ifc-lite-geometry 2.1.4

// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.

//! Placement and transformation: axis placement parsing, coordinate transforms, RTC offset.

use super::GeometryRouter;
use crate::{Error, Mesh, Point3, Result, Vector3};
use ifc_lite_core::{DecodedEntity, EntityDecoder, IfcType};
use nalgebra::Matrix4;

impl GeometryRouter {
    /// Apply local placement transformation to mesh
    pub(super) fn apply_placement(
        &self,
        element: &DecodedEntity,
        decoder: &mut EntityDecoder,
        mesh: &mut Mesh,
    ) -> Result<()> {
        let placement_attr = match element.get(5) {
            Some(attr) if !attr.is_null() => attr,
            _ => return Ok(()),
        };

        let placement = match decoder.resolve_ref(placement_attr)? {
            Some(p) => p,
            None => return Ok(()),
        };

        let mut transform = self.get_placement_transform(&placement, decoder)?;
        self.scale_transform(&mut transform);
        self.transform_mesh(mesh, &transform);
        Ok(())
    }

    /// Get placement transform from element without applying it
    pub(super) fn get_placement_transform_from_element(
        &self,
        element: &DecodedEntity,
        decoder: &mut EntityDecoder,
    ) -> Result<Matrix4<f64>> {
        // Get ObjectPlacement (attribute 5)
        let placement_attr = match element.get(5) {
            Some(attr) if !attr.is_null() => attr,
            _ => return Ok(Matrix4::identity()), // No placement
        };

        let placement = match decoder.resolve_ref(placement_attr)? {
            Some(p) => p,
            None => return Ok(Matrix4::identity()),
        };

        // Recursively get combined transform from placement hierarchy
        self.get_placement_transform(&placement, decoder)
    }

    /// Recursively resolve placement hierarchy
    ///
    /// Uses a depth limit (100) to prevent stack overflow on malformed files
    /// with circular placement references or extremely deep hierarchies.
    pub(super) fn get_placement_transform(
        &self,
        placement: &DecodedEntity,
        decoder: &mut EntityDecoder,
    ) -> Result<Matrix4<f64>> {
        self.get_placement_transform_with_depth(placement, decoder, 0)
    }

    /// Internal helper with depth tracking to prevent stack overflow
    const MAX_PLACEMENT_DEPTH: usize = 100;

    fn get_placement_transform_with_depth(
        &self,
        placement: &DecodedEntity,
        decoder: &mut EntityDecoder,
        depth: usize,
    ) -> Result<Matrix4<f64>> {
        // Depth limit to prevent stack overflow on circular references or deep hierarchies
        if depth > Self::MAX_PLACEMENT_DEPTH {
            return Ok(Matrix4::identity());
        }

        if placement.ifc_type != IfcType::IfcLocalPlacement {
            return Ok(Matrix4::identity());
        }

        // Get parent transform first (attribute 0: PlacementRelTo)
        let parent_transform = if let Some(parent_attr) = placement.get(0) {
            if !parent_attr.is_null() {
                if let Some(parent) = decoder.resolve_ref(parent_attr)? {
                    self.get_placement_transform_with_depth(&parent, decoder, depth + 1)?
                } else {
                    Matrix4::identity()
                }
            } else {
                Matrix4::identity()
            }
        } else {
            Matrix4::identity()
        };

        // Get local transform (attribute 1: RelativePlacement)
        let local_transform = if let Some(rel_attr) = placement.get(1) {
            if !rel_attr.is_null() {
                if let Some(rel) = decoder.resolve_ref(rel_attr)? {
                    if rel.ifc_type == IfcType::IfcAxis2Placement3D {
                        self.parse_axis2_placement_3d(&rel, decoder)?
                    } else {
                        Matrix4::identity()
                    }
                } else {
                    Matrix4::identity()
                }
            } else {
                Matrix4::identity()
            }
        } else {
            Matrix4::identity()
        };

        // Compose: parent * local
        Ok(parent_transform * local_transform)
    }

    /// Parse IfcAxis2Placement3D into transformation matrix
    pub(super) fn parse_axis2_placement_3d(
        &self,
        placement: &DecodedEntity,
        decoder: &mut EntityDecoder,
    ) -> Result<Matrix4<f64>> {
        // IfcAxis2Placement3D: Location, Axis, RefDirection
        let location = self.parse_cartesian_point(placement, decoder, 0)?;

        // Default axes if not specified
        let z_axis = if let Some(axis_attr) = placement.get(1) {
            if !axis_attr.is_null() {
                if let Some(axis_entity) = decoder.resolve_ref(axis_attr)? {
                    self.parse_direction(&axis_entity)?
                } else {
                    Vector3::new(0.0, 0.0, 1.0)
                }
            } else {
                Vector3::new(0.0, 0.0, 1.0)
            }
        } else {
            Vector3::new(0.0, 0.0, 1.0)
        };

        let x_axis = if let Some(ref_dir_attr) = placement.get(2) {
            if !ref_dir_attr.is_null() {
                if let Some(ref_dir_entity) = decoder.resolve_ref(ref_dir_attr)? {
                    self.parse_direction(&ref_dir_entity)?
                } else {
                    Vector3::new(1.0, 0.0, 0.0)
                }
            } else {
                Vector3::new(1.0, 0.0, 0.0)
            }
        } else {
            Vector3::new(1.0, 0.0, 0.0)
        };

        // Y axis is cross product of Z and X
        let y_axis = z_axis.cross(&x_axis).normalize();
        let x_axis = y_axis.cross(&z_axis).normalize();
        let z_axis = z_axis.normalize();

        // Build transformation matrix
        let mut transform = Matrix4::identity();
        transform[(0, 0)] = x_axis.x;
        transform[(1, 0)] = x_axis.y;
        transform[(2, 0)] = x_axis.z;
        transform[(0, 1)] = y_axis.x;
        transform[(1, 1)] = y_axis.y;
        transform[(2, 1)] = y_axis.z;
        transform[(0, 2)] = z_axis.x;
        transform[(1, 2)] = z_axis.y;
        transform[(2, 2)] = z_axis.z;
        transform[(0, 3)] = location.x;
        transform[(1, 3)] = location.y;
        transform[(2, 3)] = location.z;

        Ok(transform)
    }

    /// Parse IfcCartesianPoint
    #[inline]
    pub(super) fn parse_cartesian_point(
        &self,
        parent: &DecodedEntity,
        decoder: &mut EntityDecoder,
        attr_index: usize,
    ) -> Result<Point3<f64>> {
        let point_attr = parent
            .get(attr_index)
            .ok_or_else(|| Error::geometry("Missing cartesian point".to_string()))?;

        let point_entity = decoder
            .resolve_ref(point_attr)?
            .ok_or_else(|| Error::geometry("Failed to resolve cartesian point".to_string()))?;

        if point_entity.ifc_type != IfcType::IfcCartesianPoint {
            return Err(Error::geometry(format!(
                "Expected IfcCartesianPoint, got {}",
                point_entity.ifc_type
            )));
        }

        // Get coordinates list (attribute 0)
        let coords_attr = point_entity
            .get(0)
            .ok_or_else(|| Error::geometry("IfcCartesianPoint missing coordinates".to_string()))?;

        let coords = coords_attr
            .as_list()
            .ok_or_else(|| Error::geometry("Expected coordinate list".to_string()))?;

        let x = coords.first().and_then(|v| v.as_float()).unwrap_or(0.0);
        let y = coords.get(1).and_then(|v| v.as_float()).unwrap_or(0.0);
        let z = coords.get(2).and_then(|v| v.as_float()).unwrap_or(0.0);

        Ok(Point3::new(x, y, z))
    }

    /// Parse IfcDirection
    #[inline]
    pub(super) fn parse_direction(&self, direction_entity: &DecodedEntity) -> Result<Vector3<f64>> {
        if direction_entity.ifc_type != IfcType::IfcDirection {
            return Err(Error::geometry(format!(
                "Expected IfcDirection, got {}",
                direction_entity.ifc_type
            )));
        }

        // Get direction ratios (attribute 0)
        let ratios_attr = direction_entity
            .get(0)
            .ok_or_else(|| Error::geometry("IfcDirection missing ratios".to_string()))?;

        let ratios = ratios_attr
            .as_list()
            .ok_or_else(|| Error::geometry("Expected ratio list".to_string()))?;

        let x = ratios.first().and_then(|v| v.as_float()).unwrap_or(0.0);
        let y = ratios.get(1).and_then(|v| v.as_float()).unwrap_or(0.0);
        let z = ratios.get(2).and_then(|v| v.as_float()).unwrap_or(0.0);

        Ok(Vector3::new(x, y, z))
    }

    /// Parse IfcCartesianTransformationOperator (2D or 3D)
    /// Used for MappedItem MappingTarget transformation
    #[inline]
    pub(super) fn parse_cartesian_transformation_operator(
        &self,
        entity: &DecodedEntity,
        decoder: &mut EntityDecoder,
    ) -> Result<Matrix4<f64>> {
        // IfcCartesianTransformationOperator3D has:
        // 0: Axis1 (IfcDirection) - X axis direction (optional)
        // 1: Axis2 (IfcDirection) - Y axis direction (optional)
        // 2: LocalOrigin (IfcCartesianPoint) - translation
        // 3: Scale (IfcReal) - uniform scale (optional, defaults to 1.0)
        // 4: Axis3 (IfcDirection) - Z axis direction (optional, for 3D only)

        // Get LocalOrigin (attribute 2)
        let origin = if let Some(origin_attr) = entity.get(2) {
            if !origin_attr.is_null() {
                if let Some(origin_entity) = decoder.resolve_ref(origin_attr)? {
                    if origin_entity.ifc_type == IfcType::IfcCartesianPoint {
                        let coords_attr = origin_entity.get(0);
                        if let Some(coords) = coords_attr.and_then(|a| a.as_list()) {
                            Point3::new(
                                coords.first().and_then(|v| v.as_float()).unwrap_or(0.0),
                                coords.get(1).and_then(|v| v.as_float()).unwrap_or(0.0),
                                coords.get(2).and_then(|v| v.as_float()).unwrap_or(0.0),
                            )
                        } else {
                            Point3::origin()
                        }
                    } else {
                        Point3::origin()
                    }
                } else {
                    Point3::origin()
                }
            } else {
                Point3::origin()
            }
        } else {
            Point3::origin()
        };

        // Get Scale (attribute 3)
        let scale = entity.get_float(3).unwrap_or(1.0);

        // Get Axis1 (X axis, attribute 0)
        let x_axis = if let Some(axis1_attr) = entity.get(0) {
            if !axis1_attr.is_null() {
                if let Some(axis1_entity) = decoder.resolve_ref(axis1_attr)? {
                    self.parse_direction(&axis1_entity)?.normalize()
                } else {
                    Vector3::new(1.0, 0.0, 0.0)
                }
            } else {
                Vector3::new(1.0, 0.0, 0.0)
            }
        } else {
            Vector3::new(1.0, 0.0, 0.0)
        };

        // Get Axis3 (Z axis, attribute 4 for 3D)
        let z_axis = if let Some(axis3_attr) = entity.get(4) {
            if !axis3_attr.is_null() {
                if let Some(axis3_entity) = decoder.resolve_ref(axis3_attr)? {
                    self.parse_direction(&axis3_entity)?.normalize()
                } else {
                    Vector3::new(0.0, 0.0, 1.0)
                }
            } else {
                Vector3::new(0.0, 0.0, 1.0)
            }
        } else {
            Vector3::new(0.0, 0.0, 1.0)
        };

        // Derive Y axis from Z and X (right-hand coordinate system)
        let y_axis = z_axis.cross(&x_axis).normalize();
        let x_axis = y_axis.cross(&z_axis).normalize();

        // Build transformation matrix with scale
        let mut transform = Matrix4::identity();
        transform[(0, 0)] = x_axis.x * scale;
        transform[(1, 0)] = x_axis.y * scale;
        transform[(2, 0)] = x_axis.z * scale;
        transform[(0, 1)] = y_axis.x * scale;
        transform[(1, 1)] = y_axis.y * scale;
        transform[(2, 1)] = y_axis.z * scale;
        transform[(0, 2)] = z_axis.x * scale;
        transform[(1, 2)] = z_axis.y * scale;
        transform[(2, 2)] = z_axis.z * scale;
        transform[(0, 3)] = origin.x;
        transform[(1, 3)] = origin.y;
        transform[(2, 3)] = origin.z;

        Ok(transform)
    }

    /// Transform mesh by matrix - optimized with chunk-based iteration
    /// Applies transformation with uniform RTC offset decision for the whole mesh.
    /// Determines once whether RTC is needed (based on transform translation) and applies uniformly.
    #[inline]
    pub(super) fn transform_mesh(&self, mesh: &mut Mesh, transform: &Matrix4<f64>) {
        let rtc = self.rtc_offset;
        const LARGE_COORD_THRESHOLD: f64 = 1000.0;

        // Determine RTC need ONCE for the whole mesh based on transform's translation component
        // This ensures all vertices in the mesh use consistent RTC subtraction
        let tx = transform[(0, 3)];
        let ty = transform[(1, 3)];
        let tz = transform[(2, 3)];
        let needs_rtc = self.has_rtc_offset() &&
            (tx.abs() > LARGE_COORD_THRESHOLD || ty.abs() > LARGE_COORD_THRESHOLD || tz.abs() > LARGE_COORD_THRESHOLD);

        if needs_rtc {
            // Apply RTC offset to all vertices uniformly
            mesh.positions.chunks_exact_mut(3).for_each(|chunk| {
                let point = Point3::new(chunk[0] as f64, chunk[1] as f64, chunk[2] as f64);
                let t = transform.transform_point(&point);
                chunk[0] = (t.x - rtc.0) as f32;
                chunk[1] = (t.y - rtc.1) as f32;
                chunk[2] = (t.z - rtc.2) as f32;
            });
        } else {
            // No RTC offset - just transform
            mesh.positions.chunks_exact_mut(3).for_each(|chunk| {
                let point = Point3::new(chunk[0] as f64, chunk[1] as f64, chunk[2] as f64);
                let t = transform.transform_point(&point);
                chunk[0] = t.x as f32;
                chunk[1] = t.y as f32;
                chunk[2] = t.z as f32;
            });
        }

        // Transform normals (without translation)
        let rotation = transform.fixed_view::<3, 3>(0, 0);
        mesh.normals.chunks_exact_mut(3).for_each(|chunk| {
            let normal = Vector3::new(chunk[0] as f64, chunk[1] as f64, chunk[2] as f64);
            let t = (rotation * normal).normalize();
            chunk[0] = t.x as f32;
            chunk[1] = t.y as f32;
            chunk[2] = t.z as f32;
        });
    }
}