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 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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/** \file blender/freestyle/intern/geometry/GeomUtils.cpp
 *  \ingroup freestyle
 *  \brief Various tools for geometry
 *  \author Stephane Grabli
 *  \date 12/04/2002
 */

#include "GeomUtils.h"

namespace Freestyle {

namespace GeomUtils {

// This internal procedure is defined below.
bool intersect2dSegPoly(Vec2r *seg, Vec2r *poly, unsigned n);

bool intersect2dSeg2dArea(const Vec2r& min, const Vec2r& max, const Vec2r& A, const Vec2r& B)
{
	Vec2r seg[2];
	seg[0] = A;
	seg[1] = B;

	Vec2r poly[5];
	poly[0][0] = min[0];
	poly[0][1] = min[1];
	poly[1][0] = max[0];
	poly[1][1] = min[1];
	poly[2][0] = max[0];
	poly[2][1] = max[1];
	poly[3][0] = min[0];
	poly[3][1] = max[1];
	poly[4][0] = min[0];
	poly[4][1] = min[1];

	return intersect2dSegPoly(seg, poly, 4);
}

bool include2dSeg2dArea(const Vec2r& min, const Vec2r& max, const Vec2r& A, const Vec2r& B)
{
	if ((((max[0] > A[0]) && (A[0] > min[0])) && ((max[0] > B[0]) && (B[0] > min[0]))) &&
	    (((max[1] > A[1]) && (A[1] > min[1])) && ((max[1] > B[1]) && (B[1] > min[1]))))
	{
		return true;
	}
	return false;
}

intersection_test intersect2dSeg2dSeg(const Vec2r& p1, const Vec2r& p2, const Vec2r& p3, const Vec2r& p4, Vec2r& res)
{
	real a1, a2, b1, b2, c1, c2; // Coefficients of line eqns
	real r1, r2, r3, r4;         // 'Sign' values
	real denom, num;             // Intermediate values

	// Compute a1, b1, c1, where line joining points p1 and p2 is "a1 x  +  b1 y  +  c1  =  0".
	a1 = p2[1] - p1[1];
	b1 = p1[0] - p2[0];
	c1 = p2[0] * p1[1] - p1[0] * p2[1];

	// Compute r3 and r4.
	r3 = a1 * p3[0] + b1 * p3[1] + c1;
	r4 = a1 * p4[0] + b1 * p4[1] + c1;

	// Check signs of r3 and r4.  If both point 3 and point 4 lie on same side of line 1,
	// the line segments do not intersect.
	if ( r3 != 0 && r4 != 0 && r3 * r4 > 0.0)
	return (DONT_INTERSECT);

	// Compute a2, b2, c2
	a2 = p4[1] - p3[1];
	b2 = p3[0] - p4[0];
	c2 = p4[0] * p3[1] - p3[0] * p4[1];

	// Compute r1 and r2
	r1 = a2 * p1[0] + b2 * p1[1] + c2;
	r2 = a2 * p2[0] + b2 * p2[1] + c2;

	// Check signs of r1 and r2.  If both point 1 and point 2 lie on same side of second line segment,
	// the line segments do not intersect.
	if (r1 != 0 && r2 != 0 && r1 * r2 > 0.0)
		return (DONT_INTERSECT);

	// Line segments intersect: compute intersection point.
	denom = a1 * b2 - a2 * b1;
	if (fabs(denom) < M_EPSILON)
		return (COLINEAR);

	num = b1 * c2 - b2 * c1;
	res[0] = num / denom;

	num = a2 * c1 - a1 * c2;
	res[1] = num / denom;

	return (DO_INTERSECT);
}

intersection_test intersect2dLine2dLine(const Vec2r& p1, const Vec2r& p2, const Vec2r& p3, const Vec2r& p4, Vec2r& res)
{
	real a1, a2, b1, b2, c1, c2; // Coefficients of line eqns
	real denom, num;             // Intermediate values

	// Compute a1, b1, c1, where line joining points p1 and p2 is "a1 x  +  b1 y  +  c1  =  0".
	a1 = p2[1] - p1[1];
	b1 = p1[0] - p2[0];
	c1 = p2[0] * p1[1] - p1[0] * p2[1];

	// Compute a2, b2, c2
	a2 = p4[1] - p3[1];
	b2 = p3[0] - p4[0];
	c2 = p4[0] * p3[1] - p3[0] * p4[1];

	// Line segments intersect: compute intersection point.
	denom = a1 * b2 - a2 * b1;
	if (fabs(denom) < M_EPSILON)
		return (COLINEAR);

	num = b1 * c2 - b2 * c1;
	res[0] = num / denom;

	num = a2 * c1 - a1 * c2;
	res[1] = num / denom;

	return (DO_INTERSECT);
}

intersection_test intersect2dSeg2dSegParametric(const Vec2r& p1, const Vec2r& p2, const Vec2r& p3, const Vec2r& p4,
                                                real& t, real& u, real epsilon)
{
	real a1, a2, b1, b2, c1, c2; // Coefficients of line eqns
	real r1, r2, r3, r4;         // 'Sign' values
	real denom, num;             // Intermediate values

	// Compute a1, b1, c1, where line joining points p1 and p2 is "a1 x  +  b1 y  +  c1  =  0".
	a1 = p2[1] - p1[1];
	b1 = p1[0] - p2[0];
	c1 = p2[0] * p1[1] - p1[0] * p2[1];

	// Compute r3 and r4.
	r3 = a1 * p3[0] + b1 * p3[1] + c1;
	r4 = a1 * p4[0] + b1 * p4[1] + c1;

	// Check signs of r3 and r4.  If both point 3 and point 4 lie on same side of line 1,
	// the line segments do not intersect.
	if (r3 != 0 && r4 != 0 && r3 * r4 > 0.0)
		return (DONT_INTERSECT);

	// Compute a2, b2, c2
	a2 = p4[1] - p3[1];
	b2 = p3[0] - p4[0];
	c2 = p4[0] * p3[1] - p3[0] * p4[1];

	// Compute r1 and r2
	r1 = a2 * p1[0] + b2 * p1[1] + c2;
	r2 = a2 * p2[0] + b2 * p2[1] + c2;

	// Check signs of r1 and r2.  If both point 1 and point 2 lie on same side of second line segment,
	// the line segments do not intersect.
	if (r1 != 0 && r2 != 0 && r1 * r2 > 0.0)
		return (DONT_INTERSECT);

	// Line segments intersect: compute intersection point.
	denom = a1 * b2 - a2 * b1;
	if (fabs(denom) < epsilon)
		return (COLINEAR);

	real d1, e1;

	d1 = p1[1] - p3[1];
	e1 = p1[0] - p3[0];

	num = -b2 * d1 - a2 * e1;
	t = num / denom;

	num = -b1 * d1 - a1 * e1;
	u = num / denom;

	return (DO_INTERSECT);
}

// AABB-triangle overlap test code by Tomas Akenine-Möller
// Function: int triBoxOverlap(real boxcenter[3], real boxhalfsize[3],real triverts[3][3]);
// History:
//   2001-03-05: released the code in its first version
//   2001-06-18: changed the order of the tests, faster
//
// Acknowledgement: Many thanks to Pierre Terdiman for suggestions and discussions on how to optimize code.
// Thanks to David Hunt for finding a ">="-bug!

#define X 0
#define Y 1
#define Z 2

#define FINDMINMAX(x0, x1, x2, min, max) \
	{                                    \
		min = max = x0;                  \
		if (x1 < min)                    \
			min = x1;                    \
		if (x1 > max)                    \
			max = x1;                    \
		if (x2 < min)                    \
			min = x2;                    \
		if (x2 > max)                    \
			max = x2;                    \
	} (void)0

//======================== X-tests ========================//
#define AXISTEST_X01(a, b, fa, fb)                       \
	{                                                    \
		p0 = a * v0[Y] - b * v0[Z];                      \
		p2 = a * v2[Y] - b * v2[Z];                      \
		if (p0 < p2) {                                   \
			min = p0;                                    \
			max = p2;                                    \
		}                                                \
		else {                                           \
			min = p2;                                    \
			max = p0;                                    \
		}                                                \
		rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \
		if (min > rad || max < -rad)                     \
			return 0;                                    \
	} (void)0

#define AXISTEST_X2(a, b, fa, fb)                        \
	{                                                    \
		p0 = a * v0[Y] - b * v0[Z];                      \
		p1 = a * v1[Y] - b * v1[Z];                      \
		if (p0 < p1) {                                   \
			min = p0;                                    \
			max = p1;                                    \
		}                                                \
		else {                                           \
			min = p1;                                    \
			max = p0;                                    \
		}                                                \
		rad = fa * boxhalfsize[Y] + fb * boxhalfsize[Z]; \
		if (min > rad || max < -rad)                     \
			return 0;                                    \
	} (void)0

//======================== Y-tests ========================//
#define AXISTEST_Y02(a, b, fa, fb)                       \
	{                                                    \
		p0 = -a * v0[X] + b * v0[Z];                     \
		p2 = -a * v2[X] + b * v2[Z];                     \
		if (p0 < p2) {                                   \
			min = p0;                                    \
			max = p2;                                    \
		}                                                \
		else {                                           \
			min = p2;                                    \
			max = p0;                                    \
		}                                                \
		rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \
		if (min > rad || max < -rad)                     \
			return 0;                                    \
	} (void)0

#define AXISTEST_Y1(a, b, fa, fb)                        \
	{                                                    \
		p0 = -a * v0[X] + b * v0[Z];                     \
		p1 = -a * v1[X] + b * v1[Z];                     \
		if (p0 < p1) {                                   \
			min = p0;                                    \
			max = p1;                                    \
		}                                                \
		else {                                           \
			min = p1;                                    \
			max = p0;                                    \
		}                                                \
		rad = fa * boxhalfsize[X] + fb * boxhalfsize[Z]; \
		if (min > rad || max < -rad)                     \
			return 0;                                    \
	} (void)0

//======================== Z-tests ========================//
#define AXISTEST_Z12(a, b, fa, fb)                       \
	{                                                    \
		p1 = a * v1[X] - b * v1[Y];                      \
		p2 = a * v2[X] - b * v2[Y];                      \
		if (p2 < p1) {                                   \
			min = p2;                                    \
			max = p1;                                    \
		}                                                \
		else {                                           \
			min = p1;                                    \
			max = p2;                                    \
		}                                                \
		rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \
		if (min > rad || max < -rad)                     \
			return 0;                                    \
	} (void)0

#define AXISTEST_Z0(a, b, fa, fb)                        \
	{                                                    \
		p0 = a * v0[X] - b * v0[Y];                      \
		p1 = a * v1[X] - b * v1[Y];                      \
		if (p0 < p1) {                                   \
			min = p0;                                    \
			max = p1;                                    \
		}                                                \
		else {                                           \
			min = p1;                                    \
			max = p0;                                    \
		}                                                \
		rad = fa * boxhalfsize[X] + fb * boxhalfsize[Y]; \
		if (min > rad || max < -rad)                     \
			return 0;                                    \
	} (void)0

// This internal procedure is defined below.
bool overlapPlaneBox(Vec3r& normal, real d, Vec3r& maxbox);

// Use separating axis theorem to test overlap between triangle and box need to test for overlap in these directions:
// 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle we do not even need to test these)
// 2) normal of the triangle
// 3) crossproduct(edge from tri, {x,y,z}-directin) this gives 3x3=9 more tests
bool overlapTriangleBox(Vec3r& boxcenter, Vec3r& boxhalfsize, Vec3r triverts[3])
{
	Vec3r v0, v1, v2, normal, e0, e1, e2;
	real min, max, d, p0, p1, p2, rad, fex, fey, fez;

	// This is the fastest branch on Sun
	// move everything so that the boxcenter is in (0, 0, 0)
	v0 = triverts[0] - boxcenter;
	v1 = triverts[1] - boxcenter;
	v2 = triverts[2] - boxcenter;

	// compute triangle edges
	e0 = v1 - v0;
	e1 = v2 - v1;
	e2 = v0 - v2;

	// Bullet 3:
	// Do the 9 tests first (this was faster)
	fex = fabs(e0[X]);
	fey = fabs(e0[Y]);
	fez = fabs(e0[Z]);
	AXISTEST_X01(e0[Z], e0[Y], fez, fey);
	AXISTEST_Y02(e0[Z], e0[X], fez, fex);
	AXISTEST_Z12(e0[Y], e0[X], fey, fex);

	fex = fabs(e1[X]);
	fey = fabs(e1[Y]);
	fez = fabs(e1[Z]);
	AXISTEST_X01(e1[Z], e1[Y], fez, fey);
	AXISTEST_Y02(e1[Z], e1[X], fez, fex);
	AXISTEST_Z0(e1[Y], e1[X], fey, fex);

	fex = fabs(e2[X]);
	fey = fabs(e2[Y]);
	fez = fabs(e2[Z]);
	AXISTEST_X2(e2[Z], e2[Y], fez, fey);
	AXISTEST_Y1(e2[Z], e2[X], fez, fex);
	AXISTEST_Z12(e2[Y], e2[X], fey, fex);

	// Bullet 1:
	// first test overlap in the {x,y,z}-directions
	// find min, max of the triangle each direction, and test for overlap in that direction -- this is equivalent
	// to testing a minimal AABB around the triangle against the AABB

	// test in X-direction
	FINDMINMAX(v0[X], v1[X], v2[X], min, max);
	if (min > boxhalfsize[X] || max < -boxhalfsize[X])
		return false;

	// test in Y-direction
	FINDMINMAX(v0[Y], v1[Y], v2[Y], min, max);
	if (min > boxhalfsize[Y] || max < -boxhalfsize[Y])
		return false;

	// test in Z-direction
	FINDMINMAX(v0[Z], v1[Z], v2[Z], min, max);
	if (min > boxhalfsize[Z] || max < -boxhalfsize[Z])
		return false;

	// Bullet 2:
	// test if the box intersects the plane of the triangle
	// compute plane equation of triangle: normal * x + d = 0
	normal = e0 ^ e1;
	d = -(normal * v0); // plane eq: normal.x + d = 0
	if (!overlapPlaneBox(normal, d, boxhalfsize))
		return false;

	return true; // box and triangle overlaps
}

// Fast, Minimum Storage Ray-Triangle Intersection
//
// Tomas Möller
// Prosolvia Clarus AB
// Sweden
// tompa@clarus.se
//
// Ben Trumbore
// Cornell University
// Ithaca, New York
// wbt@graphics.cornell.edu
bool intersectRayTriangle(const Vec3r& orig, const Vec3r& dir, const Vec3r& v0, const Vec3r& v1, const Vec3r& v2,
                          real& t, real& u, real& v, const real epsilon)
{
	Vec3r edge1, edge2, tvec, pvec, qvec;
	real det, inv_det;

	// find vectors for two edges sharing v0
	edge1 = v1 - v0;
	edge2 = v2 - v0;

	// begin calculating determinant - also used to calculate U parameter
	pvec = dir ^ edge2;

	// if determinant is near zero, ray lies in plane of triangle
	det = edge1 * pvec;

	// calculate distance from v0 to ray origin
	tvec = orig - v0;
	inv_det = 1.0 / det;

	qvec = tvec ^ edge1;

	if (det > epsilon) {
		u = tvec * pvec;
		if (u < 0.0 || u > det)
			return false;

		// calculate V parameter and test bounds
		v = dir * qvec;
		if (v < 0.0 || u + v > det)
			return false;
	}
	else if (det < -epsilon) {
		// calculate U parameter and test bounds
		u = tvec * pvec;
		if (u > 0.0 || u < det)
			return false;

		// calculate V parameter and test bounds
		v = dir * qvec;
		if (v > 0.0 || u + v < det)
			return false;
	}
	else {
		return false;  // ray is parallell to the plane of the triangle
	}

	u *= inv_det;
	v *= inv_det;
	t = (edge2 * qvec) * inv_det;

	return true;
}

// Intersection between plane and ray, adapted from Graphics Gems, Didier Badouel
// The plane is represented by a set of points P implicitly defined as dot(norm, P) + d = 0.
// The ray is represented as r(t) = orig + dir * t.
intersection_test intersectRayPlane(const Vec3r& orig, const Vec3r& dir, const Vec3r& norm, const real d,
                                    real& t, const real epsilon)
{
	real denom = norm * dir;

	if (fabs(denom) <= epsilon) { // plane and ray are parallel
		if (fabs((norm * orig) + d) <= epsilon)
			return COINCIDENT; // plane and ray are coincident
		else
			return COLINEAR;
	}

	t = -(d + (norm * orig)) / denom;

	if (t < 0.0f)
		return DONT_INTERSECT;

	return DO_INTERSECT;
}

bool intersectRayBBox(const Vec3r& orig, const Vec3r& dir,      // ray origin and direction
                      const Vec3r& boxMin, const Vec3r& boxMax, // the bbox
                      real t0, real t1,
                      real& tmin,                               // I0 = orig + tmin * dir is the first intersection
                      real& tmax,                               // I1 = orig + tmax * dir is the second intersection
                      real /*epsilon*/)
{
	float tymin, tymax, tzmin, tzmax;
	Vec3r inv_direction(1.0 / dir[0], 1.0 / dir[1], 1.0 / dir[2]);
	int sign[3];
	sign[0] = (inv_direction.x() < 0);
	sign[1] = (inv_direction.y() < 0);
	sign[2] = (inv_direction.z() < 0);

	Vec3r bounds[2];
	bounds[0] = boxMin;
	bounds[1] = boxMax;

	tmin = (bounds[sign[0]].x() - orig.x()) * inv_direction.x();
	tmax = (bounds[1 - sign[0]].x() - orig.x()) * inv_direction.x();
	tymin = (bounds[sign[1]].y() - orig.y()) * inv_direction.y();
	tymax = (bounds[1 - sign[1]].y() - orig.y()) * inv_direction.y();
	if ((tmin > tymax) || (tymin > tmax))
		return false;
	if (tymin > tmin)
		tmin = tymin;
	if (tymax < tmax)
		tmax = tymax;
	tzmin = (bounds[sign[2]].z() - orig.z()) * inv_direction.z();
	tzmax = (bounds[1 - sign[2]].z() - orig.z()) * inv_direction.z();
	if ((tmin > tzmax) || (tzmin > tmax))
		return false;
	if (tzmin > tmin)
		tmin = tzmin;
	if (tzmax < tmax)
		tmax = tzmax;
	return ((tmin < t1) && (tmax > t0));
}

// Checks whether 3D points p lies inside or outside of the triangle ABC
bool includePointTriangle(const Vec3r& P, const Vec3r& A, const Vec3r& B, const Vec3r& C)
{
	Vec3r AB(B - A);
	Vec3r BC(C - B);
	Vec3r CA(A - C);
	Vec3r AP(P - A);
	Vec3r BP(P - B);
	Vec3r CP(P - C);

	Vec3r N(AB ^ BC); // triangle's normal

	N.normalize();

	Vec3r J(AB ^ AP), K(BC ^ BP), L(CA ^ CP);
	J.normalize();
	K.normalize();
	L.normalize();

	if (J * N < 0)
		return false; // on the right of AB

	if (K * N < 0)
		return false; // on the right of BC

	if (L * N < 0)
		return false; // on the right of CA

	return true;
}

void transformVertex(const Vec3r& vert, const Matrix44r& matrix, Vec3r& res)
{
	HVec3r hvert(vert), res_tmp;
	real scale;
	for (unsigned int j = 0; j < 4; j++) {
		scale = hvert[j];
		for (unsigned int i = 0; i < 4; i++)
			res_tmp[i] += matrix(i, j) * scale;
	}

	res[0] = res_tmp.x();
	res[1] = res_tmp.y();
	res[2] = res_tmp.z();
}

void transformVertices(const vector<Vec3r>& vertices, const Matrix44r& trans, vector<Vec3r>& res)
{
	size_t i;
	res.resize(vertices.size());
	for (i = 0; i < vertices.size(); i++) {
		transformVertex(vertices[i], trans, res[i]);
	}
}

Vec3r rotateVector(const Matrix44r& mat, const Vec3r& v)
{
	Vec3r res;
	for (unsigned int i = 0; i < 3; i++) {
		res[i] = 0;
		for (unsigned int j = 0; j < 3; j++)
			res[i] += mat(i, j) * v[j];
	}
	res.normalize();
	return res;
}

// This internal procedure is defined below.
void fromCoordAToCoordB(const Vec3r& p, Vec3r& q, const real transform[4][4]);

void fromWorldToCamera(const Vec3r& p, Vec3r& q, const real model_view_matrix[4][4])
{
	fromCoordAToCoordB(p, q, model_view_matrix);
}

void fromCameraToRetina(const Vec3r& p, Vec3r& q, const real projection_matrix[4][4])
{
	fromCoordAToCoordB(p, q, projection_matrix);
}

void fromRetinaToImage(const Vec3r& p, Vec3r& q, const int viewport[4])
{
	// winX:
	q[0] = viewport[0] + viewport[2] * (p[0] + 1.0) / 2.0;

	// winY:
	q[1] = viewport[1] + viewport[3] * (p[1] + 1.0) / 2.0;

	// winZ:
	q[2] = (p[2] + 1.0) / 2.0;
}

void fromWorldToImage(const Vec3r& p, Vec3r& q, const real model_view_matrix[4][4],
                      const real projection_matrix[4][4], const int viewport[4])
{
	Vec3r p1, p2;
	fromWorldToCamera(p, p1, model_view_matrix);
	fromCameraToRetina(p1, p2, projection_matrix);
	fromRetinaToImage(p2, q, viewport);
	q[2] = p1[2];
}

void fromWorldToImage(const Vec3r& p, Vec3r& q, const real transform[4][4], const int viewport[4])
{
	fromCoordAToCoordB(p, q, transform);

	// winX:
	q[0] = viewport[0] + viewport[2] * (q[0] + 1.0) / 2.0;

	//winY:
	q[1] = viewport[1] + viewport[3] * (q[1] + 1.0) / 2.0;
}

void fromImageToRetina(const Vec3r& p, Vec3r& q, const int viewport[4])
{
	q = p;
	q[0] = 2.0 * (q[0] - viewport[0]) / viewport[2] - 1.0;
	q[1] = 2.0 * (q[1] - viewport[1]) / viewport[3] - 1.0;
}

void fromRetinaToCamera(const Vec3r& p, Vec3r& q, real focal, const real projection_matrix[4][4])
{
	if (projection_matrix[3][3] == 0.0) { // perspective
		q[0] = (-p[0] * focal) / projection_matrix[0][0];
		q[1] = (-p[1] * focal) / projection_matrix[1][1];
		q[2] = focal;
	}
	else { // orthogonal
		q[0] = p[0] / projection_matrix[0][0];
		q[1] = p[1] / projection_matrix[1][1];
		q[2] = focal;
	}
}

void fromCameraToWorld(const Vec3r& p, Vec3r& q, const real model_view_matrix[4][4])
{
	real translation[3] = {
		model_view_matrix[0][3],
		model_view_matrix[1][3],
		model_view_matrix[2][3]
	};
	for (unsigned short i = 0; i < 3; i++) {
		q[i] = 0.0;
		for (unsigned short j = 0; j < 3; j++)
			q[i] += model_view_matrix[j][i] * (p[j] - translation[j]);
	}
}


//
// Internal code
//
/////////////////////////////////////////////////////////////////////////////

// Copyright 2001, softSurfer (www.softsurfer.com)
// This code may be freely used and modified for any purpose providing that this copyright notice is included with it.
// SoftSurfer makes no warranty for this code, and cannot be held liable for any real or imagined damage resulting
// from its use.
// Users of this code must verify correctness for their application.

#define PERP(u, v) ((u)[0] * (v)[1] - (u)[1] * (v)[0])   // 2D perp product

inline bool intersect2dSegPoly(Vec2r *seg, Vec2r *poly, unsigned n)
{
	if (seg[0] == seg[1])
		return false;

	real  tE = 0;                 // the maximum entering segment parameter
	real  tL = 1;                 // the minimum leaving segment parameter
	real  t, N, D;                // intersect parameter t = N / D
	Vec2r dseg = seg[1] - seg[0]; // the segment direction vector
	Vec2r e;                      // edge vector

	for (unsigned int i = 0; i < n; i++) { // process polygon edge poly[i]poly[i+1]
		e = poly[i + 1] - poly[i];
		N = PERP(e, seg[0] - poly[i]);
		D = -PERP(e, dseg);
		if (fabs(D) < M_EPSILON) {
			if (N < 0)
				return false;
			else
				continue;
		}

		t = N / D;
		if (D < 0) { // segment seg is entering across this edge
			if (t > tE) { // new max tE
				tE = t;
				if (tE > tL) // seg enters after leaving polygon
					return false;
			}
		}
		else { // segment seg is leaving across this edge
			if (t < tL) { // new min tL
				tL = t;
				if (tL < tE) // seg leaves before entering polygon
					return false;
			}
		}
	}

	// tE <= tL implies that there is a valid intersection subsegment
	return true;
}

inline bool overlapPlaneBox(Vec3r& normal, real d, Vec3r& maxbox)
{
	Vec3r vmin, vmax;

	for (unsigned int q = X; q <= Z; q++) {
		if (normal[q] > 0.0f) {
			vmin[q] = -maxbox[q];
			vmax[q] = maxbox[q];
		}
		else {
			vmin[q] = maxbox[q];
			vmax[q] = -maxbox[q];
		}
	}
	if ((normal * vmin) + d > 0.0f)
		return false;
	if ((normal * vmax) + d >= 0.0f)
		return true;
	return false;
}

inline void fromCoordAToCoordB(const Vec3r&p, Vec3r& q, const real transform[4][4])
{
	HVec3r hp(p);
	HVec3r hq(0, 0, 0, 0);

	for (unsigned int i = 0; i < 4; i++) {
		for (unsigned int j = 0; j < 4; j++) {
			hq[i] += transform[i][j] * hp[j];
		}
	}

	if (hq[3] == 0) {
		q = p;
		return;
	}

	for (unsigned int k = 0; k < 3; k++)
		q[k] = hq[k] / hq[3];
}

} // end of namespace GeomUtils

} /* namespace Freestyle */
