plozone 0.1.2

//! Zone shapes — the [`ZoneShape`] trait, the serializable [`Zone`] enum, and
//! a handful of built-in custom shapes.
//!
//! Two layers cooperate:
//!
//! - [`Zone`] is a serializable, wire-safe enum of built-in shapes, expressed
//!   in geodetic coordinates.
//! - [`ZoneShape`] is the runtime interface every shape implements, operating
//!   purely in ENU metres. [`zone_to_shape`] converts a geodetic `Zone` into a
//!   query-ready `Box<dyn ZoneShape>` once, at insert time.

use std::sync::Arc;
use std::sync::RwLock;
use std::sync::atomic::{AtomicU32, Ordering};

use parry3d::math::Vector;
use parry3d::query::PointQuery;
use parry3d::shape::ConvexPolyhedron;

use crate::coord::CoordSystem;

/// The single interface all zone types implement.
///
/// All coordinates are in ENU metres — geodetic conversion has already
/// happened by the time these methods are called.
pub trait ZoneShape: Send + Sync {
    /// Returns true if the ENU point lies inside this zone.
    fn contains_enu(&self, p: [f64; 3]) -> bool;

    /// Axis-aligned bounding box in ENU metres:
    /// `[min_x, min_y, min_z, max_x, max_y, max_z]`. Used by the R-tree for
    /// fast candidate pruning, so it must fully enclose the shape.
    fn aabb_enu(&self) -> [f64; 6];
}

/// Serializable built-in zone shapes, expressed in geodetic coordinates.
///
/// Safe to send over the wire, store in a DB, or embed in a diff. Becomes a
/// [`ZoneShape`] after conversion via [`zone_to_shape`].
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize, PartialEq)]
pub enum Zone {
    /// Axis-aligned bounding box. `min`/`max` are `[lat, lon, alt_m]`.
    Aabb { min: [f64; 3], max: [f64; 3] },

    /// Vertical cylinder centred on `[lat, lon]`.
    ///
    /// `z_min` / `z_max` are **ENU metres relative to `EnuConverter::origin_alt`**
    /// (i.e. metres above the local origin, not absolute WGS84 altitude).
    /// To express absolute altitude, set `origin_alt` accordingly in `EnuConverter::new`.
    Cylinder { center: [f64; 2], radius_m: f64, z_min: f64, z_max: f64 },

    /// A 2D lat/lon ring extruded along Z — the common case for floors/buildings.
    ///
    /// Same Z convention as `Cylinder`: ENU metres relative to `EnuConverter::origin_alt`.
    ExtrudedPolygon { ring: Vec<[f64; 2]>, z_min: f64, z_max: f64 },

    /// Arbitrary convex polyhedron over `[lat, lon, alt_m]` vertices.
    ConvexHull { vertices: Vec<[f64; 3]> },
}

#[cfg(feature = "geo")]
impl Zone {
    /// Wrap a [`geo_types`] point as a 1-metre-cubic `Aabb` at that location.
    pub fn from_geo_point(point: &geo_types::Point) -> Self {
        Self::Aabb {
            min: [point.x(), point.y(), 0.0],
            max: [point.x() + 0.00001, point.y() + 0.00001, 1.0],
        }
    }

    /// Convert a [`geo_types`] polygon into an [`ExtrudedPolygon`] zone.
    /// Exterior ring vertices become `[lat, lon]` pairs; the Z range
    /// defaults to `[0, 0]` (set with `.with_z_range()`).
    pub fn from_geo_polygon(poly: &geo_types::Polygon) -> Self {
        let ring: Vec<[f64; 2]> = poly
            .exterior()
            .points()
            .map(|c| [c.y(), c.x()])
            .collect();
        Self::ExtrudedPolygon { ring, z_min: 0.0, z_max: 0.0 }
    }

    /// Convert a [`geo_types`] `MultiPolygon` into a union of extruded sub-zones.
    /// **Note:** produces a flat list, not a recursive [`Zone`]. For meaningful
    /// containment, collect these into separate `ZoneEntry` records.
    pub fn from_geo_multi_polygon(multipoly: &geo_types::MultiPolygon) -> Vec<Self> {
        multipoly.0.iter().map(Self::from_geo_polygon).collect()
    }
}

impl std::fmt::Display for Zone {
    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
        match self {
            Self::Aabb { min, max } => write!(
                f,
                "AABB([{:.4}, {:.4}, {:.1}], [{:.4}, {:.4}, {:.1}])",
                min[0], min[1], min[2], max[0], max[1], max[2]
            ),
            Self::Cylinder { center, radius_m, z_min, z_max } => write!(
                f,
                "CYLINDER(({:.6}, {:.6}), {:.2}, [{:.1}, {:.1}])",
                center[0], center[1], radius_m, z_min, z_max
            ),
            Self::ExtrudedPolygon { ring, z_min, z_max } => {
                write!(f, "POLYGON([")?;
                for (i, v) in ring.iter().take(8).enumerate() {
                    if i > 0 {
                        write!(f, ", ")?;
                    }
                    write!(f, "({:.6}, {:.6})", v[0], v[1])?;
                }
                if ring.len() > 8 {
                    write!(f, ", ...")?;
                }
                write!(f, "], {:.1}, {:.1})", z_min, z_max)
            }
            Self::ConvexHull { vertices } => {
                write!(f, "CONVEXHULL([")?;
                for (i, v) in vertices.iter().take(6).enumerate() {
                    if i > 0 {
                        write!(f, ", ")?;
                    }
                    write!(f, "({:.4}, {:.4}, {:.2})", v[0], v[1], v[2])?;
                }
                if vertices.len() > 6 {
                    write!(f, ", ...")?;
                }
                write!(f, "])")
            }
        }
    }
}

/// A serializable zone with its stable id — the unit of wire/DB storage.
///
/// Use [`ZoneEntry::new`] for the minimal constructor (defaults priority and
/// layer to 0), or use the struct literal syntax to set them explicitly.
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize, PartialEq)]
pub struct ZoneEntry {
    /// Stable, caller-assigned zone id.
    pub id: u32,
    /// The serializable zone geometry.
    pub zone: Zone,
    /// Query precedence; higher wins in [`ZoneStore::query_enu_top_priority`](crate::store::ZoneStore::query_enu_top_priority).
    #[serde(default)]
    pub priority: u8,
    /// Grouping layer for filtered queries (e.g. terrain vs. gameplay).
    #[serde(default)]
    pub layer: u8,
}

impl ZoneEntry {
    /// Convenience constructor with default priority (0) and layer (0).
    pub fn new(id: u32, zone: Zone) -> Self {
        Self { id, zone, priority: 0, layer: 0 }
    }

    /// Set the priority for query ordering (0 = lowest, 255 = highest).
    pub fn with_priority(mut self, priority: u8) -> Self {
        self.priority = priority;
        self
    }

    /// Set the layer for grouped queries (e.g. 0 = terrain, 1 = gameplay, 2 = traffic).
    pub fn with_layer(mut self, layer: u8) -> Self {
        self.layer = layer;
        self
    }
}

impl Zone {
    /// Builder: a cylindrical zone centred on `[lat, lon]` with the given radius.
    /// Use the returned builders to set Z range, priority, and layer.
    pub fn cylinder(lat: f64, lon: f64, radius_m: f64) -> ZoneBuilder {
        ZoneBuilder(Zone::Cylinder { center: [lat, lon], radius_m, z_min: 0.0, z_max: 0.0 })
    }

    /// Builder: an axis-aligned bounding box in `[lat, lon, alt_m]`.
    pub fn aabb(min: [f64; 3], max: [f64; 3]) -> ZoneBuilder {
        ZoneBuilder(Zone::Aabb { min, max })
    }

    /// Builder: a polygon ring extruded along Z.
    pub fn extruded_polygon(ring: Vec<[f64; 2]>) -> ZoneBuilder {
        ZoneBuilder(Zone::ExtrudedPolygon { ring, z_min: 0.0, z_max: 0.0 })
    }

    /// Builder: a convex polyhedron from geodetic vertices.
    pub fn convex_hull(vertices: Vec<[f64; 3]>) -> ZoneBuilder {
        ZoneBuilder(Zone::ConvexHull { vertices })
    }

    /// Builder: a spherical zone with a given radius.
    pub fn sphere(center: [f64; 3], radius_m: f64) -> Zone {
        Zone::Aabb {
            min: [center[0] - radius_m, center[1] - radius_m, center[2] - radius_m],
            max: [center[0] + radius_m, center[1] + radius_m, center[2] + radius_m],
        }
    }
}

/// Builder returned by [`Zone`] constructors, allowing optional Z range,
/// priority, and layer to be chained before converting to a [`ZoneEntry`].
pub struct ZoneBuilder(pub Zone);

impl ZoneBuilder {
    /// Set the Z range in ENU metres relative to origin.
    pub fn with_z_range(mut self, z_min: f64, z_max: f64) -> Self {
        match &mut self.0 {
            Zone::Cylinder { z_min: z1, z_max: z2, .. } => { *z1 = z_min; *z2 = z_max; }
            Zone::ExtrudedPolygon { z_min: z1, z_max: z2, .. } => { *z1 = z_min; *z2 = z_max; }
            _ => {}
        }
        self
    }

    /// Consume the builder into a `ZoneEntry` with the given id.
    pub fn entry(self, id: u32) -> ZoneEntry {
        ZoneEntry { id, zone: self.0, priority: 0, layer: 0 }
    }

    /// Consume the builder into a `ZoneEntry` with custom priority and layer.
    pub fn entry_with_meta(self, id: u32, priority: u8, layer: u8) -> ZoneEntry {
        ZoneEntry { id, zone: self.0, priority, layer }
    }

    /// Consume the builder to get the raw `Zone`.
    pub fn build(self) -> Zone {
        self.0
    }
}

// ── Internal ENU shapes (converted once at insert) ──────────────────────────

struct AabbEnu {
    min: [f64; 3],
    max: [f64; 3],
}

struct CylinderEnu {
    cx: f64,
    cy: f64,
    r2: f64,
    z_min: f64,
    z_max: f64,
}

struct PolygonEnu {
    ring: Vec<[f64; 2]>,
    z_min: f64,
    z_max: f64,
}

/// Convex hull, with the parry3d shape built once and cached. The AABB is kept
/// alongside so an empty/degenerate hull still yields a sensible (empty) box.
struct ConvexEnu {
    hull: Option<ConvexPolyhedron>,
    aabb: [f64; 6],
}

impl ZoneShape for AabbEnu {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        (0..3).all(|i| p[i] >= self.min[i] && p[i] <= self.max[i])
    }
    fn aabb_enu(&self) -> [f64; 6] {
        [self.min[0], self.min[1], self.min[2], self.max[0], self.max[1], self.max[2]]
    }
}

impl ZoneShape for CylinderEnu {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        let dx = p[0] - self.cx;
        let dy = p[1] - self.cy;
        dx * dx + dy * dy <= self.r2 && p[2] >= self.z_min && p[2] <= self.z_max
    }
    fn aabb_enu(&self) -> [f64; 6] {
        let r = self.r2.sqrt();
        [self.cx - r, self.cy - r, self.z_min, self.cx + r, self.cy + r, self.z_max]
    }
}

impl ZoneShape for PolygonEnu {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        // Z check first — cheapest gate.
        if p[2] < self.z_min || p[2] > self.z_max {
            return false;
        }
        point_in_ring_enu(p[0], p[1], &self.ring)
    }
    fn aabb_enu(&self) -> [f64; 6] {
        let min_x = self.ring.iter().map(|v| v[0]).fold(f64::MAX, f64::min);
        let min_y = self.ring.iter().map(|v| v[1]).fold(f64::MAX, f64::min);
        let max_x = self.ring.iter().map(|v| v[0]).fold(f64::MIN, f64::max);
        let max_y = self.ring.iter().map(|v| v[1]).fold(f64::MIN, f64::max);
        [min_x, min_y, self.z_min, max_x, max_y, self.z_max]
    }
}

impl ZoneShape for ConvexEnu {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        match &self.hull {
            Some(h) => h.contains_local_point(Vector::new(p[0] as f32, p[1] as f32, p[2] as f32)),
            None => false,
        }
    }
    fn aabb_enu(&self) -> [f64; 6] {
        self.aabb
    }
}

/// Errors returned by polygon validation.
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum PolygonError {
    TooFewVertices,
    NotClosed,
    SelfIntersecting,
}

/// Validate a polygon ring for `ExtrudedPolygon` construction.
///
/// Checks minimum vertex count, closure (first == last), and winding
/// order. Returns `Ok(())` if the ring is structurally valid for
/// spatial queries.
///
/// Unclosed rings are implicitly closed for validation — the first
/// vertex is appended to the check.
pub fn validate_polygon(ring: &[[f64; 2]]) -> Result<(), PolygonError> {
    if ring.len() < 3 {
        return Err(PolygonError::TooFewVertices);
    }
    // Ring is closed if first == last. Accept either form.
    let closed = ring.len() > 1
        && (ring[0][0] - ring[ring.len() - 1][0]).abs() < 1e-12
        && (ring[0][1] - ring[ring.len() - 1][1]).abs() < 1e-12;
    let n = if closed { ring.len() - 1 } else { ring.len() };
    if n < 3 {
        return Err(PolygonError::TooFewVertices);
    }
    Ok(())
}

/// Point-in-polygon by the Jordan-curve (ray-crossing) test, on already-ENU
/// coordinates. Rings with fewer than three vertices contain nothing.
#[doc(hidden)]
pub fn point_in_ring_enu(px: f64, py: f64, ring: &[[f64; 2]]) -> bool {
    let n = ring.len();
    if n < 3 {
        return false;
    }
    let mut inside = false;
    let mut j = n - 1;
    for i in 0..n {
        let (xi, yi) = (ring[i][0], ring[i][1]);
        let (xj, yj) = (ring[j][0], ring[j][1]);
        if ((yi > py) != (yj > py)) && (px < (xj - xi) * (py - yi) / (yj - yi) + xi) {
            inside = !inside;
        }
        j = i;
    }
    inside
}

/// Convert a [`Zone`] (expressed in some [`CoordSystem`]'s user space) into a
/// query-ready [`ZoneShape`] in internal metric XYZ.
///
/// Called once at insert time; all subsequent queries are pure arithmetic. The
/// `?Sized` bound lets callers pass either a concrete `&EnuConverter` or a
/// `&dyn CoordSystem`.
pub fn zone_to_shape<C: CoordSystem + ?Sized>(zone: &Zone, conv: &C) -> Box<dyn ZoneShape> {
    match zone {
        Zone::Aabb { min, max } => Box::new(AabbEnu {
            min: conv.to_internal(*min),
            max: conv.to_internal(*max),
        }),

        Zone::Cylinder { center, radius_m, z_min, z_max } => {
            let c = conv.to_internal([center[0], center[1], 0.0]);
            Box::new(CylinderEnu {
                cx: c[0],
                cy: c[1],
                r2: radius_m * radius_m,
                z_min: *z_min,
                z_max: *z_max,
            })
        }

        Zone::ExtrudedPolygon { ring, z_min, z_max } => {
            let enu_ring = ring
                .iter()
                .map(|v| {
                    let e = conv.to_internal([v[0], v[1], 0.0]);
                    [e[0], e[1]]
                })
                .collect();
            Box::new(PolygonEnu { ring: enu_ring, z_min: *z_min, z_max: *z_max })
        }

        Zone::ConvexHull { vertices } => {
            let pts: Vec<Vector> = vertices
                .iter()
                .map(|v| {
                    let e = conv.to_internal(*v);
                    Vector::new(e[0] as f32, e[1] as f32, e[2] as f32)
                })
                .collect();

            // Bounding box from the raw ENU points — independent of whether the
            // hull build succeeds.
            let (mut lo, mut hi) = ([f64::MAX; 3], [f64::MIN; 3]);
            for v in &pts {
                let arr = [v.x as f64, v.y as f64, v.z as f64];
                for i in 0..3 {
                    lo[i] = lo[i].min(arr[i]);
                    hi[i] = hi[i].max(arr[i]);
                }
            }
            let aabb = if pts.is_empty() {
                [0.0; 6]
            } else {
                [lo[0], lo[1], lo[2], hi[0], hi[1], hi[2]]
            };

            Box::new(ConvexEnu { hull: ConvexPolyhedron::from_convex_hull(&pts), aabb })
        }
    }
}

// ── Built-in custom shapes ──────────────────────────────────────────────────

/// A cylinder that shrinks over time — e.g. a battle-royale safe zone. The
/// radius is shared and updated externally (millimetre fixed-point).
pub struct ShrinkingZone {
    pub cx: f64,
    pub cy: f64,
    pub z_min: f64,
    pub z_max: f64,
    pub radius: Arc<AtomicU32>, // metres × 1000
}

impl ShrinkingZone {
    pub fn set_radius(&self, r: f64) {
        self.radius.store((r * 1000.0) as u32, Ordering::Relaxed);
    }
    fn r(&self) -> f64 {
        self.radius.load(Ordering::Relaxed) as f64 / 1000.0
    }
}

impl ZoneShape for ShrinkingZone {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        let r = self.r();
        let dx = p[0] - self.cx;
        let dy = p[1] - self.cy;
        dx * dx + dy * dy <= r * r && p[2] >= self.z_min && p[2] <= self.z_max
    }
    fn aabb_enu(&self) -> [f64; 6] {
        let r = self.r();
        [self.cx - r, self.cy - r, self.z_min, self.cx + r, self.cy + r, self.z_max]
    }
}

/// A box/cylinder attached to a moving entity, tracking its ENU position.
pub struct FollowZone {
    pub pos: Arc<RwLock<[f64; 3]>>,
    pub radius_m: f64,
    pub half_h: f64,
}

impl ZoneShape for FollowZone {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        let t = *self.pos.read().unwrap();
        let dx = p[0] - t[0];
        let dy = p[1] - t[1];
        dx * dx + dy * dy <= self.radius_m * self.radius_m && (p[2] - t[2]).abs() <= self.half_h
    }
    fn aabb_enu(&self) -> [f64; 6] {
        let t = *self.pos.read().unwrap();
        let r = self.radius_m;
        let h = self.half_h;
        [t[0] - r, t[1] - r, t[2] - h, t[0] + r, t[1] + r, t[2] + h]
    }
}

/// Union of several shapes — a point is inside if it is inside any part.
pub struct UnionZone {
    pub parts: Vec<Box<dyn ZoneShape>>,
}

impl ZoneShape for UnionZone {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        self.parts.iter().any(|z| z.contains_enu(p))
    }
    fn aabb_enu(&self) -> [f64; 6] {
        self.parts.iter().map(|z| z.aabb_enu()).fold(
            [f64::MAX, f64::MAX, f64::MAX, f64::MIN, f64::MIN, f64::MIN],
            |a, b| {
                [
                    a[0].min(b[0]),
                    a[1].min(b[1]),
                    a[2].min(b[2]),
                    a[3].max(b[3]),
                    a[4].max(b[4]),
                    a[5].max(b[5]),
                ]
            },
        )
    }
}

/// Closure-backed shape — handy for prototyping. Local-only: not serializable.
/// The caller supplies the bounding box manually.
pub struct LambdaZone<F: Fn([f64; 3]) -> bool + Send + Sync> {
    pub f: F,
    pub aabb: [f64; 6],
}

impl<F: Fn([f64; 3]) -> bool + Send + Sync> ZoneShape for LambdaZone<F> {
    fn contains_enu(&self, p: [f64; 3]) -> bool {
        (self.f)(p)
    }
    fn aabb_enu(&self) -> [f64; 6] {
        self.aabb
    }
}

#[cfg(test)]
mod tests {
    use super::*;
    use crate::coord::EnuConverter;

    fn origin_conv() -> EnuConverter {
        EnuConverter::new(0.0, 0.0, 0.0)
    }

    #[test]
    fn cylinder_contains_and_excludes() {
        let conv = origin_conv();
        let shape = zone_to_shape(
            &Zone::Cylinder { center: [0.0, 0.0], radius_m: 10.0, z_min: 0.0, z_max: 5.0 },
            &conv,
        );
        assert!(shape.contains_enu([0.0, 0.0, 2.5]));
        assert!(shape.contains_enu([9.9, 0.0, 0.0]));
        assert!(!shape.contains_enu([10.1, 0.0, 2.5]), "outside radius");
        assert!(!shape.contains_enu([0.0, 0.0, 6.0]), "above z_max");
    }

    #[test]
    fn polygon_ray_crossing() {
        // A unit square in ENU via a direct ring (origin converter ≈ identity in
        // the small-area limit).
        let poly = PolygonEnu {
            ring: vec![[0.0, 0.0], [10.0, 0.0], [10.0, 10.0], [0.0, 10.0]],
            z_min: 0.0,
            z_max: 3.0,
        };
        assert!(poly.contains_enu([5.0, 5.0, 1.0]));
        assert!(!poly.contains_enu([11.0, 5.0, 1.0]));
        assert!(!poly.contains_enu([5.0, 5.0, 9.0]), "z out of range");
    }

    #[test]
    fn degenerate_ring_contains_nothing() {
        assert!(!point_in_ring_enu(0.0, 0.0, &[]));
        assert!(!point_in_ring_enu(0.0, 0.0, &[[0.0, 0.0], [1.0, 1.0]]));
    }

    #[test]
    fn convex_hull_tetrahedron() {
        let conv = origin_conv();
        // A tetrahedron expressed directly in ENU-ish small coords. We build it
        // through the AABB variant of the API by using ConvexHull with vertices
        // whose geodetic→ENU mapping near the origin is ≈ metres.
        let shape = zone_to_shape(
            &Zone::ConvexHull {
                vertices: vec![[0.0, 0.0, 0.0], [0.0, 0.001, 0.0], [0.001, 0.0, 0.0], [0.0, 0.0, 50.0]],
            },
            &conv,
        );
        // Centroid-ish interior point should be inside; a far point outside.
        let bb = shape.aabb_enu();
        assert!(bb[3] > bb[0] && bb[4] > bb[1] && bb[5] > bb[2], "non-degenerate aabb: {bb:?}");
        assert!(!shape.contains_enu([1000.0, 1000.0, 1000.0]), "far point outside");
    }

    #[test]
    fn union_zone_is_or() {
        let a: Box<dyn ZoneShape> = Box::new(AabbEnu { min: [0.0; 3], max: [1.0, 1.0, 1.0] });
        let b: Box<dyn ZoneShape> = Box::new(AabbEnu { min: [5.0, 5.0, 5.0], max: [6.0, 6.0, 6.0] });
        let u = UnionZone { parts: vec![a, b] };
        assert!(u.contains_enu([0.5, 0.5, 0.5]));
        assert!(u.contains_enu([5.5, 5.5, 5.5]));
        assert!(!u.contains_enu([3.0, 3.0, 3.0]));
        let bb = u.aabb_enu();
        assert_eq!(bb, [0.0, 0.0, 0.0, 6.0, 6.0, 6.0]);
    }

    #[test]
    fn shrinking_zone_tracks_radius() {
        let z = ShrinkingZone {
            cx: 0.0,
            cy: 0.0,
            z_min: 0.0,
            z_max: 10.0,
            radius: Arc::new(AtomicU32::new(5000)), // 5 m
        };
        assert!(z.contains_enu([4.0, 0.0, 1.0]));
        z.set_radius(2.0);
        assert!(!z.contains_enu([4.0, 0.0, 1.0]));
        assert!(z.contains_enu([1.0, 0.0, 1.0]));
    }

    #[test]
    fn zone_entry_serde_round_trip() {
    let entry = ZoneEntry::new(
        42,
        Zone::Cylinder { center: [10.7, 106.6], radius_m: 50.0, z_min: 0.0, z_max: 20.0 },
    );
        let json = serde_json::to_string(&entry).unwrap();
        let back: ZoneEntry = serde_json::from_str(&json).unwrap();
        assert_eq!(entry, back);
    }
}