValid;
}

void hsBounds3::InscribeSphere()
{
    if( fType != kBoundsNormal )
        return;

    const float ooSix = hsInvert(2.f * 3.f);
    float a = GetMaxDim() * ooSix;
    hsPoint3 p = GetCenter();
    p.fX += a;
    p.fY += a;
    p.fZ += a;
    fMaxs = p;
    a *= -2.f;
    p.fX += a;
    p.fY += a;
    p.fZ += a;
    fMins = p;

    // Center still valid, type still normal
}

// neg, pos, zero == disjoint, I contain other, overlap
int32_t hsBounds3::TestBound(const hsBounds3& other) const
{
    int32_t retVal = 1;
    int i;
    for( i = 0; i < 3; i++ )
    {
        if( GetMins()[i] > other.GetMaxs()[i] )
            return -1;
        if( GetMaxs()[i] < other.GetMins()[i] )
            return -1;

        if( GetMaxs()[i] < other.GetMaxs()[i] )
            retVal = 0;
        if( GetMins()[i] > other.GetMins()[i] )
            retVal = 0;
    }
    return retVal;
}

bool hsBounds3::IsInside(const hsPoint3* pos) const
{
    hsAssert(fType != kBoundsUninitialized, "Invalid bounds type for hsBounds3::IsInside() ");
    if(fType == kBoundsEmpty)
        return false;
    if(fType == kBoundsFull)
        return true;
    return !(pos->fX>fMaxs.fX || pos->fY>fMaxs.fY || pos->fZ>fMaxs.fZ ||
            pos->fX<fMins.fX || pos->fY<fMins.fY || pos->fZ<fMins.fZ);
}

#if 0 // MESH_GEN_DEFER
void hsBounds3::MakeTriMeshSphere(hsGTriMesh* tMesh, hsPoint3* cornersIn) const
{
    hsPoint3 center = (*GetMaxs() + *GetMins()) * 0.5f;
    float radius = GetMaxDim() * 0.5f;

    const int nLong = 9;
    const int nLati = 5;

    int nPts = nLong * nLati + 3;
    int nFaces = nLong * 2 + nLong * (nLati - 1) * 2; // == nLong * nLati * 2
    tMesh->AllocatePointers(nFaces /*faces*/, nPts /*pts*/, 0 /*uvs*/, 0 /*colors*/);
    tMesh->SetNumTriVertex(nPts);

    int iCenter = nPts - 3;
    int iNorthPole = nPts - 2;
    int iSouthPole = nPts - 1;
    hsPoint3 pt;
    pt = center;
    tMesh->SetPoint(iCenter, &pt);
    pt.fZ += radius;
    tMesh->SetPoint(iNorthPole, &pt);
    pt.fZ -= 2.f * radius;
    tMesh->SetPoint(iSouthPole, &pt);

    int i, j;
    for( i = 0; i < nLong; i++ )
    {
        for( j = 0; j < nLati; j++ )
        {
            float theta = (float(i) / nLong) * 2.f * M_PI;
            float cosTheta = cos(theta);
            float sinTheta = sin(theta);

            float phi = (float(j+1) / (nLati+1)) * M_PI;
            float cosPhi = cos(phi);
            float sinPhi = sin(phi);

            pt.fX = center.fX + radius * sinPhi * cosTheta;
            pt.fY = center.fY + radius * sinPhi * sinTheta;
            pt.fZ = center.fZ + radius * cosPhi;
            tMesh->SetPoint(j + i * nLati, &pt);
        }
    }

    hsTriangle3* tri;
    int nTris = 0;
    int iNext;
    for( i = 0; i < nLong; i++ )
    {
        if( (iNext = i + 1) >= nLong )
            iNext = 0;

        tri = tMesh->GetTriFromPool(nTris);
        tri->Zero();
        tri->fFlags |= hsTriangle3::kTwoSided;
        tMesh->SetTriangle(nTris++, tri);
        tri->SetQuickMeshVerts(i * nLati, iNext * nLati, iNorthPole);

        tri = tMesh->GetTriFromPool(i);
        tri->Zero();
        tri->fFlags |= hsTriangle3::kTwoSided;
        tMesh->SetTriangle(nTris++, tri);
        tri->SetQuickMeshVerts(nLati-1 + iNext * nLati, nLati-1 + i * nLati, iSouthPole);

        int jNext;
        for( j = 0; j < nLati-1; j++ )
        {
            jNext = j + 1;
            
            tri = tMesh->GetTriFromPool(nTris);
            tri->Zero();
            tri->fFlags |= hsTriangle3::kTwoSided;
            tMesh->SetTriangle(nTris++, tri);
            tri->SetQuickMeshVerts(j + i * nLati, j + iNext * nLati, jNext + i * nLati);
            
            tri = tMesh->GetTriFromPool(nTris);
            tri->Zero();
            tri->fFlags |= hsTriangle3::kTwoSided;
            tMesh->SetTriangle(nTris++, tri);
            tri->SetQuickMeshVerts(jNext + iNext * nLati, jNext + i * nLati, j + iNext * nLati);
        }
    }
}

//
// Allocate and create mesh from bounding box
//
void hsBounds3::MakeTriMesh(hsGTriMesh* tMesh, uint32_t triFlags, hsPoint3* cornersIn) const
{
    hsAssert(cornersIn || fType == kBoundsNormal, 
        "Invalid bounds type for hsBounds3::MakeTriMesh ");

    const int maxNew= 12;
    // Setup tMesh
    tMesh->AllocatePointers(maxNew /*faces*/, 8 /*pts*/, 0 /*uvs*/, 0 /*colors*/);
    tMesh->SetNumTriVertex(8);
    int i;
    hsPoint3 corners[8];
    // Set Points
    if( !cornersIn )
    {
        GetCorners(corners);
        cornersIn = corners;
    }
    for(i=0; i<8; i++)
    {
        tMesh->SetPoint(i, &cornersIn[i]);
    }
    tMesh->GetVertexPool()->SetCount(8);

    // Set faces
    hsTriangle3 *tri;
    int triNum=0;


    static int verts[maxNew * 3] = {        
    /* -Y */    6,2,3,
    /* -Y */    6,3,7,
    /* Y  */    5,1,0,
    /* Y  */    5,0,4,
    /* -X */    7,3,1,
    /* -X */    7,1,5,
    /* X  */    4,0,2,
    /* X  */    4,2,6,
    /* Z  */    3,0,1,
    /* Z  */    3,2,0,
    /* -Z */    7,4,6,
    /* -Z */    7,5,4
    };
    int v=0;
    for (;triNum < maxNew;triNum++)
    {
        tri = tMesh->GetTriFromPool(triNum);
        tri->Zero();
        tri->fFlags |= triFlags;
        tMesh->SetTriangle(triNum, tri);
        tri->SetQuickMeshVerts(verts[v + 0],verts[v + 1],verts[v + 2]);
        v += 3;
    }
    tMesh->SetTrianglePointers();
}
#endif // MESH_GEN_DEFER

void hsBounds3::TestPlane(const hsPlane3 *p, hsPoint2 &depth) const
{
    TestPlane(p->fN, depth);
}
void hsBounds3::TestPlane(const hsVector3 &n, hsPoint2 &depth) const
{
    hsAssert(fType == kBoundsNormal, "TestPlane only valid for kBoundsNormal filled bounds");

    float dmax = fMins.InnerProduct(n);
    float dmin = dmax;

    int i;
    for( i = 0; i < 3; i++ )
    {
        float dd;
        dd = fMaxs[i] - fMins[i];
        dd *= n[i];

        if( dd < 0 )
            dmin += dd;
        else
            dmax += dd;
    }

    depth.fX = dmin;
    depth.fY = dmax;
}

float hsBounds3::ClosestPointToLine(const hsPoint3 *p, const hsPoint3 *v0, const hsPoint3 *v1, hsPoint3 *out)
{
    hsVector3 del(v1, v0);
    float magSq = del.MagnitudeSquared();
    float t = 0.f;
    if( magSq < hsBounds::kRealSmall )
    {
        *out = *v0;
    }
    else
    {
        t = del.InnerProduct(hsVector3(p, v0)) * hsInvert(magSq);
        if( t >= 1.f )
            *out = *v1;
        else if( t <= 0 )
            *out = *v0;
        else
            *out = *v0 + del * t;
    }
    return t;
}

float hsBounds3::ClosestPointToInfiniteLine(const hsPoint3* p, const hsVector3* v, hsPoint3* out)
{
    float magSq = v->MagnitudeSquared();
    float t = 0.f;
    hsPoint3 origin(0,0,0);
    if( magSq < hsBounds::kRealSmall )
    {
        *out = origin;
    }
    else
    {
        t = v->InnerProduct(hsVector3(*p)) * hsInvert(magSq);
        *out = hsPoint3(*v * t);
    }
    return t;
}

bool hsBounds3::ClosestPoint(const hsPoint3& p, hsPoint3& inner, hsPoint3& outer) const
{
    // Look for axis intervals p is within
    int nSect = 0;
    int i;
    for( i = 0; i < 3; i++ )
    {
        if( p[i] < fMins[i] )
        {
            inner[i] = fMins[i];
            outer[i] = fMaxs[i];
        }
        else if( p[i] > fMaxs[i] )
        {
            inner[i] = fMaxs[i];
            outer[i] = fMins[i];
        }
        else
        {
            inner[i] = p[i];
            outer[i] = (p[i] - fMins[i] > fMaxs[i] - p[i]) ? fMins[i] : fMaxs[i];
            nSect++;
        }
    }

    return nSect == 3;
}

void hsBounds3::Read(hsStream *stream)
{
    hsBounds::Read(stream);
    fMins.Read(stream);
    fMaxs.Read(stream);
    fBounds3Flags = 0;
}

void hsBounds3::Write(hsStream *stream) 
{
    hsBounds::Write(stream);
    fMins.Write(stream);
    fMaxs.Write(stream);
}

//////////////////////////////////
//////////////////////////////////////////////////
// Plane Bounds util class
//////////////////////////////////////////////////

hsPoint3  hsBoundsOriented::GetCenter() const
{ 
    hsAssert(fCenterValid==true, "Unset center for hsBoundsOriented::GetCenter()"); 
    return fCenter; 
}

void hsBoundsOriented::TestPlane(const hsVector3 &n, hsPoint2 &depth) const
{
    hsAssert(false, "TestPlane not a valid operation for hsBounsOriented");
}
//
// Return true if inside all the planes
//
bool hsBoundsOriented::IsInside(const hsPoint3* pos) const
{
    hsAssert(fType == kBoundsNormal, "Invalid bounds type for hsBounds3::IsInside() ");
    if(fType == kBoundsEmpty)
        return false;
    if(fType == kBoundsFull)
        return true;
    int i;
    for( i = 0; i < fNumPlanes; i++ )
    {
        float dis = fPlanes[i].fN.InnerProduct(pos);
        dis += fPlanes[i].fD;
        if( dis > 0.f )
            return false;
    }

    return true;
}

void hsBoundsOriented::SetNumberPlanes(uint32_t n)
{
    delete [] fPlanes;
    fPlanes = new hsPlane3[fNumPlanes = n];
}

void hsBoundsOriented::SetPlane(uint32_t i, hsPlane3 *pln)
{
    fType = kBoundsNormal;
    if( i >= fNumPlanes )
    {
        hsPlane3 *newPlanes = new hsPlane3[i+1];
        if( fPlanes )
        {
            int k;
            for( k = 0; k < fNumPlanes; k++ )
                *newPlanes++ = *fPlanes++;
            delete [] fPlanes;
        }
        fPlanes = newPlanes;
        fNumPlanes = i+1;
    }
    fPlanes[i] = *pln;
}

//
// Make mesh from bounds3. Make boundsOriented from mesh tris.
//
void hsBoundsOriented::Reset(const hsBounds3* bounds)
{
#if 0 // MESH_GEN_DEFER
    hsGTriMesh tMesh;
    bounds->MakeTriMesh(&tMesh, 0 /* triFlags */);
    Reset(&tMesh);
#endif // MESH_GEN_DEFER
}

#if 0
//
// Make mesh from bounds3. Make boundsOriented from mesh tris.
//
void    hsBoundsOriented::Union(const hsBounds3 *b)
{
#if 0 // MESH_GEN_DEFER
    hsGTriMesh tMesh;
    bounds->MakeTriMesh(&tMesh);
    int i;
    hsTriangle3 tri;
    for (i=0; i<tMesh.GetNumTriangles(); i++)
    {
        tMesh.GetTriangle(i, &tri);
        Union(&tri);
    }
#endif // MESH_GEN_DEFER
}
#endif

//
//
//

void hsBoundsOriented::Write(hsStream *stream)
{
    hsBounds::Write(stream);
    fCenter.Write(stream);
    stream->WriteLE32(fCenterValid);
    stream->WriteLE32(fNumPlanes);
    int i;
    for( i = 0; i < fNumPlanes; i++ )
    {
        fPlanes[i].Write(stream);
    }
}

void hsBoundsOriented::Read(hsStream *stream)
{
    hsBounds::Read(stream);
    fCenter.Read(stream);
    fCenterValid = (bool)stream->ReadLE32();
    fNumPlanes = stream->ReadLE32();
    if (fPlanes)
        delete [] fPlanes;
    fPlanes = new hsPlane3[fNumPlanes];
    int i;
    for( i = 0; i < fNumPlanes; i++ )
    {
        fPlanes[i].Read(stream);
    }
}


///////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////

hsBounds3Ext::hsBounds3Ext(const hsBounds3 &b)
{
    Reset(&b);
}
hsBounds3Ext &hsBounds3Ext::operator=(const hsBounds3 &b)
{
    Reset(&b);
    return *this;
}

void hsBounds3Ext::IMakeMinsMaxs()
{
    hsAssert(!(fExtFlags & kAxisAligned), "Axis aligned box defined by min and max");
    fMins = fMaxs = fCorner;
    int i;
    for( i = 0; i < 3; i++ )
    {
        if(!IAxisIsZero(i) )
        {
            int j;
            for( j = 0; j < 3; j++ )
            {
                if( fAxes[i][j] < 0 )
                    fMins[j] += fAxes[i][j];
                else
                    fMaxs[j] += fAxes[i][j];
            }
        }
    }
}

void hsBounds3Ext::IMakeDists() const
{
    hsAssert(!(fExtFlags & kAxisAligned), "Dists only useful for transformed BB");

    int i;
    for( i = 0; i < 3; i++ )
    {
        fDists[i].fX = fCorner.InnerProduct(fAxes[i]);
        if( !IAxisIsZero(i) )
        {
            fDists[i].fY = fDists[i].fX + fAxes[i].InnerProduct(fAxes[i]);
            if( fDists[i].fX > fDists[i].fY )
            {
                float t = fDists[i].fX;
                fDists[i].fX = fDists[i].fY;
                fDists[i].fY = t;
            }
        }
        else
            fDists[i].fY = fDists[i].fX;
    }
    fExtFlags |= kDistsSet;
}

void hsBounds3Ext::IMakeSphere() const
{
    if(!(fBounds3Flags & kCenterValid) )
        ICalcCenter();
    if( fExtFlags & kAxisAligned )
    {
        if( fBounds3Flags & kIsSphere )
        {
            fRadius = fMaxs[0] - fMins[0];
            int i;
            for( i = 1; i < 3; i++ )
            {
                float dist = fMaxs[i] - fMins[i];
                if( dist < fRadius )
                    fRadius = dist;
            }
            fRadius *= 0.5f;
        }
        else
        {
            fRadius = sqrt(hsVector3(&fMaxs, &fCenter).MagnitudeSquared());
        }
    }
    else
    {
        if( fBounds3Flags & kIsSphere )
        {
            float minMagSq = fAxes[0].MagnitudeSquared();
            float magSq = fAxes[1].MagnitudeSquared();
            if( magSq < minMagSq )
                magSq = minMagSq;
            magSq = fAxes[2].MagnitudeSquared();
            if( magSq < minMagSq )
                magSq = minMagSq;
            fRadius = sqrt(magSq);
        }
        else
        {
            hsVector3 accum;
            accum.Set(0,0,0);
            int i;
            for( i = 0; i < 3; i++ )
            {
                if( !IAxisIsZero(i) )
                    accum += fAxes[i];
            }
            fRadius = sqrt((accum * 0.5f).MagnitudeSquared());
        }
    }
    fExtFlags |= kSphereSet;
}

void hsBounds3Ext::Reset(const hsBounds3 *b)
{
    fExtFlags = kAxisAligned;
    hsBounds3::Reset(b);
}

void hsBounds3Ext::Reset(const hsPoint3 *p)
{
    fExtFlags = kAxisAligned | kSphereSet;
    hsBounds3::Reset(p);
    fRadius = 0;
}
 
void hsBounds3Ext::Reset(const hsBounds3Ext *b)
{
    hsBounds3::Reset(b);
    fExtFlags   = b->fExtFlags;
    if (!(fExtFlags & kAxisAligned))
    {
        fCorner     = b->fCorner;
        fAxes[0]    = b->fAxes[0];
        fAxes[1]    = b->fAxes[1];
        fAxes[2]    = b->fAxes[2];
    }
    if (fExtFlags & kDistsSet)
    {
        fDists[0]   = b->fDists[0];
        fDists[1]   = b->fDists[1];
        fDists[2]   = b->fDists[2];
    }
    if (fExtFlags & kSphereSet)
        fRadius     = b->fRadius;
}


void hsBounds3Ext::GetCorners(hsPoint3 *b) const
{
    if( fExtFlags & kAxisAligned )
    {
        hsBounds3::GetCorners(b);
    }
    else
    {
        int i;
        for( i = 0; i < 8; i++ )
        {
            b[i] = fCorner;
            if( !(i & 0x1) && !(fExtFlags & kAxisZeroZero) )b[i] += fAxes[0];
            if( !(i & 0x2) && !(fExtFlags & kAxisOneZero) )b[i] += fAxes[1];
            if( !(i & 0x4) && !(fExtFlags & kAxisTwoZero) )b[i] += fAxes[2];
        }
    }
}

void hsBounds3Ext::GetAxes(hsVector3 *fAxis0, hsVector3 *fAxis1, hsVector3 *fAxis2) const
{
    if( !(fExtFlags & kAxisAligned) )
    {
        *fAxis0 = fAxes[0];
        *fAxis1 = fAxes[1];
        *fAxis2 = fAxes[2];
    }
    else
    {
        fAxis0->Set(fMaxs.fX - fMins.fX, 0, 0);
        fAxis1->Set(0, fMaxs.fY - fMins.fY, 0);
        fAxis2->Set(0, 0, fMaxs.fZ - fMins.fZ);
    }
}

void hsBounds3Ext::Reset(int n, const hsPoint3 *p)
{
    fExtFlags = kAxisAligned;
    hsBounds3::Reset(n, p);
}

// mf horse - could union in a point preserving axes...
void hsBounds3Ext::Union(const hsPoint3 *p)
{
    fExtFlags = kAxisAligned;
    hsBounds3::Union(p);
}
void hsBounds3Ext::Union(const hsVector3 *v)
{
#if 0 // smarter union
    fExtFlags = kAxisAligned;
    hsBounds3::Union(v);
#else // smarter union
    if( fExtFlags & kAxisAligned )
    {
        hsBounds3::Union(v);
    }
    else
    {
        int i;
        for( i = 0; i < 3; i++ )
        {
            float dot = fAxes[i].InnerProduct(v);
            dot /= fAxes[i].MagnitudeSquared();
            if( dot > 0 )
            {
                fAxes[i] += dot * fAxes[i];
                fExtFlags &= ~(1 << (20+i)); // axis not zero no more
            }
            else if( dot < 0 )
            {
                hsVector3 del = dot * fAxes[i];
                fCorner += del;
                del = -del;
                fAxes[i] += del;
                fExtFlags &= ~(1 << (20+i)); // axis not zero no more
            }
        }
        fExtFlags &= ~(kSphereSet | kDistsSet);
        fBounds3Flags &= ~kCenterValid;
    }
#endif // smarter union
}

void hsBounds3Ext::Union(const hsBounds3 *b)
{
    fExtFlags = kAxisAligned;
    hsBounds3::Union(b);
}

void hsBounds3Ext::MakeSymmetric(const hsPoint3* p)
{
    if( fType != kBoundsNormal )
        return;

    if( fExtFlags & kAxisAligned )
    {
        fExtFlags = kAxisAligned;
        hsBounds3::MakeSymmetric(p);
        return;
    }

    // Can do this preserving axes, but may not be worth it.
    fExtFlags = kAxisAligned;
    hsBounds3::MakeSymmetric(p);
}

void hsBounds3Ext::InscribeSphere()
{
    fBounds3Flags |= kIsSphere;
    fExtFlags |= kAxisAligned;
    IMakeSphere();
    return;
#if 0
    if( fType != kBoundsNormal )
        return;

    if( fExtFlags & kAxisAligned )
    {
        hsBounds3::InscribeSphere();
        return;
    }

    const float oneThird = hsInvert(3.f);
//  float a = GetMaxDim() * hsInvert(6.f);
    float a = GetRadius() * oneThird;
    hsPoint3 p = GetCenter();
    p.fX += a;
    p.fY += a;
    p.fZ += a;
    fMaxs = p;
    a *= -2.f;
    p.fX += a;
    p.fY += a;
    p.fZ += a;
    fMins = p;

    // Center still valid, type still normal
    fExtFlags = kAxisAligned;
#endif
}

void hsBounds3Ext::Transform(const hsMatrix44 *m)
{
    if( fType != kBoundsNormal )
        return;

    if( fExtFlags & kAxisAligned )
    {
        fExtFlags = 0;

        fCorner = *m * fMins;
        hsVector3 v;
        float span;
        span = fMaxs.fX - fMins.fX;
        if( span < kRealSmall )
        {
            fExtFlags |= kAxisZeroZero;
            span = 1.f;
        }
        v.Set(span, 0, 0);
        fAxes[0] = *m * v;
        span = fMaxs.fY - fMins.fY;
        if( span < kRealSmall )
        {
            fExtFlags |= kAxisOneZero;
            span = 1.f;
        }
        v.Set(0, span, 0);
        fAxes[1] = *m * v;
        span = fMaxs.fZ - fMins.fZ;
        if( span < kRealSmall )
        {
            fExtFlags |= kAxisTwoZero;
            span = 1.f;
        }
        v.Set(0, 0, span);
        fAxes[2] = *m * v;

    }
    else
    {
#if 0 // IDENT
        if( m->fFlags & hsMatrix44::kIsIdent )
            return;
#endif // IDENT

        fCorner = *m * fCorner;
        fAxes[0] = *m * fAxes[0];
        fAxes[1] = *m * fAxes[1];
        fAxes[2] = *m * fAxes[2];

        fExtFlags &= kAxisZeroZero|kAxisOneZero|kAxisTwoZero;
    }
    IMakeMinsMaxs();
    fBounds3Flags &= ~kCenterValid;
}

void hsBounds3Ext::Translate(const hsVector3 &v)
{
    if( fType != kBoundsNormal )
        return;

    fMins += v;
    fMaxs += v;
    if( fBounds3Flags & kCenterValid )
        fCenter += v;
    if( !(fExtFlags & kAxisAligned) )
    {
        fCorner += v;
        int i;
        for( i = 0; i < 3; i++ )
        {
            float d;
            d = fAxes[i].InnerProduct(v);
            fDists[i].fX += d;
            fDists[i].fY += d;
        }
    }
}

bool hsBounds3Ext::IsInside(const hsPoint3 *p) const
{
    if( fExtFlags & kAxisAligned )
        return hsBounds3::IsInside(p);

    if( !(fExtFlags & kDistsSet) )
        IMakeDists();

    int i;
    for( i = 0; i < 3; i++ )
    {
        float diss = p->InnerProduct(fAxes[i]);
        if( (diss < fDists[i].fX)
            ||(diss > fDists[i].fY) )
            return false;
    }
    return true;

}

// neg, pos, zero == disjoint, I contain other, overlap
int32_t hsBounds3Ext::TestBound(const hsBounds3Ext& other) const
{
    if( fExtFlags & kAxisAligned )
        return hsBounds3::TestBound(other);

    if( !(fExtFlags & kDistsSet) )
        IMakeDists();

    int32_t retVal = 1;
    int i;
    for( i = 0; i < 3; i++ )
    {
        hsPoint2 depth;
        other.TestPlane(fAxes[i], depth);

        if( fDists[i].fX > depth.fY )
            return -1;
        if( fDists[i].fY < depth.fX )
            return -1;

        if( fDists[i].fY < depth.fY )
            retVal = 0;
        if( fDists[i].fX > depth.fX )
            retVal = 0;
    }
    return retVal;
}


void hsBounds3Ext::TestPlane(const hsVector3 &n, hsPoint2 &depth) const
{
    hsAssert(fType == kBoundsNormal, "TestPlane only valid for kBoundsNormal filled bounds");
    if( fExtFlags & kAxisAligned )
    {
        hsBounds3::TestPlane(n, depth);
    }
    else
    {
        float dmax = fCorner.InnerProduct(n);
        float dmin = dmax;

        int i;
        for( i = 0; i < 3; i++ )
        {
            if( !IAxisIsZero(i) )
            {
                float d;
                d = fAxes[i].InnerProduct(n);
                if( d < 0 )
                    dmin += d;
                else
                    dmax += d;
            }
        }

        depth.fX = dmin;
        depth.fY = dmax;
    }
}

void hsBounds3Ext::TestPlane(const hsPlane3 *p, const hsVector3 &myVel, hsPoint2 &depth) const
{
    TestPlane(p->fN, myVel, depth);
}
void hsBounds3Ext::TestPlane(const hsVector3 &n, const hsVector3 &myVel, hsPoint2 &depth) const
{
    if( fExtFlags & kAxisAligned )
    {
        float dmax = fMins.InnerProduct(n);
        float dmin = dmax;
        float dvel = myVel.InnerProduct(n);
        if( dvel < 0 )
            dmin += dvel;
        else
            dmax += dvel;

        int i;
        for( i = 0; i < 3; i++ )
        {
            float dd;
            dd = fMaxs[i] - fMins[i];
            dd *= n[i];

            if( dd < 0 )
                dmin += dd;
            else
                dmax += dd;
        }

        depth.fX = dmin;
        depth.fY = dmax;
    }
    else
    {
        float dmax = fCorner.InnerProduct(n);
        float dmin = dmax;
        float dvel = myVel.InnerProduct(n);
        if( dvel < 0 )
            dmin += dvel;
        else
            dmax += dvel;

        int i;
        for( i = 0; i < 3; i++ )
        {
            if( !IAxisIsZero(i) )
            {
                float d;
                d = fAxes[i].InnerProduct(n);
                if( d < 0 )
                    dmin += d;
                else
                    dmax += d;
            }
        }

        depth.fX = dmin;
        depth.fY = dmax;
    }
}

int32_t hsBounds3Ext::TestPoints(int n, const hsPoint3 *pList, const hsVector3 &ptVel) const
{
    if( fExtFlags & kAxisAligned )
    {
        int32_t retVal = -1;
        int i;
        for( i = 0; i < 3; i++ )
        {
            float effMax = fMaxs[i];
            float effMin = fMins[i];
            if( ptVel[i] < 0 )
                effMax -= ptVel[i];
            else
                effMin -= ptVel[i];

            int j;
            const uint32_t low = 0x1, hi = 0x2;
            uint32_t mask = low | hi;
            for( j = 0; j < n; j++ )
            {
                if( pList[j][i] > effMin )
                    mask &= ~low;
                if( pList[j][i] < effMax )
                    mask &= ~hi;
                if( mask )
                    retVal = 0;
            }
            if( mask )
                return 1;
        }
        return retVal;
    }
    else // non-axis aligned case
    {
        int32_t retVal = -1; // all inside
        if( !(fExtFlags & kDistsSet) )
            IMakeDists();
        int i;
        for( i = 0; i < 3; i++ )
        {
            float diff = fAxes[i].InnerProduct(ptVel);
            bool someLow = false;
            bool someHi = false;
            bool someIn = false;
            int j;
            for( j = 0; j < n; j++ )
            {
                float d = fAxes[i].InnerProduct(pList[j]);
                float ddiff = d + diff;
                if( d < fDists[i].fX )
                    someLow = true;
                else if( d > fDists[i].fY )
                    someHi = true;
                else
                    someIn = true;

                if( ddiff < fDists[i].fX )
                    someLow = true;
                else if( ddiff > fDists[i].fY )
                    someHi = true;
                else
                    someIn = true;

                if( someIn &&(someHi || someLow) )
                    break;
            }
            if( someHi && !(someLow || someIn) )
                return 1;
            if( someLow && !(someHi || someIn) )
                return 1;
            if( someHi || someLow )
                retVal = 0;
        }
        return retVal;
    }
}

int32_t hsBounds3Ext::TestPoints(int n, const hsPoint3 *pList) const
{
    bool someIn = false;
    bool someOut = false;
    int i;
    for( i = 0; i < n; i++ )
    {
        if( IsInside(pList+i) )
            someIn = true;
        else
            someOut = true;
        if( someIn && someOut )
            return 0;
    }
    if( someIn )
        return -1;
    return 1;
}

bool hsBounds3Ext::ClosestPoint(const hsPoint3& p, hsPoint3& inner, hsPoint3& outer) const
{
    if( fExtFlags & kAxisAligned )
        return hsBounds3::ClosestPoint(p, inner, outer);

    if( !(fExtFlags & kDistsSet) )
        IMakeDists();

    int nSect = 0;
    inner = outer = fCorner;
    int i;
    for( i = 0; i < 3; i++ )
    {
        float dist = fAxes[i].InnerProduct(p);
        if( dist < fDists[i].fX )
        {
            outer += fAxes[i];
        }
        else if( dist > fDists[i].fY )
        {
            inner += fAxes[i];
        }
        else
        {
            float t = (dist - fDists[i].fX) / (fDists[i].fY - fDists[i].fX);
            inner += t * fAxes[i];
            if( t > 0.5f )
                outer += fAxes[i];

            nSect++;
        }
    }
    return nSect == 3;
}

bool hsBounds3Ext::ISectBB(const hsBounds3Ext &other, const hsVector3 &myVel) const
{
    if( fExtFlags & kAxisAligned )
    {
        if( other.fExtFlags & kAxisAligned )
            return ISectABB(other, myVel);

        return other.ISectBB(*this, -myVel);
    }
    hsAssert(!(fExtFlags & kAxisAligned), "Other can be axis-aligned, but not me!");
    hsPoint2 depth;

    if( !(fExtFlags & kDistsSet) )
        IMakeDists();
    if( !(other.fExtFlags & (kDistsSet|kAxisAligned)) )
        other.IMakeDists();

    int i;
    for( i = 0; i < 3; i++ )
    {
        other.TestPlane(fAxes[i], -myVel, depth);
        if( (depth.fX > fDists[i].fY)
            ||(depth.fY < fDists[i].fX) )
            return false;

        if( other.fExtFlags & kAxisAligned )
        {
            float myMin = fMins[i];
            float myMax = fMaxs[i];
            if( myVel[i] < 0 )
                myMin += myVel[i];
            else
                myMax += myVel[i];
            if( (other.fMins[i] > myMax)
                ||(other.fMaxs[i] < myMin) )
                return false;
        }
        else
        {
            TestPlane(other.fAxes[i], myVel, depth);
            if( (depth.fX > other.fDists[i].fY)
                ||(depth.fY < other.fDists[i].fX) )
                return false;
        }

        // still leaves the 3 axes of origAxis.Cross(myVel)
        hsVector3 ax = fAxes[i] % myVel;
        float dmax = fCorner.InnerProduct(ax);
        float dmin = dmax;
        int j = i+1;
        if( 3 == j )j = 0;
        float d;
        d = fAxes[j].InnerProduct(ax);
        if( d < 0 )
            dmin += d;
        else
            dmax += d;
        j = ( j == 2 ? 0 : j+1 );
        d = fAxes[j].InnerProduct(ax);
        if( d < 0 )
            dmin += d;
        else
            dmax += d;
        other.TestPlane(ax, depth);
        if( (depth.fX > dmax)
            ||(depth.fY < dmin) )
            return false;
    }


    return true;
}


static bool ISectInterval(const hsPoint2& other, const hsPoint2& mine)
{
    if( other.fY - mine.fX <= 0 )
        return false;
    if( mine.fY - other.fX <= 0 )
        return false;

    return true;
}

static bool ITestDepth(const hsPoint2& other, const hsPoint2& mine, 
                          const hsVector3& inAx, 
                          hsVector3 &outAx, float& depth)
{
    depth = 0;
    float d0, d1;
    d0 = other.fY - mine.fX;
    if( d0 <= 0 )
        return false;
    d1 = mine.fY - other.fX;
    if( d1 <= 0 )
        return false;

    // if one interval is proper subset of other, skip
    if( (mine.fX < other.fX)^(mine.fY < other.fY) )
    {
        depth = 0;
        return true;
    }
    if( d0 < d1 )
    {
        outAx = inAx;
        depth = d0;
        return true;
    }

    outAx = -inAx;
    depth = d1;
    return true;
}

int32_t hsBounds3Ext::IClosestISect(const hsBounds3Ext& other, const hsVector3& myVel,
                              float* tClose, float* tImpact) const
{
    // Should assert both have their spheres set.

    hsVector3 meToOt(&other.GetCenter(), &GetCenter());

    // cTerm = (myCenter - otCenter)^2 - (myRad + otRad)^2
    float cTerm;

    cTerm = GetRadius() + other.GetRadius();
    cTerm *= -cTerm;

    float meToOtLen = meToOt.MagnitudeSquared();
    cTerm += meToOtLen;
    if( cTerm <= 0 )
    {
        *tClose = *tImpact = 0;
        return -1; // started off in contact
    }

    float ooATerm = myVel.InnerProduct(myVel);
    if( ooATerm < hsBounds::kRealSmall )
    {
        *tClose = *tImpact = 0;
        return 0;
    }
    ooATerm = hsInvert(ooATerm);

    float bTerm = myVel.InnerProduct(meToOt);
    bTerm *= ooATerm;
    float bSqTerm = bTerm * bTerm;
    // bTerm is t for closest point to line

    float det = bSqTerm - ooATerm * cTerm;
    if( det < 0 )
    {
        *tClose = *tImpact = bTerm;
        return 0;
    }

    det = sqrt(det);
    *tClose = bTerm;
    *tImpact = bTerm - det;

    return 1;
}

void hsBounds3Ext::Unalign()
{
    fExtFlags = 0;

    fCorner = fMins;
    hsVector3 v;
    float span;
    span = fMaxs.fX - fMins.fX;
    if( span < kRealSmall )
    {
        fExtFlags |= kAxisZeroZero;
        span = 1.f;
    }
    fAxes[0].Set(span, 0, 0);
    span = fMaxs.fY - fMins.fY;
    if( span < kRealSmall )
    {
        fExtFlags |= kAxisOneZero;
        span = 1.f;
    }
    fAxes[1].Set(0, span, 0);
    span = fMaxs.fZ - fMins.fZ;
    if( span < kRealSmall )
    {
        fExtFlags |= kAxisTwoZero;
        span = 1.f;
    }
    fAxes[2].Set(0, 0, span);
}

bool hsBounds3Ext::ISectBB(const hsBounds3Ext &other, const hsVector3 &myVel, hsHitInfoExt *hit) const
{
    if( fExtFlags & kAxisAligned )
    {
        hsBounds3Ext meUnalign(*this);
        meUnalign.Unalign();
        return meUnalign.ISectBB(other, myVel, hit);
    }
    hsAssert(!(fExtFlags & kAxisAligned), "Other can be axis-aligned, but not me!");
    hsPoint2 depth;

    if( !(fExtFlags & kDistsSet) )
        IMakeDists();
    if( !(other.fExtFlags & (kDistsSet|kAxisAligned)) )
        other.IMakeDists();

    float tstDepths[9];
    hsVector3 tstAxes[9];
    float totDepth = 0;
    int nDeep = 0;
    int i;
    for( i = 0; i < 3; i++ )
    {
        const float kFavorConstant = 0.01f; // smaller is favored

        other.TestPlane(fAxes[i], -myVel, depth);

        if( !ITestDepth(depth, fDists[i], fAxes[i], tstAxes[i], tstDepths[i]) )
            return false;

        other.TestPlane(fAxes[i], depth);
        if( !ISectInterval(depth, fDists[i]) )
            tstDepths[i] *= kFavorConstant;

        if( tstDepths[i] > 0 )
        {
            totDepth += tstDepths[i];
            nDeep++;
        }

        if( other.fExtFlags & kAxisAligned )
        {
            hsPoint2 mine;
            mine.fX = fMins[i];
            mine.fY = fMaxs[i];
            if( myVel[i] > 0 )mine.fY += myVel[i];
            else mine.fX += myVel[i];
            depth.fX = other.fMins[i];
            depth.fY = other.fMaxs[i];

            hsVector3 ax;
            ax.Set( 0 == i ? 1.f : 0,
                    1 == i ? 1.f : 0,
                    2 == i ? 1.f : 0);

            if( !ITestDepth(depth, mine, ax, tstAxes[i+3], tstDepths[i+3]) )
                return false;

            mine.fX = fMins[i];
            mine.fY = fMaxs[i];
            if( !ISectInterval(depth, mine) )
                tstDepths[i+3] *= kFavorConstant;

            if( tstDepths[i+3] )
            {
                totDepth += tstDepths[i+3];
                nDeep++;
            }
        }
        else
        {
            TestPlane(other.fAxes[i], myVel, depth);

            if( !ITestDepth(other.fDists[i], depth, other.fAxes[i], tstAxes[i+3], tstDepths[i+3]) )
                return false;

            TestPlane(other.fAxes[i], depth);

            if( !ISectInterval(other.fDists[i], depth) )
                tstDepths[i+3] *= kFavorConstant;

            if( tstDepths[i+3] )
            {
                totDepth += tstDepths[i+3];
                nDeep++;
            }
    }

#if 0
        // still leaves the 3 axes of origAxis.Cross(myVel)
        hsVector3 ax = fAxes[i] % myVel;
        if( ax.MagnitudeSquared() > kRealSmall )
        {
            hsPoint2 myDepth;
            myDepth.fX = myDepth.fY = fCorner.InnerProduct(ax);
            float d;
            int j = i == 2 ? 0 : i+1;
            if( !IAxisIsZero(j) )
            {
                d = fAxes[j].InnerProduct(ax);
                if( d < 0 )
                    myDepth.fX += d;
                else
                    myDepth.fY += d;
            }
            j = ( j == 2 ? 0 : j+1 );
            if( !IAxisIsZero(j) )
            {
                d = fAxes[j].InnerProduct(ax);
                if( d < 0 )
                    myDepth.fX += d;
                else
                    myDepth.fY += d;
            }
            other.TestPlane(ax, depth);

            if( !ITestDepth(depth, myDepth, ax, tstAxes[i+6], tstDepths[i+6]) )
                return false;
            totDepth += tstDepths[i+6];
        }
        else
            tstDepths[i+6] = 0;
#endif
    }

    hsVector3 norm;
    if( totDepth <= 0 )
    {
        float t, tIgnore;
        IClosestISect(other, myVel, &tIgnore, &t);
        if( t < 0 )
            t = 0;
        else if( t > 1.f )
            t = 1.f;
        hsPoint3 hitPt = GetCenter() + myVel * t;
        norm.Set(&hitPt, &other.GetCenter());
    }
    else
    {
        // now do a weighted average of the axes
        hsAssert(totDepth > 0, "nobody home");
        norm.Set(0,0,0);
        for( i =0; i < 6; i++ )
        {
            if( tstDepths[i] > 0 )
                norm += tstAxes[i] / tstDepths[i];
//              norm += tstAxes[i] * (1.f - tstDepths[i] / totDepth);
        }
    }
    hsPoint2 otherDepth;
    norm.Normalize();
    other.TestPlane(norm, otherDepth);
    TestPlane(norm, myVel, depth);

    hit->Set(this, &other, norm, otherDepth.fY - depth.fX);

    // mf horse hack test
    if( hit->fDepth < 0 )
        return false;
    hsAssert(hit->fDepth >= 0, "Negative Depth");

    return true;
}

bool hsBounds3Ext::ISectABB(const hsBounds3Ext &other, const hsVector3 &myVel) const
{
    int i;
    for( i = 0; i < 3; i++ )
    {
        float effMax = fMaxs[i];
        float effMin = fMins[i];
        if( myVel[i] > 0 )
            effMax += myVel[i];
        else
            effMin += myVel[i];

        if( (effMax < other.fMins[i])
            ||(effMin > other.fMaxs[i]) )
            return false;
    }
    return true;
}

bool hsBounds3Ext::ISectBS(const hsBounds3Ext &other, const hsVector3 &myVel) const
{
    if( !(fExtFlags & kSphereSet) )
        IMakeSphere();
    if( !(other.fExtFlags & kSphereSet) )
        other.IMakeSphere();

    hsPoint3 closestPt = GetCenter();
    // we should know whether we have a useful velocity or not...
    // having the speed cached away would get rid of several
    // such uglies...
    if( myVel.MagnitudeSquared() > 0 )
    {
        float parm = hsVector3(&other.GetCenter(), &fCenter).InnerProduct(myVel) 
            / myVel.InnerProduct(myVel);
        if( parm > 0 )
        {
            if( parm > 1.f )
                parm = 1.f;
            closestPt += myVel * parm;
        }
    }

    float combRad = fRadius + other.fRadius;

    return hsVector3(&closestPt, &other.GetCenter()).MagnitudeSquared() < combRad*combRad;
}

#if 0 // Commenting out this which will be made redundant and/or obsolete by Havok integration
bool hsBounds3Ext::ISectTriABB(hsBounds3Tri &tri, const hsVector3 &myVel) const
{
    int i;
    for( i = 0; i < 3; i++ )
    {
        float effMax = fMaxs[i];
        float effMin = fMins[i];
        if( myVel[i] < 0 )
            effMin += myVel[i];
        else
            effMax += myVel[i];

        int j;
        const uint32_t low = 0x1, hi = 0x2;
        uint32_t mask = low | hi;
        for( j = 0; j < 3; j++ )
        {
            if( tri.fVerts[j][i] > effMin )
                mask &= ~low;
            if( tri.fVerts[j][i] < effMax )
                mask &= ~hi;
        }
        if( mask )
            return false;
    }
    return true;
}

bool hsBounds3Ext::TriBSHitInfo(hsBounds3Tri& tri, const hsVector3& myVel, hsHitInfoExt* hit) const
{
    hsPoint3 myPt = GetCenter();
    myPt += myVel;

    hsPoint3 closePt;
    bool onTri = tri.ClosestTriPoint(&myPt, &closePt);

    hsVector3 repel;
    repel.Set(&myPt, &closePt);

    float myDepth;
    float repelMagSq = repel.MagnitudeSquared();
    if( repelMagSq < hsBounds::kRealSmall )
    {
        repel = tri.fNormal;
        myDepth = GetRadius();
    }
    else
    {
        myDepth = hsFastMath::InvSqrt(repelMagSq);
        repel *= myDepth;
        myDepth = 1.f / myDepth;
        myDepth = GetRadius() - myDepth;
        if( myDepth < 0 )
            myDepth = 0;
    }

    if( tri.fNormal.InnerProduct(myPt) < tri.fDist )
    {
        repel += tri.fNormal * (-2.f * repel.InnerProduct(tri.fNormal));
        myDepth = GetRadius() * 2.f - myDepth;
        if( myDepth < 0 )
            myDepth = 0;
    }

    hit->Set(this, &tri, &repel, myDepth);

    return true;
}

#if 0 // TOCENTER
bool hsBounds3Ext::TriBBHitInfo(hsBounds3Tri& tri, const hsVector3& myVel, hsHitInfoExt* hit) const
{
    // Find our closest point (after movement)
    hsPoint3 myPt = fCorner;
    myPt += myVel;

    const float kMinDist = 1.f; // Huge min dist because world is really big right now. mf horse
    int i;
    for( i = 0; i < 3; i++ )
    {
        float axDot = fAxes[i].InnerProduct(tri.fNormal);
        if( axDot < -kMinDist )
        {
            // moving towards
            myPt += fAxes[i];
        }
        else if( axDot < kMinDist )
        {
            // need to interp
            axDot /= -(kMinDist*2.f);
            axDot += 0.5f;
            myPt += fAxes[i] * axDot;
        }
        // else moving away, skip it
    }

    // Find closest point on tri to our closest corner
    hsPoint3 closePt;
    bool onTri = tri.ClosestTriPoint(&myPt, &closePt);

    // Repel vector is from closest corner to closest point on tri
    hsVector3 repel;
    repel.Set(&myPt, &closePt);
    repel += (-2.f * repel.InnerProduct(tri.fNormal)) * tri.fNormal;

    float repelMag = hsFastMath::InvSqrt(repel.MagnitudeSquared());
    
    if( repelMag < hsBounds::kRealSmall )
    {
        hsPoint2 faceDepth;
        TestPlane(tri.fNormal, myVel, faceDepth);
        hit->Set(this, &tri, &tri.fNormal, tri.fDist - faceDepth.fX);
        return true;
    }

    repel *= repelMag;
    repelMag = 1.f / repelMag;

    hit->Set(this, &tri, &repel, repelMag);
    
    // Return true of our closest corner projects on to tri (along normal or myVel?)
    return onTri;
}
#else // TOCENTER

bool hsBounds3Ext::TriBBHitInfo(hsBounds3Tri& tri, const hsVector3& myVel, hsHitInfoExt* hit) const
{
    hsPoint3 myPt = GetCenter();
    myPt += myVel;

    hsPoint3 closePt;
    bool onTri = tri.ClosestTriPoint(&myPt, &closePt);

    hsVector3 repel;
    repel.Set(&myPt, &closePt);
    float repelDotNorm = repel.InnerProduct(tri.fNormal);
    if( repelDotNorm < 0 )
    {
        repel += (-2.f * repelDotNorm) * tri.fNormal;
    }

    float repelMagSq = repel.MagnitudeSquared();
    if( repelMagSq < hsBounds::kRealSmall )
        repel = tri.fNormal;
    else
    {
        float repelMag = hsFastMath::InvSqrt(repelMagSq);
        repel *= repelMag;
    }


    hsPoint2 triDepth;
    tri.TestPlane(repel, triDepth);

    hsPoint2 myDepth;
    TestPlane(repel, myVel, myDepth);

    hit->Set(this, &tri, &repel, triDepth.fY - myDepth.fX);

    return true;
}

#endif // TOCENTER

bool hsBounds3Ext::ISectTriBB(hsBounds3Tri &tri, const hsVector3 &myVel) const
{
    hsPoint2 faceDepth;
    // first test box against the triangle plane
    TestPlane(tri.fNormal, myVel, faceDepth);

    if( (tri.fDist > faceDepth.fY)
        ||(tri.fDist < faceDepth.fX) )
        return false;

    // now test tri against box planes
    if( TestPoints(3, tri.fVerts, -myVel) > 0 )
        return false;

    if( !(tri.fTriFlags & hsBounds3Tri::kAxesSet) )
        tri.SetAxes();

    float depth = tri.fDist - faceDepth.fX;
    hsVector3 norm = tri.fNormal;

    // that only leaves the planes of triEdge.Cross(vel)
    int i;
    for( i = 0; i < 3; i++ )
    {
        hsPoint2 depths;
        TestPlane(tri.fPerpAxes[i], myVel, depths);
        if( (tri.fPerpDists[i].fY < depths.fX)
            ||(tri.fPerpDists[i].fX > depths.fY) )
            return false;

#if 0
        float testDepth = tri.fPerpDists[i].fY - depths.fX;
        if( testDepth < depth )
        {
            depth = testDepth;
            norm = tri.fPerpAxes[i];
        }
#endif
    }
    float vDotN = myVel.InnerProduct(tri.fNormal);
    if( vDotN > 0 )
        depth -= vDotN;

    if( depth <= 0 )
        return false;

    return true;
}

bool hsBounds3Ext::ISectTriBB(hsBounds3Tri &tri, const hsVector3 &myVel, hsHitInfoExt *hit) const
{
    hsPoint2 faceDepth;
    // first test box against the triangle plane
    TestPlane(tri.fNormal, myVel, faceDepth);

    if( (tri.fDist > faceDepth.fY)
        ||(tri.fDist < faceDepth.fX) )
        return false;

    float centDist = tri.fNormal.InnerProduct(hit->fRootCenter);
    if( centDist < tri.fDist )
        return false;

    // now test tri against box planes
    if( TestPoints(3, tri.fVerts, -myVel) > 0 )
        return false;

    if( !(tri.fTriFlags & hsBounds3Tri::kAxesSet) )
        tri.SetAxes();

    float depth = tri.fDist - faceDepth.fX;
    hsVector3 norm = tri.fNormal;

    // that only leaves the planes of triEdge.Cross(vel)
    int i;
    for( i = 0; i < 3; i++ )
    {
        hsPoint2 depths;
        TestPlane(tri.fPerpAxes[i], myVel, depths);
        if( (tri.fPerpDists[i].fY < depths.fX)
            ||(tri.fPerpDists[i].fX > depths.fY) )
            return false;

#if 0
        float testDepth = tri.fPerpDists[i].fY - depths.fX;
        if( testDepth < depth )
        {
            depth = testDepth;
            norm = tri.fPerpAxes[i];
        }
#endif
    }
    float vDotN = myVel.InnerProduct(tri.fNormal);
    if( vDotN > 0 )
        depth -= vDotN;

    if( (tri.fTriFlags & hsBounds3Tri::kDoubleSide) )
    {
        if( tri.fNormal.InnerProduct(hit->fRootCenter) - tri.fDist < 0 )
        {
            depth = -tri.fDist + faceDepth.fY;
            if( vDotN < 0 )
                depth += vDotN;

            tri.fNormal = -tri.fNormal;
            tri.fDist = -tri.fDist;
        }
    }
    if( depth <= 0 )
        return false;

    //  printf("ATTRIBUTE triBnd addr %x\n",&tri.fNormal);  /* Takashi Nakata TEST Add */
    hit->Set(this, &tri, &norm, depth);

    return hit->fDepth > hsBounds::kRealSmall;
}

bool hsBounds3Ext::ISectTriBS(hsBounds3Tri &tri, const hsVector3 &myVel) const
{
    if( !(fExtFlags & kSphereSet) )
        IMakeSphere();

    hsAssert(fBounds3Flags & kCenterValid, "Sphere set but not center (TriBS)");
    float radScaled = fRadius * tri.fNormal.Magnitude();
    float centerDist = tri.fNormal.InnerProduct(fCenter);
    float velDist = tri.fNormal.InnerProduct(myVel);
    float effMin = centerDist;
    float effMax = centerDist;

    if( velDist > 0 )
        effMax += velDist;
    else
        effMin += velDist;
    effMax += radScaled;
    effMin -= radScaled;

    if( tri.fDist <= effMin )
        return false;
    if( tri.fDist >= effMax )
        return false;

    // mf horse
    float normDepth = tri.fDist - (centerDist - radScaled + velDist);
    if( normDepth <= 0 )
    {
        // we'll report a depth of zero to (hopefully) neutralize any effects
        if( tri.fTriFlags & hsBounds3Tri::kDoubleSide )
        {
            normDepth = -tri.fDist + (centerDist + radScaled + velDist);
            if( normDepth > 0 )
            {   
                tri.fDist = -tri.fDist;
                tri.fNormal = -tri.fNormal;
            }
            else
                normDepth = 0;
        }
        else
            normDepth = 0;
    }
    hsAssert(normDepth >= 0, "NegativeDepth");

    if( !(tri.fTriFlags & hsBounds3Tri::kAxesSet) )
        tri.SetAxes();

    hsAssert(fBounds3Flags & kCenterValid, "Sphere set but not center (TriBS)");
    int i;
    for( i = 0; i < 3; i++ )
    {
        centerDist = tri.fPerpAxes[i].InnerProduct(fCenter);
        velDist = tri.fPerpAxes[i].InnerProduct(myVel);
        effMin = centerDist;
        effMax = centerDist;

        if( velDist > 0 )
            effMax += velDist;
        else
            effMin += velDist;

        float radScale = fRadius * tri.fPerpAxes[i].Magnitude();
        effMax += radScale;
        effMin -= radScale;
        if( tri.fPerpDists[i].fY <= effMin )
            return false;
        if( tri.fPerpDists[i].fX >= effMax )
            return false;

    }

    return true;
}

bool hsBounds3Ext::ISectTriBS(hsBounds3Tri &tri, const hsVector3 &myVel, hsHitInfoExt *hit) const
{
    if( !(fExtFlags & kSphereSet) )
        IMakeSphere();

    hsAssert(fBounds3Flags & kCenterValid, "Sphere set but not center (TriBS)");
    float radScaled = fRadius * tri.fNormal.Magnitude();
    float centerDist = tri.fNormal.InnerProduct(fCenter);
    float velDist = tri.fNormal.InnerProduct(myVel);
    float effMin = centerDist;
    float effMax = centerDist;

    if( velDist > 0 )
        effMax += velDist;
    else
        effMin += velDist;
    effMax += radScaled;
    effMin -= radScaled;

    if( tri.fDist <= effMin )
        return false;
    if( tri.fDist >= effMax )
        return false;

    // mf horse
    float normDepth = tri.fDist - (centerDist - radScaled + velDist);
    if( normDepth <= 0 )
    {
#if 0 // need to report the collision even if the object is leaving the tri
        // we'll report a depth of zero to (hopefully) neutralize any effects
        if(!(tri.fTriFlags & hsBounds3Tri::kDoubleSide) )
            return false;
        normDepth = -tri.fDist + (centerDist + radScaled + velDist);
        if( normDepth <= 0 )
            return false;
        tri.fDist = -tri.fDist;
        tri.fNormal = -tri.fNormal;
#else
        // we'll report a depth of zero to (hopefully) neutralize any effects
        if( tri.fTriFlags & hsBounds3Tri::kDoubleSide )
        {
            normDepth = -tri.fDist + (centerDist + radScaled + velDist);
            if( normDepth > 0 )
            {   
                tri.fDist = -tri.fDist;
                tri.fNormal = -tri.fNormal;
            }
            else
                normDepth = 0;
        }
        else
            normDepth = 0;
#endif
    }
    hsAssert(normDepth >= 0, "NegativeDepth");

    if( !(tri.fTriFlags & hsBounds3Tri::kAxesSet) )
        tri.SetAxes();

    hsAssert(fBounds3Flags & kCenterValid, "Sphere set but not center (TriBS)");
    int i;
    for( i = 0; i < 3; i++ )
    {
        centerDist = tri.fPerpAxes[i].InnerProduct(fCenter);
        velDist = tri.fPerpAxes[i].InnerProduct(myVel);
        effMin = centerDist;
        effMax = centerDist;

        if( velDist > 0 )
            effMax += velDist;
        else
            effMin += velDist;

        float radScale = fRadius * tri.fPerpAxes[i].Magnitude();
        effMax += radScale;
        effMin -= radScale;
        if( tri.fPerpDists[i].fY <= effMin )
            return false;
        if( tri.fPerpDists[i].fX >= effMax )
            return false;

    }

    float invLen = hsInvert(tri.fNormal.Magnitude());
    hit->Set(this, &tri, &tri.fNormal, normDepth);

    // mf horse - move this into Set()?
    hit->fNormal *= invLen;
    hit->fDepth *= invLen;

    return true;
}

#endif // Commenting out this which will be made redundant and/or obsolete by Havok integration

bool hsBounds3Ext::ISectBSBS(const hsBounds3Ext& other, const hsVector3& myVel, hsHitInfoExt *hit) const
{
    if(!(fExtFlags & kSphereSet) )
        IMakeSphere();
    if(!(other.fExtFlags & kSphereSet) )
        other.IMakeSphere();

    float tClose, tImpact;
    if( !IClosestISect(other, myVel, &tClose, &tImpact) )
        return false;
    if( (tImpact < 0) || (tImpact > 1.f) )
        return false;
    if( tClose < 0 )
        tClose = 0;
    if( tClose > 1.f )
        tClose = 1.f;

    hsPoint3 closePt = GetCenter() + myVel * tClose;
    hsVector3 del;
    del.Set(&closePt, &other.GetCenter());

    float mag = del.Magnitude();
    float depth = GetRadius() + other.GetRadius() - mag;
    if( depth <= 0 )
        return false;

    hsPoint3 hitPt = GetCenter() + myVel * tImpact;
    hsVector3 norm;
    norm.Set(&hitPt, &other.GetCenter());
    norm.Normalize();

    hit->Set(this, &other, norm, depth);
    return true;
}

bool hsBounds3Ext::ISectBSBox(const hsBounds3Ext &other, const hsVector3 &myVel, hsHitInfoExt *hit) const
{
    hit->fDelPos = -myVel;
    if( other.ISectBoxBS(*this, hit->fDelPos, hit) )
    {
        hit->fNormal = -hit->fNormal;
        hit->fBoxBnd = this;
        hit->fOtherBoxBnd = &other;
        hit->fDelPos = myVel;

        return true;
    }

    hit->fDelPos = myVel;
    return false;
}

bool hsBounds3Ext::ISectBoxBS(const hsBounds3Ext &other, const hsVector3 &myVel, hsHitInfoExt *hit) const
{
    if(!(fExtFlags & kSphereSet) )
        IMakeSphere();
    hsAssert(fBounds3Flags & kCenterValid, "Sphere set but not center (BoxBS(vel))");

    hsVector3 minAxis;
    float minDepth;
    bool haveAxis = false;
    hsVector3 tstAxis;
    float tstDepth;
    int i;

    for( i = 0; i < 3; i++ )
    {
        bool tryAxis = false;

        if( other.fExtFlags & kAxisAligned )
        {
            // first try the other box axes
            float effMin = fCenter[i];
            float effMax = effMin;
            float velDist = myVel[i];
            if( velDist > 0 )
                effMax += velDist;
            else
                effMin += velDist;
            effMax += fRadius;
            effMin -= fRadius;

            if( effMax < other.fMins[i] )
                return false;
            if( effMin > other.fMaxs[i] )
                return false;

            if ((other.fMins[i] <= effMin) &&
                (other.fMaxs[i] <= effMax))
            {
                tstDepth = other.fMaxs[i] - effMin;
                hsAssert(tstDepth > -kRealSmall, "Late to be finding sep axis");
                tstAxis.Set(i == 0 ? 1.f : 0, i & 1 ? 1.f : 0, i & 2 ? 1.f : 0);
                tryAxis = true;
            }
            else if ((other.fMins[i] >= effMin) &&
                     (other.fMaxs[i] >= effMax))
            {
                tstDepth = effMax - other.fMins[i];
                hsAssert(tstDepth > -kRealSmall, "Late to be finding sep axis");
                tstAxis.Set(i == 0 ? -1.f : 0, i & 1 ? -1.f : 0, i & 2 ? -1.f : 0);
                tryAxis = true;
            }
        }
        else
        {
            // first try the other box axes
            float radScaled = fRadius * other.fAxes[i].Magnitude();
            float centerDist = other.fAxes[i].InnerProduct(fCenter);
            float effMin = centerDist;
            float effMax = centerDist;
            float velDist = other.fAxes[i].InnerProduct(myVel);
            if( velDist > 0 )
                effMax += velDist;
            else
                effMin += velDist;
            effMax += radScaled;
            effMin -= radScaled;

            if( !(other.fExtFlags & kDistsSet) )
                other.IMakeDists();

            if( effMax < other.fDists[i].fX )
                return false;
            if( effMin > other.fDists[i].fY )
                return false;

            if (centerDist <= other.fDists[i].fX)
            {
                tstDepth = effMax - other.fDists[i].fX;
                tstAxis = -other.fAxes[i];
                hsAssert(tstDepth > -kRealSmall, "Late to be finding sep axis");
            }
            else if (centerDist >= other.fDists[i].fY)
            {
                tstDepth = other.fDists[i].fY - effMin;
                tstAxis = other.fAxes[i];
                hsAssert(tstDepth > -kRealSmall, "Late to be finding sep axis");
            }
        }

        if( tryAxis )
        {
            float magSq = tstAxis.MagnitudeSquared();
            if( magSq > kRealSmall )
            {
                tstDepth *= tstDepth * hsInvert(magSq);
                if( !haveAxis||(tstDepth < minDepth) )
                {
                    minDepth = tstDepth;
                    minAxis = tstAxis;
                    haveAxis = true;
                }
                hsAssert(!haveAxis || (minAxis.MagnitudeSquared() > kRealSmall), "Bogus");
            }
        }
    }
    // now try the axis between the center of sphere and center of other box
    hsVector3 diag(&fCenter, &other.GetCenter());
    if( !haveAxis && (diag.MagnitudeSquared() < kRealSmall) )
        diag.Set(1.f, 0, 0);
    float effMin = diag.InnerProduct(fCenter);
    float effMax = effMin;
    float velDist = diag.InnerProduct(myVel);
    if( velDist > 0 )
        effMax += velDist;
    else
        effMin += velDist;
    float radDist = fRadius * diag.Magnitude();
    effMax += radDist;
    effMin -= radDist;
    hsPoint2 otherDepth;
    other.TestPlane(diag, otherDepth);
    if( effMax < otherDepth.fX )
        return false;
    if( effMin > otherDepth.fY )
        return false;

    tstAxis = diag;
    tstDepth = otherDepth.fY - effMin;
    float magSq = tstAxis.MagnitudeSquared();
    if( magSq > 0 )
    {
        tstDepth *= tstDepth * hsInvert(magSq);
        if( !haveAxis ||(tstDepth < minDepth) )
        {
            minDepth = tstDepth;
            minAxis = tstAxis;
        }
    }

    float invMag = hsInvert(minAxis.Magnitude());
    minAxis *= invMag;
    hsAssert(minDepth >= 0, "Late to find sep plane");
    minDepth = sqrt(minDepth);
    hit->Set(this, &other, minAxis, minDepth);

    return true;
}

bool hsBounds3Ext::ISectBoxBS(const hsBounds3Ext &other, const hsVector3 &myVel) const
{
    if( !(fExtFlags & kSphereSet) )
        IMakeSphere();
    hsAssert(fBounds3Flags & kCenterValid, "Sphere set but not center (BoxBS)");

    if( other.fExtFlags & kAxisAligned )
    {
        // first try the other box axes
        int i;
        for( i = 0; i < 3; i++ )
        {
            float effMin = fCenter[i];
            float effMax = effMin;
            float velDist = myVel[i];
            if( velDist > 0 )
                effMax += velDist;
            else
                effMin += velDist;
            effMax += fRadius;
            effMin -= fRadius;

            if( effMax < other.fMins[i] )
                return false;
            if( effMin > other.fMaxs[i] )
                return false;
        }
    }
    else
    {
        // first try the other box axes
        if( !(other.fExtFlags & kDistsSet) )
            other.IMakeDists();

        int i;
        for( i = 0; i < 3; i++ )
        {
            float effMin = other.fAxes[i].InnerProduct(fCenter);
            float effMax = effMin;
            float velDist = other.fAxes[i].InnerProduct(myVel);
            if( velDist > 0 )
                effMax += velDist;
            else
                effMin += velDist;
            float radScaled = fRadius * other.fAxes[i].Magnitude();
            effMax += radScaled;
            effMin -= radScaled;

            if( effMax < other.fDists[i].fX )
                return false;
            if( effMin > other.fDists[i].fY )
                return false;
        }
    }

    // now try the axis between the center of sphere and center of other box
    hsVector3 diag(&fCenter, &other.GetCenter());
    float effMin = diag.InnerProduct(fCenter);
    float effMax = effMin;
    float velDist = diag.InnerProduct(myVel);
    if( velDist > 0 )
        effMax += velDist;
    else
        effMin += velDist;
    float radDist = fRadius * diag.Magnitude();
    effMax += radDist;
    effMin -= radDist;
    hsPoint2 otherDepth;
    other.TestPlane(diag, otherDepth);
    if( effMax < otherDepth.fX )
        return false;
    if( effMin > otherDepth.fY )
        return false;

    return true;
}

bool hsBounds3Ext::ISectLine(const hsPoint3* from, const hsPoint3* at) const
{
    if( !(fExtFlags & kSphereSet) )
        IMakeSphere();

    hsPoint3 onLine;
    float z = ClosestPointToLine(&fCenter, from, at, &onLine);
    
    float distSq = hsVector3(&onLine, &fCenter).MagnitudeSquared();
    if( distSq >= fRadius*fRadius )
        return false;

    if( fExtFlags & kAxisAligned )
    {
        int i;
        for( i = 0; i < 3; i++ )
        {
            if( ((*from)[i] < fMins[i])&&((*at)[i] < fMins[i]) )
                return false;
            if( ((*from)[i] > fMaxs[i])&&((*at)[i] > fMaxs[i]) )
                return false;
        }
    }
    else
    {
        if( !(fExtFlags & kDistsSet) )
            IMakeDists();

        int i;
        for( i = 0; i < 3; i++ )
        {
            float d0 = fAxes[i].InnerProduct(from);
            float d1 = fAxes[i].InnerProduct(at);
            if( d0 < d1 )
            {
                if( d1 < fDists[i].fX )
                    return false;
                if( d0 > fDists[i].fY )
                    return false;
            }
            else
            {
                if( d0 < fDists[i].fX )
                    return false;
                if( d1 > fDists[i].fY )
                    return false;
            }
        }
    }
    return true;
}

bool hsBounds3Ext::ISectCone(const hsPoint3* from, const hsPoint3* at, float radius) const
{
    if( !(fExtFlags & kSphereSet) )
        IMakeSphere();

    // expensive
    hsPoint3 onLine;
    ClosestPointToLine(&fCenter, from, at, &onLine);

    float distSq = hsVector3(&onLine, &fCenter).MagnitudeSquared();
    float radiusSq = fRadius * fRadius;
    if (distSq - radius*radius >= radiusSq)
        return false;

    float dist = hsVector3(from, &onLine).Magnitude();
    float len = hsVector3(from, at).Magnitude();
    float partRadius = radius/len * dist;
    if (distSq - fRadius*fRadius - partRadius*partRadius >= 0)
    {
        hsVector3 rayToCenter(&fCenter,&onLine);
        rayToCenter.Normalize();

        hsPoint3 atEdge = *at + rayToCenter*radius;

        ClosestPointToLine(&fCenter, from, &atEdge, &onLine);

        distSq = hsVector3(&onLine, &fCenter).MagnitudeSquared();
        if( distSq >= radiusSq )
            return false;
    }

    // incorrect
    if( fExtFlags & kAxisAligned )
    {
        int i;
        for( i = 0; i < 3; i++ )
        {
            if( ((*from)[i] < fMins[i])&&((*at)[i]+radius < fMins[i]) )
                return false;
            if( ((*from)[i] > fMaxs[i])&&((*at)[i]-radius > fMaxs[i]) )
                return false;
        }
    }
    else
    {
        if( !(fExtFlags & kDistsSet) )
            IMakeDists();

        int i;
        for( i = 0; i < 3; i++ )
        {
            ClosestPointToInfiniteLine(at, &fAxes[i], &onLine);
            hsVector3 atLine(&onLine,at);
            atLine.Normalize();
            hsPoint3 atEdge = *at + atLine * radius;

            float d0 = fAxes[i].InnerProduct(*from);
            float d1 = fAxes[i].InnerProduct(atEdge);
            if( d0 < d1 )
            {
                if( d1 < fDists[i].fX )
                    return false;
                if( d0 > fDists[i].fY )
                    return false;
            }
            else
            {
                if( d0 < fDists[i].fX )
                    return false;
                if( d1 > fDists[i].fY )
                    return false;
            }
        }
    }
    return true;
}


bool hsBounds3Ext::ISectRayBS(const hsPoint3& from, const hsPoint3& to, hsPoint3& at) const
{
    hsVector3 c2f(&from,&GetCenter());
    hsVector3 f2t(&to,&from);
    float a = f2t.MagnitudeSquared();
    float b = 2 * (c2f.InnerProduct(f2t));
    float c = c2f.MagnitudeSquared() - GetRadius()*GetRadius();
        
    float disc = b*b - 4*a*c;
    if (disc < 0)
        return false;
    else
    {
        float discSqrt = sqrt(disc);
        float denom = 1.f/(2*a);
        float t = (-b - discSqrt) * denom;

        if (t<1 && t>0)
            at = from + (f2t * t);
        else
            return false;
#if 0
        {
            t = (-b + discSqrt) * denom;
            if (t > 1)
                return false;
            at = from + (f2t * t);
        }
#endif
        return true;
    }
}

void hsBounds3Ext::Read(hsStream *s)
{
    fExtFlags = s->ReadLE32();
    hsBounds3::Read(s);
    if( !(fExtFlags & kAxisAligned) )
    {
        fCorner.Read(s);
        int i;
        for( i = 0; i < 3; i++ )
        {
            fAxes[i].Read(s);
            fDists[i].fX = s->ReadLEScalar();
            fDists[i].fY = s->ReadLEScalar();
        }
        IMakeMinsMaxs();
        IMakeDists();
    }
    IMakeSphere();
}
void hsBounds3Ext::Write(hsStream *s)
{
    s->WriteLE32(fExtFlags);
    hsBounds3::Write(s);
    if( !(fExtFlags & kAxisAligned) )
    {
        fCorner.Write(s);
        int i;
        for( i = 0; i < 3; i++ )
        {
            fAxes[i].Write(s);
            if( fExtFlags & kDistsSet )
            {
                s->WriteLEScalar(fDists[i].fX);
                s->WriteLEScalar(fDists[i].fY);
            }
            else
            {
                // Playing nice with binary patches--writing uninited values BAD!
                s->WriteLEScalar( 0.f );
                s->WriteLEScalar( 0.f );
            }
        }
    }
}

#if 0 // Commenting out this which will be made redundant and/or obsolete by Havok integration
////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////////

void hsBounds3Tri::TestPlane(const hsVector3 &n, hsPoint2 &depth) const
{
    depth.fX = depth.fY = n.InnerProduct(fVerts[0]);

    float d1, d2;

    d1 = n.InnerProduct(fVerts[1]);
    d2 = n.InnerProduct(fVerts[2]);

    if( d1 > d2 )
    {
        if( d1 > depth.fY )
            depth.fY = d1;
        if( d2 < depth.fX )
            depth.fX = d2;
    }
    else
    {
        if( d2 > depth.fY )
            depth.fY = d2;
        if( d1 < depth.fX )
            depth.fX = d1;
    }
}
bool hsBounds3Tri::ClosestTriPoint(const hsPoint3 *p, hsPoint3 *out, const hsVector3 *ax) const
{
    // project point onto tri plane
    hsPoint3 pPln;
    if( ax )
    {
        float t;

        t =  fNormal.InnerProduct(fVerts[0] - *p);
        float s = fNormal.InnerProduct(ax);
        if( (s > hsBounds::kRealSmall)||(s < -hsBounds::kRealSmall) )
        {
            t /= s;

            pPln = *p;
            pPln += *ax * t;
        }
        else
        {
            return ClosestTriPoint(p, out);
        }
    }
    else
    {
        float t;

        t =  fNormal.InnerProduct(fVerts[0] - *p);
        t /= fNormal.MagnitudeSquared();

        pPln = *p;
        pPln += fNormal * t;
    }

    if( !(fTriFlags & kAxesSet) )
        SetAxes();
    
    int nIn = 0;
    int firstIn, secondIn;
    int i;
    for( i = 0; i < 3; i++ )
    {
        float tst = fPerpAxes[i].InnerProduct(pPln);
        bool in = false;
        if( fOnIsMax & (1 << i) )
        {
            if( tst <= fPerpDists[i].fY )
                in = true;
        }
        else
        {
            if( tst >= fPerpDists[i].fX )
                in = true;
        }
        if( in )
        {
            if( nIn++ )
                secondIn = i;
            else
                firstIn = i;
        }
    }
    switch( nIn )
    {
    case 3:
        *out = pPln;
        break;
    case 1:
        {
            int k, kPlus;
            k = firstIn == 2 ? 0 : firstIn+1;
            kPlus = k == 2 ? 0 : k+1;

            hsPoint3 pTmp;
            float z;
            z = hsBounds3::ClosestPointToLine(&pPln, fVerts+k, fVerts+kPlus, &pTmp);
            if( z <= 1.f )
                *out = pTmp;
            else
            {
                k = kPlus;
                kPlus = k == 2 ? 0 : k+1;
                z = hsBounds3::ClosestPointToLine(&pPln, fVerts+k, fVerts+kPlus, out);
            }
        }
        break;
    case 2:
        {
            int k, kPlus;
            k = secondIn == 2 ? 0 : secondIn+1;
            if( k == firstIn )
                k++;
            kPlus = k == 2 ? 0 : k+1;

            hsBounds3::ClosestPointToLine(&pPln, fVerts+k, fVerts+kPlus, out);
            break;
        }

    case 0:
        hsAssert(false, "Extreme bogosity, inverted tri?!?");
        *out = pPln;
        return false;
    }

#ifdef HS_DEBUGGING // mf horse testing
#if 0
    if( 0 )
    {
        hsVector3 ndeb = hsVector3(fVerts+1, fVerts) % hsVector3(fVerts+2, fVerts);
        float dis;
        dis = fNormal.InnerProduct(pPln) - fDist;
        if( (fDist > hsBounds::kRealSmall)||(fDist < -hsBounds::kRealSmall) )
            dis /= fDist;
        hsAssert((dis < hsBounds::kRealSmall)&&(dis > -hsBounds::kRealSmall), "Non-planar pPln");
        dis = hsVector3(&pPln, out).MagnitudeSquared();
        float vDis;
        vDis = hsVector3(&pPln, fVerts+0).MagnitudeSquared();
        hsAssert( vDis - dis > -hsBounds::kRealSmall, "Bad closest point");
        vDis = hsVector3(&pPln, fVerts+1).MagnitudeSquared();
        hsAssert( vDis - dis > -hsBounds::kRealSmall, "Bad closest point");
        vDis = hsVector3(&pPln, fVerts+2).MagnitudeSquared();
        hsAssert( vDis - dis > -hsBounds::kRealSmall, "Bad closest point");
        bool dork = false;
        if( dork )
        {
            float zn[3];
            float zf[3];
            float z[3];
            int i;
            for( i = 0; i < 3; i++ )
            {
                z[i] = fPerpAxes[i].InnerProduct(fVerts[i]);
                int j;
                j = i == 0 ? 2 : i-1;
                zf[i] = fPerpAxes[i].InnerProduct(fVerts[j]);
                j = i == 2 ? 0 : i+1;
                zn[i] = fPerpAxes[i].InnerProduct(fVerts[j]);
            }
            return ClosestTriPoint(p, out, ax);
        }
    }
#endif
#endif

    return 3 == nIn;
}

void hsBounds3Tri::SetAxes() const
{
    fOnIsMax = 0;

    hsVector3 edge[3];
    edge[0].Set(fVerts, fVerts+1);
    edge[1].Set(fVerts+1, fVerts+2);
    edge[2].Set(fVerts+2, fVerts);
    hsVector3 perp = edge[2] % edge[0];

    int i;
    for( i = 0; i < 3; i++ )
    {
        int j = i == 2 ? 0 : i+1;
        int k = j == 2 ? 0 : j+1;
        fPerpAxes[i] = edge[i] % perp;
        fPerpAxes[i].Normalize();

        fPerpDists[i].fX = fPerpAxes[i].InnerProduct(fVerts[i]);
        fPerpDists[i].fY = fPerpAxes[i].InnerProduct(fVerts[k]);
        if( fPerpDists[i].fX > fPerpDists[i].fY )
        {
            fOnIsMax |= 1 << i;
            float d = fPerpDists[i].fX;
            fPerpDists[i].fX = fPerpDists[i].fY;
            fPerpDists[i].fY = d;
        }
    }
    fTriFlags |= kAxesSet;
}

hsBounds3Tri* hsBounds3Tri::Transform(const hsMatrix44& x)
{
#if 0 // IDENT
    if( x.fFlags & hsMatrix44::kIsIdent )
        return this;
#endif // IDENT

    fVerts[0] = x * fVerts[0];
    fVerts[1] = x * fVerts[1];
    fVerts[2] = x * fVerts[2];

    hsVector3 v1, v2;
    v1.Set(&fVerts[1], &fVerts[0]);
    v2.Set(&fVerts[2], &fVerts[0]);
    fNormal = v1 % v2;
    // mf horse - do we need to normalize here?
    // fNormal.Normalize();

    fDist = fNormal.InnerProduct(fVerts[0]);

    fTriFlags &= ~kAxesSet;

    SetAxes();

    return this;
}

hsBounds3Tri* hsBounds3Tri::Translate(const hsVector3& v)
{
    fVerts[0] += v;
    fVerts[1] += v;
    fVerts[2] += v;

    fDist = fNormal.InnerProduct(fVerts[0]);

    int i;
    for( i = 0; i < 3; i++ )
    {
        int j = i == 2 ? 0 : i+1;
        int k = j == 2 ? 0 : j+1;

        float del = fPerpAxes[i].InnerProduct(v);
        fPerpDists[i].fX += del;
        fPerpDists[i].fY += del;
    }

    return this;
}

void hsBounds3Tri::Set(const hsPoint3& v0, 
                           const hsPoint3& v1, 
                           const hsPoint3& v2,
                           hsTriangle3* t,
                           const hsMatrix44& x)
{
    fVerts[0] = v0;
    fVerts[1] = v1;
    fVerts[2] = v2;

    fOnIsMax = 0;
    fTriangle = t;

    if( t->fFlags & hsTriangle3::kTwoSided )
        fTriFlags |= kDoubleSide;

#if 0 // IDENT
    if( x.fFlags & hsMatrix44::kIsIdent )
    {
        hsVector3 v1, v2;
        v1.Set(&fVerts[1], &fVerts[0]);
        v2.Set(&fVerts[2], &fVerts[0]);
        fNormal = v1 % v2;
        // mf horse - do we need to normalize here?
        // fNormal.Normalize();

        fDist = fNormal.InnerProduct(fVerts[0]);

        fTriFlags &= ~kAxesSet;

        SetAxes();
    }
    else
#endif // IDENT
        Transform(x);
}

hsBounds3Tri::hsBounds3Tri(const hsPoint3& v0, 
                           const hsPoint3& v1, 
                           const hsPoint3& v2,
                           hsTriangle3* t,
                           const hsMatrix44& x)
{
    Set(v0, v1, v2, t, x);
}

hsBounds3Tri::hsBounds3Tri(hsTriangle3* t, const hsMatrix44& x)
{
    Set(t->fVert[0]->fVtx->fLocalPos, 
        t->fVert[2]->fVtx->fLocalPos, 
        t->fVert[2]->fVtx->fLocalPos, 
        t, x);
}

void hsBounds3Tri::Set(hsPoint3 *v0, hsPoint3 *v1, hsPoint3 *v2, hsVector3 *n, uint32_t triFlags, hsTriangle3 *t)
{
    fTriFlags = 0;

    if( triFlags & hsTriangle3::kTwoSided )
        fTriFlags |= kDoubleSide;

    fNormal = *n;
    fVerts[0] = *v0;
    fVerts[1] = *v1;
    fVerts[2] = *v2;

    fOnIsMax = 0;
    fTriangle = t;

    fDist = fNormal.InnerProduct(fVerts[0]);
}

hsBounds3Tri::hsBounds3Tri(hsPoint3 *v0, hsPoint3 *v1, hsPoint3 *v2, hsVector3 *n, uint32_t triFlags, hsTriangle3 *t)
{
    Set(v0, v1, v2, n, triFlags, t);
}

hsBounds3Tri::hsBounds3Tri(hsTriangle3* t)
{
    Set(&t->fVert[0]->fVtx->fLocalPos, 
        &t->fVert[1]->fVtx->fLocalPos, 
        &t->fVert[2]->fVtx->fLocalPos, 
        &t->fNormal, t->fFlags, t);
}

hsBounds3Tri::~hsBounds3Tri()
{
}


// Finds closest intersection vertex or triangle/center-line intersection
bool hsBounds3Tri::ISectCone(const hsPoint3& from, const hsPoint3& to, float cosThetaSq, bool ignoreFacing, hsPoint3& at, bool& backSide) const
{
    float d0 = from.InnerProduct(fNormal);
    float d1 = at.InnerProduct(fNormal);
    float dt = fNormal.InnerProduct(fVerts[0]);
    backSide = d0 < dt;
    if( !ignoreFacing && backSide )
        return false;
    if ( (d0 < dt || d1 < dt) && 
         (d0 > dt || d1 > dt) &&
         ClosestTriPoint(&from, &at, &hsVector3(&to,&from)) )
         return true;

    hsVector3 av(&to,&from);
    float distASq = av.MagnitudeSquared();
    float radiusSq = distASq * (1-cosThetaSq)/cosThetaSq;

    float minDistSq = 0;
    int32_t minVert = 0;
    bool sect = false;
    for (int32_t i=0; i<3; i++)
    {
        hsPoint3 onLine;
        float t = hsBounds3::ClosestPointToLine(&fVerts[i], &from, &to, &onLine);

        // outside the cap of the cylinder
        if (t<0 || t>1)
            continue;

        // outside the edge of the cylinder
        if (hsVector3(&onLine, &fVerts[i]).MagnitudeSquared() >= radiusSq)
            continue;

        hsVector3 bv(&fVerts[i],&from);

        float distBSq = bv.MagnitudeSquared();

        float cosMuSquared = (av * bv) / (distASq * distBSq);

        // outside the angle of the cone
        if (cosMuSquared > cosThetaSq)
            continue;
        
        if (!sect || distBSq < minDistSq)
        {
            minVert = i;
            minDistSq = distBSq;
            sect = true;
        }
    }
    at = fVerts[minVert];
    return sect;
}
#endif // Commenting out this which will be made redundant and/or obsolete by Havok integration