re_viewer 0.4.0

use itertools::Itertools as _;

use re_data_store::InstancePathHash;

use super::{SceneSpatialPrimitives, SceneSpatialUiData};
use crate::{
    math::{line_segment_distance_sq_to_point_2d, ray_closest_t_line_segment},
    ui::view_spatial::eye::Eye,
};

pub enum AdditionalPickingInfo {
    /// No additional picking information.
    None,

    /// The hit was a textured rect at the given uv coordinates (ranging from 0 to 1)
    TexturedRect(glam::Vec2),

    /// We hit a egui ui element, meaning that depth information is not usable.
    GuiOverlay,
}

pub struct PickingRayHit {
    /// What entity or instance got hit by the picking ray.
    ///
    /// The ray hit position may not actually be on this entity, as we allow snapping to closest entity!
    pub instance_path_hash: InstancePathHash,

    /// Where along the picking ray the hit occurred.
    pub ray_t: f32,

    pub depth_offset: re_renderer::DepthOffset,

    /// Any additional information about the picking hit.
    pub info: AdditionalPickingInfo,
}

impl PickingRayHit {
    fn from_instance_and_t(instance_path_hash: InstancePathHash, t: f32) -> Self {
        Self {
            instance_path_hash,
            ray_t: t,
            info: AdditionalPickingInfo::None,
            depth_offset: 0,
        }
    }
}

pub struct PickingResult {
    /// Picking ray hit for an opaque object (if any).
    pub opaque_hit: Option<PickingRayHit>,

    /// Picking ray hits for transparent objects, sorted from far to near.
    /// If there is an opaque hit, all of them are in front of the opaque hit.
    pub transparent_hits: Vec<PickingRayHit>,

    /// The picking ray used. Given in the coordinates of the space the picking is performed in.
    picking_ray: macaw::Ray3,
}

impl PickingResult {
    /// The space position of a given hit.
    #[allow(dead_code)]
    pub fn space_position(&self, hit: &PickingRayHit) -> glam::Vec3 {
        self.picking_ray.origin + self.picking_ray.dir * hit.ray_t
    }

    /// Iterates over all hits from far to close.
    pub fn iter_hits(&self) -> impl Iterator<Item = &PickingRayHit> {
        self.opaque_hit.iter().chain(self.transparent_hits.iter())
    }
}

const RAY_T_EPSILON: f32 = f32::EPSILON;

struct PickingContext {
    pointer_in_ui: glam::Vec2,
    ray_in_world: macaw::Ray3,
    ui_from_world: glam::Mat4,
    max_side_ui_dist_sq: f32,
}

struct PickingState {
    closest_opaque_side_ui_dist_sq: f32,
    closest_opaque_pick: PickingRayHit,
    transparent_hits: Vec<PickingRayHit>,
}

impl PickingState {
    fn check_hit(&mut self, side_ui_dist_sq: f32, ray_hit: PickingRayHit, transparent: bool) {
        let gap_to_closest_opaque = self.closest_opaque_pick.ray_t - ray_hit.ray_t;

        // Use depth offset if very close to each other in relative distance.
        if gap_to_closest_opaque.abs()
            < self.closest_opaque_pick.ray_t.max(ray_hit.ray_t) * RAY_T_EPSILON
        {
            if ray_hit.depth_offset < self.closest_opaque_pick.depth_offset {
                return;
            }
        } else if gap_to_closest_opaque < 0.0 {
            return;
        }

        if side_ui_dist_sq <= self.closest_opaque_side_ui_dist_sq {
            if transparent {
                self.transparent_hits.push(ray_hit);
            } else {
                self.closest_opaque_pick = ray_hit;
                self.closest_opaque_side_ui_dist_sq = side_ui_dist_sq;
            }
        }
    }

    fn sort_and_remove_hidden_transparent(&mut self) {
        // Sort from far to close
        self.transparent_hits
            .sort_by(|a, b| b.ray_t.partial_cmp(&a.ray_t).unwrap());

        // Delete subset that is behind opaque hit.
        if self.closest_opaque_pick.ray_t.is_finite() {
            let mut num_hidden = 0;
            for (i, transparent_hit) in self.transparent_hits.iter().enumerate() {
                if transparent_hit.ray_t <= self.closest_opaque_pick.ray_t {
                    break;
                }
                num_hidden = i + 1;
            }
            self.transparent_hits.drain(0..num_hidden);
        }
    }
}

pub fn picking(
    pointer_in_ui: glam::Vec2,
    ui_rect: &egui::Rect,
    eye: &Eye,
    primitives: &SceneSpatialPrimitives,
    ui_data: &SceneSpatialUiData,
    ui_interaction_radius: f32,
) -> PickingResult {
    crate::profile_function!();

    let max_side_ui_dist_sq = ui_interaction_radius * ui_interaction_radius;

    let context = PickingContext {
        pointer_in_ui,
        ui_from_world: eye.ui_from_world(ui_rect),
        ray_in_world: eye.picking_ray(ui_rect, pointer_in_ui),
        max_side_ui_dist_sq,
    };
    let mut state = PickingState {
        closest_opaque_side_ui_dist_sq: max_side_ui_dist_sq,
        closest_opaque_pick: PickingRayHit {
            instance_path_hash: InstancePathHash::NONE,
            ray_t: f32::INFINITY,
            info: AdditionalPickingInfo::None,
            depth_offset: 0,
        },
        // Combined, sorted (and partially "hidden") by opaque results later.
        transparent_hits: Vec::new(),
    };

    let SceneSpatialPrimitives {
        bounding_box: _,
        textured_rectangles,
        textured_rectangles_ids,
        line_strips,
        points,
        meshes,
        depth_clouds: _, // no picking for depth clouds yet
        any_outlines: _,
    } = primitives;

    picking_points(&context, &mut state, points);
    picking_lines(&context, &mut state, line_strips);
    picking_meshes(&context, &mut state, meshes);
    picking_textured_rects(
        &context,
        &mut state,
        textured_rectangles,
        textured_rectangles_ids,
    );
    picking_ui_rects(&context, &mut state, ui_data);

    state.sort_and_remove_hidden_transparent();

    PickingResult {
        opaque_hit: state
            .closest_opaque_pick
            .instance_path_hash
            .is_some()
            .then_some(state.closest_opaque_pick),
        transparent_hits: state.transparent_hits,
        picking_ray: context.ray_in_world,
    }
}

fn picking_points(
    context: &PickingContext,
    state: &mut PickingState,
    points: &re_renderer::PointCloudBuilder<InstancePathHash>,
) {
    crate::profile_function!();

    for (batch, vertex_iter) in points.iter_vertices_and_userdata_by_batch() {
        // For getting the closest point we could transform the mouse ray into the "batch space".
        // However, we want to determine the closest point in *screen space*, meaning that we need to project all points.
        let ui_from_batch = context.ui_from_world * batch.world_from_obj;

        for (point, instance_hash) in vertex_iter {
            if instance_hash.is_none() {
                continue;
            }

            // TODO(emilk): take point radius into account
            let pos_in_ui = ui_from_batch.project_point3(point.position);
            let dist_sq = pos_in_ui.truncate().distance_squared(context.pointer_in_ui);
            if dist_sq <= state.closest_opaque_side_ui_dist_sq {
                let t = context
                    .ray_in_world
                    .closest_t_to_point(batch.world_from_obj.transform_point3(point.position));
                state.check_hit(
                    dist_sq,
                    PickingRayHit::from_instance_and_t(*instance_hash, t),
                    false,
                );
            }
        }
    }
}

fn picking_lines(
    context: &PickingContext,
    state: &mut PickingState,
    line_strips: &re_renderer::LineStripSeriesBuilder<InstancePathHash>,
) {
    crate::profile_function!();

    for (batch, vertices) in line_strips.iter_vertices_by_batch() {
        // For getting the closest point we could transform the mouse ray into the "batch space".
        // However, we want to determine the closest point in *screen space*, meaning that we need to project all points.
        let ui_from_batch = context.ui_from_world * batch.world_from_obj;

        for (start, end) in vertices.tuple_windows() {
            // Skip unconnected tuples.
            if start.strip_index != end.strip_index {
                continue;
            }

            let instance_hash = line_strips.strip_user_data[start.strip_index as usize];
            if instance_hash.is_none() {
                continue;
            }

            // TODO(emilk): take line segment radius into account
            let a = ui_from_batch.project_point3(start.position);
            let b = ui_from_batch.project_point3(end.position);
            let side_ui_dist_sq = line_segment_distance_sq_to_point_2d(
                [a.truncate(), b.truncate()],
                context.pointer_in_ui,
            );

            if side_ui_dist_sq < context.max_side_ui_dist_sq {
                let start_world = batch.world_from_obj.transform_point3(start.position);
                let end_world = batch.world_from_obj.transform_point3(end.position);
                let t = ray_closest_t_line_segment(&context.ray_in_world, [start_world, end_world]);

                state.check_hit(
                    side_ui_dist_sq,
                    PickingRayHit::from_instance_and_t(instance_hash, t),
                    false,
                );
            }
        }
    }
}

fn picking_meshes(
    context: &PickingContext,
    state: &mut PickingState,
    meshes: &[super::MeshSource],
) {
    crate::profile_function!();

    for mesh in meshes {
        if !mesh.instance_path_hash.is_some() {
            continue;
        }
        let ray_in_mesh = (mesh.world_from_mesh.inverse() * context.ray_in_world).normalize();
        let t = crate::math::ray_bbox_intersect(&ray_in_mesh, mesh.mesh.bbox());

        if t < 0.0 {
            let side_ui_dist_sq = 0.0;
            state.check_hit(
                side_ui_dist_sq,
                PickingRayHit::from_instance_and_t(mesh.instance_path_hash, t),
                false,
            );
        }
    }
}

fn picking_textured_rects(
    context: &PickingContext,
    state: &mut PickingState,
    textured_rectangles: &[re_renderer::renderer::TexturedRect],
    textured_rectangles_ids: &[InstancePathHash],
) {
    crate::profile_function!();

    for (rect, id) in textured_rectangles
        .iter()
        .zip(textured_rectangles_ids.iter())
    {
        if !id.is_some() {
            continue;
        }

        let rect_plane = macaw::Plane3::from_normal_point(
            rect.extent_u.cross(rect.extent_v).normalize(),
            rect.top_left_corner_position,
        );

        // TODO(andreas): Interaction radius is currently ignored for rects.
        let (intersect, t) =
            rect_plane.intersect_ray(context.ray_in_world.origin, context.ray_in_world.dir);
        if !intersect {
            continue;
        }
        let intersection_world = context.ray_in_world.origin + context.ray_in_world.dir * t;
        let dir_from_rect_top_left = intersection_world - rect.top_left_corner_position;
        let u = dir_from_rect_top_left.dot(rect.extent_u) / rect.extent_u.length_squared();
        let v = dir_from_rect_top_left.dot(rect.extent_v) / rect.extent_v.length_squared();

        if (0.0..=1.0).contains(&u) && (0.0..=1.0).contains(&v) {
            let picking_hit = PickingRayHit {
                instance_path_hash: *id,
                ray_t: t,
                info: AdditionalPickingInfo::TexturedRect(glam::vec2(u, v)),
                depth_offset: rect.depth_offset,
            };
            state.check_hit(0.0, picking_hit, rect.multiplicative_tint.a() < 1.0);
        }
    }
}

fn picking_ui_rects(
    context: &PickingContext,
    state: &mut PickingState,
    ui_data: &SceneSpatialUiData,
) {
    crate::profile_function!();

    let egui_pos = egui::pos2(context.pointer_in_ui.x, context.pointer_in_ui.y);
    for (bbox, instance_hash) in &ui_data.pickable_ui_rects {
        let side_ui_dist_sq = bbox.distance_sq_to_pos(egui_pos);
        state.check_hit(
            side_ui_dist_sq,
            PickingRayHit {
                instance_path_hash: *instance_hash,
                ray_t: 0.0,
                info: AdditionalPickingInfo::GuiOverlay,
                depth_offset: 0,
            },
            false,
        );
    }
}