//////////////////////////////////////////////////////////////////////
// LibFile: triangulation.scad
//   Functions to triangulate polyhedron faces.
//   To use, add the following lines to the beginning of your file:
//   ```
//   include <BOSL2/std.scad>
//   include <BOSL2/triangulation.scad>
//   ```
//////////////////////////////////////////////////////////////////////


// Section: Functions


// Function: face_normal()
// Description:
//   Given an array of vertices (`points`), and a list of indexes into the
//   vertex array (`face`), returns the normal vector of the face.
// Arguments:
//   points = Array of vertices for the polyhedron.
//   face = The face, given as a list of indices into the vertex array `points`.
function face_normal(points, face) =
    let(count=len(face))
    unit(
        sum(
            [
                for(i=[0:1:count-1]) cross(
                    points[face[(i+1)%count]]-points[face[0]],
                    points[face[(i+2)%count]]-points[face[(i+1)%count]]
                )
            ]
        )
    )
;


// Function: find_convex_vertex()
// Description:
//   Returns the index of a convex point on the given face.
// Arguments:
//   points = Array of vertices for the polyhedron.
//   face = The face, given as a list of indices into the vertex array `points`.
//   facenorm = The normal vector of the face.
function find_convex_vertex(points, face, facenorm, i=0) =
    let(count=len(face),
        p0=points[face[i]],
        p1=points[face[(i+1)%count]],
        p2=points[face[(i+2)%count]]
    )
    (len(face)>i)? (
        (cross(p1-p0, p2-p1)*facenorm>0)? (i+1)%count :
        find_convex_vertex(points, face, facenorm, i+1)
    ) : //This should never happen since there is at least 1 convex vertex.
        undef
;


// Function: point_in_ear()
// Description: Determine if a point is in a clipable convex ear.
// Arguments:
//   points = Array of vertices for the polyhedron.
//   face = The face, given as a list of indices into the vertex array `points`.
function point_in_ear(points, face, tests, i=0) =
    (i<len(face)-1)?
        let(
            prev=point_in_ear(points, face, tests, i+1),
            test=_check_point_in_ear(points[face[i]], tests)
        )
        (test>prev[0])? [test, i] : prev
    :
        [_check_point_in_ear(points[face[i]], tests), i]
;


// Internal non-exposed function.
function _check_point_in_ear(point, tests) =
    let(
        result=[
            (point*tests[0][0])-tests[0][1],
            (point*tests[1][0])-tests[1][1],
            (point*tests[2][0])-tests[2][1]
        ]
    )
    (result[0]>0 && result[1]>0 && result[2]>0)? result[0] : -1
;


// Function: normalize_vertex_perimeter()
// Description: Removes the last item in an array if it is the same as the first item.
// Arguments:
//   v = The array to normalize.
function normalize_vertex_perimeter(v) =
    let(lv = len(v))
    (lv < 2)? v :
        (v[lv-1] != v[0])? v :
            [for (i=[0:1:lv-2]) v[i]]
;


// Function: is_only_noncolinear_vertex()
// Description:
//   Given a face in a polyhedron, and a vertex in that face, returns true
//   if that vertex is the only non-colinear vertex in the face.
// Arguments:
//   points = Array of vertices for the polyhedron.
//   facelist = The face, given as a list of indices into the vertex array `points`.
//   vertex = The index into `facelist`, of the vertex to test.
function is_only_noncolinear_vertex(points, facelist, vertex) =
    let(
        face=select(facelist, vertex+1, vertex-1),
        count=len(face)
    )
    0==sum(
        [
            for(i=[0:1:count-1]) norm(
                cross(
                    points[face[(i+1)%count]]-points[face[0]],
                    points[face[(i+2)%count]]-points[face[(i+1)%count]]
                )
            )
        ]
    )
;


// Function: triangulate_face()
// Description:
//   Given a face in a polyhedron, subdivides the face into triangular faces.
//   Returns an array of faces, where each face is a list of three vertex indices.
// Arguments:
//   points = Array of vertices for the polyhedron.
//   face = The face, given as a list of indices into the vertex array `points`.
function triangulate_face(points, face) =
    let(
        face = deduplicate_indexed(points,face),
        count = len(face)
    )
    (count < 3)? [] :
    (count == 3)? [face] :
    let(
        facenorm=face_normal(points, face),
        cv=find_convex_vertex(points, face, facenorm)
    )
    assert(!is_undef(cv), "Cannot triangulate self-crossing face perimeters.")
    let(
        pv=(count+cv-1)%count,
        nv=(cv+1)%count,
        p0=points[face[pv]],
        p1=points[face[cv]],
        p2=points[face[nv]],
        tests=[
            [cross(facenorm, p0-p2), cross(facenorm, p0-p2)*p0],
            [cross(facenorm, p1-p0), cross(facenorm, p1-p0)*p1],
            [cross(facenorm, p2-p1), cross(facenorm, p2-p1)*p2]
        ],
        ear_test=point_in_ear(points, face, tests),
        clipable_ear=(ear_test[0]<0),
        diagonal_point=ear_test[1]
    )
    (clipable_ear)? // There is no point inside the ear.
        is_only_noncolinear_vertex(points, face, cv)?
            // In the point&line degeneracy clip to somewhere in the middle of the line.
            flatten([
                triangulate_face(points, select(face, cv, (cv+2)%count)),
                triangulate_face(points, select(face, (cv+2)%count, cv))
            ])
        :
            // Otherwise the ear is safe to clip.
            flatten([
                [select(face, pv, nv)],
                triangulate_face(points, select(face, nv, pv))
            ])
    : // If there is a point inside the ear, make a diagonal and clip along that.
        flatten([
            triangulate_face(points, select(face, cv, diagonal_point)),
            triangulate_face(points, select(face, diagonal_point, cv))
        ]);


// Function: triangulate_faces()
// Description:
//   Subdivides all faces for the given polyhedron that have more than three vertices.
//   Returns an array of faces where each face is a list of three vertex array indices.
// Arguments:
//   points = Array of vertices for the polyhedron.
//   faces = Array of faces for the polyhedron. Each face is a list of 3 or more indices into the `points` array.
function triangulate_faces(points, faces) =
    [
        for (face=faces) each
        len(face)==3? [face] :
        triangulate_face(points, normalize_vertex_perimeter(face))
    ];


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