void PolygonPointMover::move(const WFMath::Vector<3>& directionVector)
{
	if (directionVector.isValid()) {
		getActivePoint()->translate(WFMath::Vector<2>(directionVector.x(), directionVector.y()));
		mPolygon.updateRender();
	}
}

void HeightMapFlatSegment::getHeightAndNormal(float x, float y, float& height, WFMath::Vector<3>& normal) const
{
  height = mHeight;
  normal.x() = 0;
  normal.y() = 0;
  normal.z() = 1;
}

float EmberEntity::getHeight(const WFMath::Point<2>& localPosition) const
{

	if (mHeightProvider) {
		float height = 0;
		if (mHeightProvider->getHeight(WFMath::Point<2>(localPosition.x(), localPosition.y()), height)) {
			return height;
		}
	}

	//A normal EmberEntity shouldn't know anything about the terrain, so we can't handle the area here.
	//Instead we just pass it on to the parent until we get to someone who knows how to handle this (preferably the terrain).
	if (getEmberLocation()) {

		WFMath::Point<2> adjustedLocalPosition(getPredictedPos().x(), getPredictedPos().y());

		WFMath::Vector<3> xVec = WFMath::Vector<3>(1.0, 0.0, 0.0).rotate(getOrientation());
		double theta = atan2(xVec.y(), xVec.x()); // rotation about Z
		WFMath::RotMatrix<2> rm;
		WFMath::Vector<2> adjustment(localPosition.x(), localPosition.y());
		adjustment.rotate(rm.rotation(theta));
		adjustedLocalPosition += adjustment;

		return getEmberLocation()->getHeight(adjustedLocalPosition) - getPredictedPos().z();
	}

	WFMath::Point<3> predictedPos = getPredictedPos();
	if (predictedPos.isValid()) {
		return predictedPos.z();
	} else {
		return 0.0f;
	}
}

bool Position2DAdapter::_hasChanges()
{
	WFMath::Vector<2> originalValue;
	originalValue.fromAtlas(mOriginalElement);
	WFMath::Vector<2> newValue;
	newValue.fromAtlas(getValue());
	return originalValue != newValue;
}

void Position2DAdapter::fillElementFromGui()
{
	WFMath::Vector<2> vector;
	if (mXWindow) {
		vector.x() = atof(mXWindow->getText().c_str()); 
	}
	if (mYWindow) {
		vector.y() = atof(mYWindow->getText().c_str()); 
	}
	mEditedElement = vector.toAtlas();
}

void Steering::moveInDirection(const WFMath::Vector<2>& direction)
{
	WFMath::Vector<3> fullDirection(direction.x(), 0, direction.y());
	WFMath::Quaternion orientation;
	if (direction != WFMath::Vector<2>::ZERO()) {
		orientation.rotation(WFMath::Vector<3>(0, 0, 1), WFMath::Vector<3>(fullDirection).normalize(), WFMath::Vector<3>(0, 1, 0));
	}

	mAvatar.moveInDirection(fullDirection, orientation);
	mLastSentVelocity = direction;
	mExpectingServerMovement = true;
}

void Steering::moveToPoint(const WFMath::Point<3>& point)
{

	auto entity3dPosition = mAvatar.getEntity()->getViewPosition();
	WFMath::Vector<3> vel = point - entity3dPosition;

	WFMath::Quaternion orientation;
	if (vel != WFMath::Vector<3>::ZERO()) {
		orientation.rotation(WFMath::Vector<3>(0, 0, 1), WFMath::Vector<3>(vel).normalize(), WFMath::Vector<3>(0, 1, 0));
	}

	mAvatar.moveToPoint(point, orientation);

	mLastSentVelocity = WFMath::Vector<2>(vel.x(), vel.z());
	mExpectingServerMovement = true;
}

void NodeController::updatePosition()
{
	WFMath::Point<3> pos = mAttachment.getAttachedEntity().getPredictedPos();
	WFMath::Quaternion orientation = mAttachment.getAttachedEntity().getOrientation();
	WFMath::Vector<3> velocity = mAttachment.getAttachedEntity().getPredictedVelocity();
	mAttachment.setPosition(pos.isValid() ? pos : WFMath::Point<3>::ZERO(), orientation.isValid() ? orientation : orientation.identity(), velocity.isValid() ? velocity : WFMath::Vector<3>::ZERO());
}

void EntityMoverBase::move(const WFMath::Vector<3>& directionVector)
{
    if (directionVector.isValid()) {
        mNode->translate(Convert::toOgre(directionVector));
        newEntityPosition(mNode->getPosition());
        Moved.emit();
    }
}

void PolygonPointMover::setPosition(const WFMath::Point<3>& position)
{
	if (position.isValid()) {
		//We need to offset into local space.
		Ogre::Vector3 posOffset = Ogre::Vector3::ZERO;
		if (getActivePoint()->getNode()->getParent()) {
			posOffset = getActivePoint()->getNode()->getParent()->_getDerivedPosition();
		}
		Ogre::Vector3 newPos = Convert::toOgre(position) - posOffset;
		newPos = getActivePoint()->getNode()->getParent()->_getDerivedOrientation().Inverse() * newPos;

		WFMath::Vector<3> translation = Convert::toWF<WFMath::Vector<3>>(newPos - getActivePoint()->getNode()->getPosition());
		//adjust it so that it moves according to the ground for example
		getActivePoint()->translate(WFMath::Vector<2>(translation.x(), translation.y()));
		mPolygon.updateRender();
	}
}

void InspectWidget::showEntityInfo(EmberEntity* entity)
{
	Eris::Entity* parent = entity->getLocation();
	std::stringstream ss;
	ss.precision(4);

	ss << "Name: " << entity->getName() << "\n";
	ss << "Id: " << entity->getId() << "\n";
	ss << "Parent: ";
	if (parent) {
		ss << parent->getName() << " (Id: " << parent->getId() << ")";
	} else {
		ss << "none";
	}
	ss << "\n";

	if (entity->getPredictedPos().isValid()) {
		ss << "PredPosition: " << entity->getPredictedPos() << "\n";
	}
	if (entity->getPosition().isValid()) {
		ss << "Position: " << entity->getPosition() << "\n";
	}
	WFMath::Vector<3> velocity = entity->getPredictedVelocity();
	if (velocity.isValid()) {
		ss << "Velocity: " << velocity << ": " << sqrt(velocity.sqrMag()) << "\n";
	}

	if (entity->getOrientation().isValid()) {
		ss << "Orientation: " << entity->getOrientation() << "\n";
	}
	if (entity->getBBox().isValid()) {
		ss << "Boundingbox: " << entity->getBBox() << "\n";
	}

	ss << "Type: " << entity->getType()->getName() << "\n";

	ss << "Attributes:\n";

	ss << mAttributesString;

	mInfo->setText(ss.str());
	mChangedThisFrame = false;

}

bool TerrainArea::parseArea()
{
	if (!mEntity.hasAttr("area")) {
		S_LOG_FAILURE("TerrainArea created for entity with no area attribute");
		return false;
	}

	const Atlas::Message::Element areaElem(mEntity.valueOfAttr("area"));

	if (!areaElem.isMap()) {
		S_LOG_FAILURE("TerrainArea element ('area') must be of map type.");
		return false;
	}

	const Atlas::Message::MapType& areaData(areaElem.asMap());

	int layer = 0;
	WFMath::Polygon<2> poly;
	TerrainAreaParser parser;
	if (parser.parseArea(areaData, poly, layer)) {
		if (!mArea) {
			mArea = new Mercator::Area(layer, false);
		} else {
			//A bit of an ugly hack here since the Mercator system doesn't support changing the layer. We need to swap the old area for a new one if the layer has changed.
			if (mArea->getLayer() != layer) {
				mOldArea = mArea;
				mArea = new Mercator::Area(layer, false);
			}
		}
		// transform polygon into terrain coords
		WFMath::Vector<3> xVec = WFMath::Vector<3>(1.0, 0.0, 0.0).rotate(mEntity.getOrientation());
		double theta = atan2(xVec.y(), xVec.x()); // rotation about Z

		WFMath::RotMatrix<2> rm;
		poly.rotatePoint(rm.rotation(theta), WFMath::Point<2>(0, 0));
		poly.shift(WFMath::Vector<2>(mEntity.getPosition().x(), mEntity.getPosition().y()));

		mArea->setShape(poly);

		return true;
	} else {
		return false;
	}
}

Mercator::TerrainMod* InnerTranslatorImpl<ModT, ShapeT>::createInstance(const WFMath::Point<3>& pos, const WFMath::Quaternion& orientation)
{
	ShapeT<2> shape = this->mShape;

	if (!shape.isValid() || !pos.isValid()) {
		return nullptr;
	}

	if (orientation.isValid()) {
		/// rotation about Z axis
		WFMath::Vector<3> xVec = WFMath::Vector<3>(1.0, 0.0, 0.0).rotate(orientation);
		WFMath::CoordType theta = std::atan2(xVec.y(), xVec.x());
		WFMath::RotMatrix<2> rm;
		shape.rotatePoint(rm.rotation(theta), WFMath::Point<2>(0, 0));
	}

	shape.shift(WFMath::Vector<2>(pos.x(), pos.y()));
	float level = TerrainModTranslator::parsePosition(pos, this->mData);
	return new ModT<ShapeT>(level, shape);
}

/// \brief Get an accurate height and normal vector at a given coordinate
/// relative to this segment.
///
/// The height and surface normal are determined by finding the four adjacent
/// height points nearest to the coordinate, and interpolating between
/// those height values. The square area defined by the 4 height points is
/// considered as two triangles for the purposes of interpolation to ensure
/// that the calculated height falls on the surface rendered by a 3D
/// graphics engine from the same heightfield data. The line used to
/// divide the area is defined by the gradient y = x, so the first
/// triangle has relative vertex coordinates (0,0) (1,0) (1,1) and
/// the second triangle has vertex coordinates (0,0) (0,1) (1,1).
void Segment::getHeightAndNormal(float x, float y, float& h,
                                 WFMath::Vector<3> &normal) const
{
    // FIXME this ignores edges and corners
    assert(x <= m_res);
    assert(x >= 0.0f);
    assert(y <= m_res);
    assert(y >= 0.0f);
    
    // get index of the actual tile in the segment
    int tile_x = I_ROUND(std::floor(x));
    int tile_y = I_ROUND(std::floor(y));

    // work out the offset into that tile
    float off_x = x - tile_x;
    float off_y = y - tile_y;
 
    float h1=get(tile_x, tile_y);
    float h2=get(tile_x, tile_y+1);
    float h3=get(tile_x+1, tile_y+1);
    float h4=get(tile_x+1, tile_y);

    // square is broken into two triangles
    // top triangle |/
    if ((off_x - off_y) <= 0.f) {
        normal = WFMath::Vector<3>(h2-h3, h1-h2, 1.0f);

        //normal for intersection of both triangles
        if (off_x == off_y) {
            normal += WFMath::Vector<3>(h1-h4, h4-h3, 1.0f);
        }
        normal.normalize();
        h = h1 + (h3-h2) * off_x + (h2-h1) * off_y;
    } 
    // bottom triangle /|
    else {
        normal = WFMath::Vector<3>(h1-h4, h4-h3, 1.0f);
        normal.normalize();
        h = h1 + (h4-h1) * off_x + (h3-h4) * off_y;
    }
}

void TerrainPageShadow::updateShadow(const TerrainPageGeometry& geometry)
{
	if (!mImage) {
		mImage = new OgreImage(new Image::ImageBuffer(mTerrainPage.getBlendMapSize(), 1));
	}
	mImage->reset();


	int pageSizeInVertices = mTerrainPage.getPageSize();
	int pageSizeInMeters = pageSizeInVertices - 1;

	//since Ogre uses a different coord system than WF, we have to do some conversions here
	TerrainPosition origPosition(0, pageSizeInMeters - 1);

	WFMath::Vector<3> wfLightDirection = mLightDirection;
	wfLightDirection = wfLightDirection.normalize(1);

	TerrainPosition position(origPosition);

	auto data = mImage->getData();

	for (int i = 0; i < pageSizeInMeters; ++i) {
		position = origPosition;
		position[1] = position[1] - i;
		for (int j = 0; j < pageSizeInMeters; ++j) {
			WFMath::Vector<3> normal;
			if (geometry.getNormal(position, normal)) {
				float dotProduct = WFMath::Dot(normal.normalize(1), wfLightDirection);

				// if the dotProduct is > 0, the face is looking away from the sun
				*data = static_cast<unsigned char>((1.0f - ((dotProduct + 1.0f) * 0.5f)) * 255);

			} else {
				*data = 0;
			}
			data++;
			position[0] = position[0] + 1;
		}
	}

}

bool TerrainArea::placeArea(WFMath::Polygon<2>& poly)
{
	//If the position if invalid we can't do anything with the area yet.
	if (!mEntity.getPosition().isValid()) {
		return false;
	}

	// transform polygon into terrain coords

	if (mEntity.getOrientation().isValid()) {
		WFMath::Vector<3> xVec = WFMath::Vector<3>(1.0, 0.0, 0.0).rotate(mEntity.getOrientation());
		double theta = atan2(xVec.y(), xVec.x()); // rotation about Z

		WFMath::RotMatrix<2> rm;
		poly.rotatePoint(rm.rotation(theta), WFMath::Point<2>(0, 0));
	}
	poly.shift(WFMath::Vector<2>(mEntity.getPosition().x(), mEntity.getPosition().y()));


	return true;
}

void SoundService::updateListenerPosition(const WFMath::Point<3>& pos, const WFMath::Vector<3>& direction, const WFMath::Vector<3>& up)
{
	if (!isEnabled()) {
		return;
	}

	alListener3f(AL_POSITION, pos.x(), pos.y(), pos.z());
	SoundGeneral::checkAlError("Setting the listener position.");

	//Set the direction of the listener.

	ALfloat aluVectors[6];
	aluVectors[0] = direction.x();
	aluVectors[1] = direction.y();
	aluVectors[2] = direction.z();
	aluVectors[3] = up.x();
	aluVectors[4] = up.y();
	aluVectors[5] = up.z();

	alListenerfv(AL_ORIENTATION, aluVectors);
	SoundGeneral::checkAlError("Setting the listener orientation.");
}

int main()
{
    Mercator::Terrain terrain;
    
    terrain.setBasePoint(0, 0, 2.8);
    terrain.setBasePoint(1, 0, 7.1);
    terrain.setBasePoint(0, 1, 0.2);
    terrain.setBasePoint(1, 1, 14.7);

    Mercator::Segment * segment = terrain.getSegment(0, 0);

    if (segment == 0) {
        std::cerr << "Segment not created by addition of required basepoints"
                  << std::endl << std::flush;
        return 1;
    }

    segment->populate();
    
    //test box definitely outside terrain
    WFMath::AxisBox<3> highab(WFMath::Point<3> (10.0, 10.0, segment->getMax() + 3.0), 
                          WFMath::Point<3> (20.0, 20.0, segment->getMax() + 6.1));

    if (Mercator::Intersect(terrain, highab)) {
        std::cerr << "axisbox intersects with terrain even though it should be above it"
            << std::endl;
        return 1;
    }

    //test box definitely inside terrain
    WFMath::AxisBox<3> lowab(WFMath::Point<3> (10.0, 10.0, segment->getMin() - 6.1), 
                          WFMath::Point<3> (20.0, 20.0, segment->getMax() - 3.0));

    if (!Mercator::Intersect(terrain, lowab)) {
        std::cerr << "axisbox does not intersect with terrain even though it should be below it"
            << std::endl;
        return 1;
    }


    //test axis box moved from above terrain to below it. 
    bool inter=false;
    float dz = highab.highCorner()[2] - highab.lowCorner()[2] - 0.1;
    while (highab.highCorner()[2] > segment->getMin()) {
        highab.shift(WFMath::Vector<3>(0.0, 0.0, -dz));
        if (Mercator::Intersect(terrain, highab)) {
            inter=true;
            break;
        }
    }
    
    if (!inter) {
        std::cerr << "axisbox passed through terrain with no intersection"
            << std::endl;
        return 1;
    }
     

    //test axisbox that spans two segments
    terrain.setBasePoint(0, 2, 4.8);
    terrain.setBasePoint(1, 2, 3.7);

    Mercator::Segment *segment2 = terrain.getSegment(0, 1);
    segment2->populate();

    float segmax=std::max(segment->getMax(), segment2->getMax());
    float segmin=std::min(segment->getMin(), segment2->getMin());
    
    WFMath::AxisBox<3> ab(WFMath::Point<3> (50.0, 10.0, segmax + 3.0), 
                          WFMath::Point<3> (70.0, 20.0, segmax + 6.1));

    if (Mercator::Intersect(terrain, ab)) {
        std::cerr << "axisbox2 intersects with terrain even though it should be above it"
            << std::endl;
        return 1;
    }

    WFMath::AxisBox<3> ab2(WFMath::Point<3> (50.0, 10.0, segmin - 6.1), 
                          WFMath::Point<3> (70.0, 20.0, segmin + 3.0));

    if (!Mercator::Intersect(terrain, ab2)) {
        std::cerr << "axisbox2 does not intersect with terrain even though it should be below it"
            << std::endl;
        return 1;
    }


    WFMath::Point<3> intPoint;
    WFMath::Vector<3> intNorm;
    float par;
    //test vertical ray
    if (Mercator::Intersect(terrain, WFMath::Point<3>(20.1, 20.2, segmax + 3), 
                               WFMath::Vector<3>(0.0,0.0,50.0), intPoint, intNorm, par)) {
        std::cerr << "vertical ray intersected when it shouldnt" << std::endl;
        return 1;
    }
    
    if (!Mercator::Intersect(terrain, WFMath::Point<3>(20.1, 20.2, segmax + 3), 
                               WFMath::Vector<3>(0.0,0.0,-50.0), intPoint, intNorm, par)) {
        std::cerr << "vertical ray didnt intersect when it should" << std::endl;
//.........这里部分代码省略.........

void Steering::update()
{
	if (mSteeringEnabled) {
		if (mUpdateNeeded) {
			updatePath();
		}
		auto entity = mAvatar.getEntity();
		if (!mPath.empty()) {
			const auto& finalDestination = mPath.back();
			auto entity3dPosition = entity->getViewPosition();
			const WFMath::Point<2> entityPosition(entity3dPosition.x(), entity3dPosition.z());
			//First check if we've arrived at our actual destination.
			if (WFMath::Distance(WFMath::Point<2>(finalDestination.x(), finalDestination.z()), entityPosition) < 0.1f) {
				//We've arrived at our destination. If we're moving we should stop.
				if (mLastSentVelocity.isValid() && mLastSentVelocity != WFMath::Vector<2>::ZERO()) {
					moveInDirection(WFMath::Vector<2>::ZERO());
				}
				stopSteering();
			} else {
				//We should send a move op if we're either not moving, or we've reached a waypoint, or we need to divert a lot.

				WFMath::Point<2> nextWaypoint(mPath.front().x(), mPath.front().z());
				if (WFMath::Distance(nextWaypoint, entityPosition) < 0.1f) {
					mPath.pop_front();
					nextWaypoint = WFMath::Point<2>(mPath.front().x(), mPath.front().z());
				}

				WFMath::Vector<2> velocity = nextWaypoint - entityPosition;
				WFMath::Point<2> destination;
				velocity.normalize();

				if (mPath.size() == 1) {
					//if the next waypoint is the destination we should send a "move to position" update to the server, to make sure that we stop when we've arrived.
					//otherwise, if there's too much lag, we might end up overshooting our destination and will have to double back
					destination = nextWaypoint;
				}

				//Check if we need to divert in order to avoid colliding.
				WFMath::Vector<2> newVelocity;
				bool avoiding = mAwareness.avoidObstacles(entityPosition, velocity * mSpeed, newVelocity);
				if (avoiding) {
					auto newMag = newVelocity.mag();
					auto relativeMag = mSpeed / newMag;

					velocity = newVelocity;
					velocity.normalize();
					velocity *= relativeMag;
					mUpdateNeeded = true;
				}

				bool shouldSend = false;
				if (velocity.isValid()) {
					if (mLastSentVelocity.isValid()) {
						//If the entity has stopped, and we're not waiting for confirmation to a movement request we've made, we need to start moving.
						if (!entity->isMoving() && !mExpectingServerMovement) {
							shouldSend = true;
						} else {
							auto currentTheta = std::atan2(mLastSentVelocity.y(), mLastSentVelocity.x());
							auto newTheta = std::atan2(velocity.y(), velocity.x());

							//If we divert too much from where we need to go we must adjust.
							if (std::abs(currentTheta - newTheta) > WFMath::numeric_constants<double>::pi() / 20) {
								shouldSend = true;
							}
						}
					} else {
						//If we've never sent a movement update before we should do that now.
						shouldSend = true;
					}
				}
				if (shouldSend) {
					//If we're moving to a certain destination and aren't avoiding anything we should tell the server to move to the destination.
					if (destination.isValid() && !avoiding) {
						moveToPoint(WFMath::Point<3>(destination.x(), entity3dPosition.y(), destination.y()));
					} else {
						moveInDirection(velocity);
					}
				}
			}
		} else {
			//We are steering, but the path is empty, which means we can't find any path. If we're moving we should stop movement.
			//But we won't stop steering; perhaps we'll find a path later.
			if (mLastSentVelocity.isValid() && mLastSentVelocity != WFMath::Vector<2>::ZERO()) {
				moveInDirection(WFMath::Vector<2>::ZERO());
			}
		}
	}

}

void SoundSource::setVelocity(const WFMath::Vector<3>& vel)
{
	assert(vel.isValid());
	alSource3f(mALSource, AL_VELOCITY, vel.x(), vel.y(), vel.z());
	SoundGeneral::checkAlError("Setting sound source velocity.");
}