isle-portable/miniwin/src/d3drm/d3drmviewport.cpp

#include "d3drm_impl.h"
#include "d3drmframe_impl.h"
#include "d3drmrenderer.h"
#include "d3drmviewport_impl.h"
#include "ddraw_impl.h"
#include "mathutils.h"
#include "miniwin.h"

#include <SDL3/SDL.h>
#include <SDL3/SDL_stdinc.h>
#include <cassert>
#include <float.h>
#include <functional>
#include <math.h>

Direct3DRMViewportImpl::Direct3DRMViewportImpl(DWORD width, DWORD height, Direct3DRMRenderer* rendere)
	: m_width(width), m_height(height), m_renderer(rendere)
{
}

static void D3DRMMatrixMultiply(D3DRMMATRIX4D out, const D3DRMMATRIX4D a, const D3DRMMATRIX4D b)
{
	for (int i = 0; i < 4; ++i) {
		for (int j = 0; j < 4; ++j) {
			out[i][j] = 0.0f;
			for (int k = 0; k < 4; ++k) {
				out[i][j] += a[i][k] * b[k][j];
			}
		}
	}
}

static void D3DRMMatrixInvertForNormal(Matrix3x3 out, const D3DRMMATRIX4D m)
{
	float a = m[0][0], b = m[0][1], c = m[0][2];
	float d = m[1][0], e = m[1][1], f = m[1][2];
	float g = m[2][0], h = m[2][1], i = m[2][2];

	float det = a * (e * i - f * h) - b * (d * i - f * g) + c * (d * h - e * g);

	if (fabs(det) < 1e-6f) {
		memset(out, 0, sizeof(Matrix3x3));
		return;
	}

	float invDet = 1.0f / det;

	out[0][0] = (e * i - f * h) * invDet;
	out[1][0] = (c * h - b * i) * invDet;
	out[2][0] = (b * f - c * e) * invDet;

	out[0][1] = (f * g - d * i) * invDet;
	out[1][1] = (a * i - c * g) * invDet;
	out[2][1] = (c * d - a * f) * invDet;

	out[0][2] = (d * h - e * g) * invDet;
	out[1][2] = (b * g - a * h) * invDet;
	out[2][2] = (a * e - b * d) * invDet;
}

static void D3DRMMatrixInvertOrthogonal(D3DRMMATRIX4D out, const D3DRMMATRIX4D m)
{
	for (int i = 0; i < 3; ++i) {
		for (int j = 0; j < 3; ++j) {
			out[i][j] = m[j][i];
		}
	}

	out[0][3] = out[1][3] = out[2][3] = 0.f;
	out[3][3] = 1.f;

	D3DVECTOR t = {m[3][0], m[3][1], m[3][2]};

	out[3][0] = -(out[0][0] * t.x + out[1][0] * t.y + out[2][0] * t.z);
	out[3][1] = -(out[0][1] * t.x + out[1][1] * t.y + out[2][1] * t.z);
	out[3][2] = -(out[0][2] * t.x + out[1][2] * t.y + out[2][2] * t.z);
}

static void ComputeFrameWorldMatrix(IDirect3DRMFrame* frame, D3DRMMATRIX4D out)
{
	D3DRMMATRIX4D acc = {{1.f, 0.f, 0.f, 0.f}, {0.f, 1.f, 0.f, 0.f}, {0.f, 0.f, 1.f, 0.f}, {0.f, 0.f, 0.f, 1.f}};

	IDirect3DRMFrame* cur = frame;
	while (cur) {
		auto* impl = static_cast<Direct3DRMFrameImpl*>(cur);
		D3DRMMATRIX4D tmp;
		D3DRMMatrixMultiply(tmp, impl->m_transform, acc);
		memcpy(acc, tmp, sizeof(acc));

		if (cur == impl->m_parent) {
			break;
		}
		cur = impl->m_parent;
	}
	memcpy(out, acc, sizeof(acc));
}

inline D3DVECTOR CrossProduct(const D3DVECTOR& a, const D3DVECTOR& b)
{
	return {a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x};
}

D3DVECTOR ComputeTriangleNormal(const D3DVECTOR& v0, const D3DVECTOR& v1, const D3DVECTOR& v2)
{
	D3DVECTOR u = {v1.x - v0.x, v1.y - v0.y, v1.z - v0.z};
	D3DVECTOR v = {v2.x - v0.x, v2.y - v0.y, v2.z - v0.z};
	D3DVECTOR normal = CrossProduct(u, v);
	normal = Normalize(normal);

	return normal;
}

void Direct3DRMViewportImpl::CollectLightsFromFrame(
	IDirect3DRMFrame* frame,
	D3DRMMATRIX4D parentToWorld,
	std::vector<SceneLight>& lights
)
{
	auto* frameImpl = static_cast<Direct3DRMFrameImpl*>(frame);
	D3DRMMATRIX4D worldMatrix;
	D3DRMMatrixMultiply(worldMatrix, parentToWorld, frameImpl->m_transform);

	IDirect3DRMLightArray* lightArray = nullptr;
	frame->GetLights(&lightArray);
	DWORD lightCount = lightArray->GetSize();
	for (DWORD li = 0; li < lightCount; ++li) {
		IDirect3DRMLight* light = nullptr;
		lightArray->GetElement(li, &light);
		D3DCOLOR color = light->GetColor();
		SceneLight extracted;
		extracted.color = {
			((color >> 0) & 0xFF) / 255.0f,
			((color >> 8) & 0xFF) / 255.0f,
			((color >> 16) & 0xFF) / 255.0f,
			((color >> 24) & 0xFF) / 255.0f
		};

		D3DRMLIGHTTYPE type = light->GetType();
		if (type == D3DRMLIGHT_POINT || type == D3DRMLIGHT_SPOT || type == D3DRMLIGHT_PARALLELPOINT) {
			extracted.position = {worldMatrix[3][0], worldMatrix[3][1], worldMatrix[3][2]};
			extracted.positional = 1.f;
		}
		if (type == D3DRMLIGHT_DIRECTIONAL || type == D3DRMLIGHT_SPOT) {
			extracted.direction = {worldMatrix[2][0], worldMatrix[2][1], worldMatrix[2][2]};
			extracted.directional = 1.f;
		}

		lights.push_back(extracted);
		light->Release();
	}
	lightArray->Release();

	IDirect3DRMFrameArray* children = nullptr;
	frame->GetChildren(&children);
	DWORD n = children->GetSize();
	for (DWORD i = 0; i < n; ++i) {
		IDirect3DRMFrame* childFrame = nullptr;
		children->GetElement(i, &childFrame);
		CollectLightsFromFrame(childFrame, worldMatrix, lights);
		childFrame->Release();
	}
	children->Release();
}

struct Plane {
	D3DVECTOR normal;
	float d;
};

void NormalizePlane(Plane& plane)
{
	float len =
		sqrtf(plane.normal.x * plane.normal.x + plane.normal.y * plane.normal.y + plane.normal.z * plane.normal.z);
	if (len > 0.0f) {
		float invLen = 1.0f / len;
		plane.normal.x *= invLen;
		plane.normal.y *= invLen;
		plane.normal.z *= invLen;
		plane.d *= invLen;
	}
}

Plane frustumPlanes[6];

void ExtractFrustumPlanes(const D3DRMMATRIX4D& m)
{
	static const int idx[][2] = {{0, 1}, {0, -1}, {1, 1}, {1, -1}, {2, 1}, {2, -1}};
	for (int i = 0; i < 6; ++i) {
		int axis = idx[i][0], sign = idx[i][1];
		frustumPlanes[i]
			.normal = {m[0][3] + sign * m[0][axis], m[1][3] + sign * m[1][axis], m[2][3] + sign * m[2][axis]};
		frustumPlanes[i].d = m[3][3] + sign * m[3][axis];
		NormalizePlane(frustumPlanes[i]);
	}
}

bool IsBoxInFrustum(const D3DVECTOR corners[8], const Plane planes[6])
{
	for (int i = 0; i < 6; ++i) {
		int out = 0;
		for (int j = 0; j < 8; ++j) {
			float dist = planes[i].normal.x * corners[j].x + planes[i].normal.y * corners[j].y +
						 planes[i].normal.z * corners[j].z + planes[i].d;
			if (dist < 0.0f) {
				++out;
			}
		}
		if (out == 8) {
			return false;
		}
	}
	return true;
}

void Direct3DRMViewportImpl::CollectMeshesFromFrame(IDirect3DRMFrame* frame, D3DRMMATRIX4D parentMatrix)
{
	Direct3DRMFrameImpl* frameImpl = static_cast<Direct3DRMFrameImpl*>(frame);
	D3DRMMATRIX4D localMatrix;
	memcpy(localMatrix, frameImpl->m_transform, sizeof(D3DRMMATRIX4D));

	D3DRMMATRIX4D worldMatrix;
	D3DRMMatrixMultiply(worldMatrix, parentMatrix, localMatrix);

	Matrix3x3 worldMatrixInvert;
	D3DRMMatrixInvertForNormal(worldMatrixInvert, worldMatrix);

	IDirect3DRMVisualArray* visuals = nullptr;
	frame->GetVisuals(&visuals);
	DWORD n = visuals->GetSize();
	for (DWORD i = 0; i < n; ++i) {
		IDirect3DRMVisual* visual = nullptr;
		visuals->GetElement(i, &visual);

		IDirect3DRMFrame* childFrame = nullptr;
		visual->QueryInterface(IID_IDirect3DRMFrame, (void**) &childFrame);
		if (childFrame) {
			CollectMeshesFromFrame(childFrame, worldMatrix);
			childFrame->Release();
			visual->Release();
			continue;
		}

		IDirect3DRMMesh* mesh = nullptr;
		visual->QueryInterface(IID_IDirect3DRMMesh, (void**) &mesh);
		if (!mesh) {
			visual->Release();
			continue;
		}

		D3DRMBOX box;
		mesh->GetBox(&box);
		D3DVECTOR boxCorners[8] = {
			{box.min.x, box.min.y, box.min.z},
			{box.min.x, box.min.y, box.max.z},
			{box.min.x, box.max.y, box.min.z},
			{box.min.x, box.max.y, box.max.z},
			{box.max.x, box.min.y, box.min.z},
			{box.max.x, box.min.y, box.max.z},
			{box.max.x, box.max.y, box.min.z},
			{box.max.x, box.max.y, box.max.z},
		};
		for (D3DVECTOR& boxCorner : boxCorners) {
			boxCorner = TransformPoint(boxCorner, worldMatrix);
		}
		if (!IsBoxInFrustum(boxCorners, frustumPlanes)) {
			mesh->Release();
			visual->Release();
			continue;
		}

		DWORD groupCount = mesh->GetGroupCount();
		for (DWORD gi = 0; gi < groupCount; ++gi) {
			DWORD vtxCount, faceCount, vpf, dataSize;
			mesh->GetGroup(gi, &vtxCount, &faceCount, &vpf, &dataSize, nullptr);

			std::vector<GeometryVertex> verts(dataSize * vpf);
			std::vector<D3DRMVERTEX> d3dVerts(vtxCount);
			std::vector<DWORD> faces(dataSize);
			mesh->GetVertices(gi, 0, vtxCount, d3dVerts.data());
			mesh->GetGroup(gi, nullptr, nullptr, nullptr, nullptr, faces.data());

			D3DCOLOR color = mesh->GetGroupColor(gi);
			D3DRMRENDERQUALITY quality = mesh->GetGroupQuality(gi);

			IDirect3DRMTexture* texture = nullptr;
			mesh->GetGroupTexture(gi, &texture);
			Uint32 textureId = NO_TEXTURE_ID;
			if (texture) {
				textureId = m_renderer->GetTextureId(texture);
				texture->Release();
			}

			IDirect3DRMMaterial* material = nullptr;
			mesh->GetGroupMaterial(gi, &material);
			float shininess = 0.0f;
			if (material) {
				shininess = material->GetPower();
				material->Release();
			}

			for (DWORD fi = 0; fi < faceCount; ++fi) {
				D3DVECTOR norm;
				if (quality == D3DRMRENDER_FLAT || quality == D3DRMRENDER_UNLITFLAT) {
					D3DRMVERTEX& v0 = d3dVerts[faces[fi * vpf + 0]];
					D3DRMVERTEX& v1 = d3dVerts[faces[fi * vpf + 1]];
					D3DRMVERTEX& v2 = d3dVerts[faces[fi * vpf + 2]];
					norm = ComputeTriangleNormal(v0.position, v1.position, v2.position);
				}

				for (DWORD idx = 0; idx < vpf; ++idx) {
					D3DRMVERTEX& dv = d3dVerts[faces[fi * vpf + idx]];
					D3DVECTOR pos = dv.position;
					if (quality == D3DRMRENDER_GOURAUD || quality == D3DRMRENDER_PHONG) {
						norm = dv.normal;
					}

					verts.push_back({pos, norm, {dv.tu, dv.tv}});
				}
			}
			m_renderer->SubmitDraw(
				verts.data(),
				verts.size(),
				worldMatrix,
				worldMatrixInvert,
				{{static_cast<Uint8>((color >> 16) & 0xFF),
				  static_cast<Uint8>((color >> 8) & 0xFF),
				  static_cast<Uint8>((color >> 0) & 0xFF),
				  static_cast<Uint8>((color >> 24) & 0xFF)},
				 shininess,
				 textureId}
			);
		}
		mesh->Release();
		visual->Release();
	}
	visuals->Release();
}

HRESULT Direct3DRMViewportImpl::RenderScene()
{
	m_backgroundColor = static_cast<Direct3DRMFrameImpl*>(m_rootFrame)->m_backgroundColor;

	// Compute view-projection matrix
	D3DRMMATRIX4D cameraWorld, viewProj;
	ComputeFrameWorldMatrix(m_camera, cameraWorld);
	D3DRMMatrixInvertOrthogonal(m_viewMatrix, cameraWorld);
	D3DRMMatrixMultiply(viewProj, m_viewMatrix, m_projectionMatrix);

	D3DRMMATRIX4D identity = {{1.f, 0.f, 0.f, 0.f}, {0.f, 1.f, 0.f, 0.f}, {0.f, 0.f, 1.f, 0.f}, {0.f, 0.f, 0.f, 1.f}};

	std::vector<SceneLight> lights;
	CollectLightsFromFrame(m_rootFrame, identity, lights);
	m_renderer->PushLights(lights.data(), lights.size());
	HRESULT status = m_renderer->BeginFrame(m_viewMatrix);
	if (status != DD_OK) {
		return status;
	}

	ExtractFrustumPlanes(viewProj);
	CollectMeshesFromFrame(m_rootFrame, identity);
	return m_renderer->FinalizeFrame();
}

HRESULT Direct3DRMViewportImpl::Render(IDirect3DRMFrame* rootFrame)
{
	if (!m_renderer) {
		return DDERR_GENERIC;
	}
	m_rootFrame = rootFrame;
	return RenderScene();
}

HRESULT Direct3DRMViewportImpl::ForceUpdate(int x, int y, int w, int h)
{
	MINIWIN_NOT_IMPLEMENTED();
	return DD_OK;
}

HRESULT Direct3DRMViewportImpl::Clear()
{
	if (!DDBackBuffer) {
		return DDERR_GENERIC;
	}

	uint8_t r = (m_backgroundColor >> 16) & 0xFF;
	uint8_t g = (m_backgroundColor >> 8) & 0xFF;
	uint8_t b = m_backgroundColor & 0xFF;

	Uint32 color = SDL_MapRGB(SDL_GetPixelFormatDetails(DDBackBuffer->format), nullptr, r, g, b);
	SDL_FillSurfaceRect(DDBackBuffer, nullptr, color);

	return DD_OK;
}

HRESULT Direct3DRMViewportImpl::SetCamera(IDirect3DRMFrame* camera)
{
	if (m_camera) {
		m_camera->Release();
	}
	if (camera) {
		camera->AddRef();
	}
	m_camera = camera;
	return DD_OK;
}

HRESULT Direct3DRMViewportImpl::GetCamera(IDirect3DRMFrame** camera)
{
	if (m_camera) {
		m_camera->AddRef();
	}
	*camera = m_camera;
	return DD_OK;
}

HRESULT Direct3DRMViewportImpl::SetProjection(D3DRMPROJECTIONTYPE type)
{
	return DD_OK;
}

D3DRMPROJECTIONTYPE Direct3DRMViewportImpl::GetProjection()
{
	return D3DRMPROJECTIONTYPE::PERSPECTIVE;
}

HRESULT Direct3DRMViewportImpl::SetFront(D3DVALUE z)
{
	m_front = z;
	UpdateProjectionMatrix();
	return DD_OK;
}

D3DVALUE Direct3DRMViewportImpl::GetFront()
{
	return m_front;
}

HRESULT Direct3DRMViewportImpl::SetBack(D3DVALUE z)
{
	m_back = z;
	UpdateProjectionMatrix();
	return DD_OK;
}

D3DVALUE Direct3DRMViewportImpl::GetBack()
{
	return m_back;
}

HRESULT Direct3DRMViewportImpl::SetField(D3DVALUE field)
{
	m_field = field;
	UpdateProjectionMatrix();
	return DD_OK;
}

void Direct3DRMViewportImpl::UpdateProjectionMatrix()
{
	float aspect = (float) m_width / (float) m_height;
	float f = m_front / m_field;
	float depth = m_back - m_front;

	D3DRMMATRIX4D projection = {
		{f, 0, 0, 0},
		{0, f * aspect, 0, 0},
		{0, 0, m_back / depth, 1},
		{0, 0, (-m_front * m_back) / depth, 0},
	};
	memcpy(m_projectionMatrix, projection, sizeof(D3DRMMATRIX4D));

	m_renderer->SetProjection(projection, m_front, m_back);

	D3DRMMATRIX4D inverseProjectionMatrix = {
		{1.0f / f, 0, 0, 0},
		{0, 1.0f / (f * aspect), 0, 0},
		{0, 0, 0, depth / (-m_front * m_back)},
		{0, 0, 1, -(m_back / depth) * depth / (-m_front * m_back)},
	};
	memcpy(m_inverseProjectionMatrix, inverseProjectionMatrix, sizeof(D3DRMMATRIX4D));
}

D3DVALUE Direct3DRMViewportImpl::GetField()
{
	return m_field;
}

DWORD Direct3DRMViewportImpl::GetWidth()
{
	return m_width;
}

DWORD Direct3DRMViewportImpl::GetHeight()
{
	return m_height;
}

inline float FromNDC(float ndcCoord, float dim)
{
	return (ndcCoord * 0.5f + 0.5f) * dim;
}

inline void MultiplyMatrixVec4(D3DRMVECTOR4D& out, const D3DRMMATRIX4D& mat, const D3DRMVECTOR4D& vec)
{
	out.x = mat[0][0] * vec.x + mat[1][0] * vec.y + mat[2][0] * vec.z + mat[3][0] * vec.w;
	out.y = mat[0][1] * vec.x + mat[1][1] * vec.y + mat[2][1] * vec.z + mat[3][1] * vec.w;
	out.z = mat[0][2] * vec.x + mat[1][2] * vec.y + mat[2][2] * vec.z + mat[3][2] * vec.w;
	out.w = mat[0][3] * vec.x + mat[1][3] * vec.y + mat[2][3] * vec.z + mat[3][3] * vec.w;
}

HRESULT Direct3DRMViewportImpl::Transform(D3DRMVECTOR4D* screen, D3DVECTOR* world)
{
	D3DRMVECTOR4D worldVec = {world->x, world->y, world->z, 1.0f};
	D3DRMVECTOR4D viewVec, projVec;

	MultiplyMatrixVec4(viewVec, m_viewMatrix, worldVec);
	MultiplyMatrixVec4(projVec, m_projectionMatrix, viewVec);

	*screen = projVec;

	float invW = 1.0f / projVec.w;
	float ndcX = projVec.x * invW;
	float ndcY = projVec.y * invW;

	screen->x = FromNDC(ndcX, m_width);
	screen->y = FromNDC(-ndcY, m_height); // Y-flip

	// Undo perspective divide for screen-space coords
	screen->x *= projVec.z;
	screen->y *= projVec.w;

	return DD_OK;
}

HRESULT Direct3DRMViewportImpl::InverseTransform(D3DVECTOR* world, D3DRMVECTOR4D* screen)
{
	// Convert to screen coordinates
	float screenX = screen->x / screen->z;
	float screenY = screen->y / screen->w;

	// Convert screen coordinates to NDC
	float ndcX = screenX / m_width * 2.0f - 1.0f;
	float ndcY = 1.0f - (screenY / m_height) * 2.0f;

	D3DRMVECTOR4D clipVec = {ndcX * screen->w, ndcY * screen->w, screen->z, screen->w};

	D3DRMVECTOR4D viewVec;
	MultiplyMatrixVec4(viewVec, m_inverseProjectionMatrix, clipVec);

	D3DRMMATRIX4D inverseViewMatrix;
	D3DRMMatrixInvertOrthogonal(inverseViewMatrix, m_viewMatrix);

	D3DRMVECTOR4D worldVec;
	MultiplyMatrixVec4(worldVec, inverseViewMatrix, viewVec);

	// Perspective divide
	if (worldVec.w != 0.0f) {
		world->x = worldVec.x / worldVec.w;
		world->y = worldVec.y / worldVec.w;
		world->z = worldVec.z / worldVec.w;
	}
	else {
		world->x = worldVec.x;
		world->y = worldVec.y;
		world->z = worldVec.z;
	}

	return DD_OK;
}

struct Ray {
	D3DVECTOR origin;
	D3DVECTOR direction;
};

// Ray-box intersection: slab method
bool RayIntersectsBox(const Ray& ray, const D3DRMBOX& box, float& outT)
{
	float tmin = -FLT_MAX;
	float tmax = FLT_MAX;

	for (int i = 0; i < 3; ++i) {
		float origin = (&ray.origin.x)[i];
		float dir = (&ray.direction.x)[i];
		float minB = (&box.min.x)[i];
		float maxB = (&box.max.x)[i];

		if (fabs(dir) < 1e-6f) {
			if (origin < minB || origin > maxB) {
				return false;
			}
		}
		else {
			float invD = 1.0f / dir;
			float t1 = (minB - origin) * invD;
			float t2 = (maxB - origin) * invD;
			if (t1 > t2) {
				std::swap(t1, t2);
			}
			if (t1 > tmin) {
				tmin = t1;
			}
			if (t2 < tmax) {
				tmax = t2;
			}
			if (tmin > tmax) {
				return false;
			}
			if (tmax < 0) {
				return false;
			}
		}
	}

	outT = tmin >= 0 ? tmin : tmax; // closest positive hit
	return true;
}

inline float DotProduct(const D3DVECTOR& a, const D3DVECTOR& b)
{
	return a.x * b.x + a.y * b.y + a.z * b.z;
}

// Convert screen (x,y) in viewport to picking ray in world space
Ray BuildPickingRay(
	float x,
	float y,
	int width,
	int height,
	IDirect3DRMFrame* camera,
	float front,
	float back,
	float field,
	float aspect
)
{
	float nx = (2.0f * x) / width - 1.0f;
	float ny = 1.0f - (2.0f * y) / height;

	float f = front / field;

	// Ray in view space at near plane:
	D3DVECTOR rayDirView = {nx / f, ny / (f * aspect), 1.0f};

	// Normalize ray direction
	float len = sqrt(DotProduct(rayDirView, rayDirView));
	rayDirView = Normalize(rayDirView);

	// Compute camera world matrix and invert it to get view->world
	D3DRMMATRIX4D cameraWorld;
	ComputeFrameWorldMatrix(camera, cameraWorld);

	// Transform ray origin (camera position) and direction to world space
	D3DVECTOR rayOriginWorld = {cameraWorld[3][0], cameraWorld[3][1], cameraWorld[3][2]};
	// Multiply direction by rotation part of matrix only (3x3 upper-left)
	D3DVECTOR rayDirWorld = {
		rayDirView.x * cameraWorld[0][0] + rayDirView.y * cameraWorld[1][0] + rayDirView.z * cameraWorld[2][0],
		rayDirView.x * cameraWorld[0][1] + rayDirView.y * cameraWorld[1][1] + rayDirView.z * cameraWorld[2][1],
		rayDirView.x * cameraWorld[0][2] + rayDirView.y * cameraWorld[1][2] + rayDirView.z * cameraWorld[2][2]
	};

	len = sqrt(rayDirWorld.x * rayDirWorld.x + rayDirWorld.y * rayDirWorld.y + rayDirWorld.z * rayDirWorld.z);
	rayDirWorld = Normalize(rayDirWorld);

	return Ray{rayOriginWorld, rayDirWorld};
}

bool RayIntersectsTriangle(
	const Ray& ray,
	const D3DVECTOR& v0,
	const D3DVECTOR& v1,
	const D3DVECTOR& v2,
	float& outDist
)
{
	const float EPSILON = 1e-6f;
	D3DVECTOR edge1 = {v1.x - v0.x, v1.y - v0.y, v1.z - v0.z};
	D3DVECTOR edge2 = {v2.x - v0.x, v2.y - v0.y, v2.z - v0.z};

	D3DVECTOR h = CrossProduct(ray.direction, edge2);
	float a = DotProduct(edge1, h);
	if (fabs(a) < EPSILON) {
		return false;
	}

	float f = 1.0f / a;
	D3DVECTOR s = {ray.origin.x - v0.x, ray.origin.y - v0.y, ray.origin.z - v0.z};
	float u = f * DotProduct(s, h);
	if (u < 0.0f || u > 1.0f) {
		return false;
	}

	D3DVECTOR q = CrossProduct(s, edge1);
	float v = f * DotProduct(ray.direction, q);
	if (v < 0.0f || u + v > 1.0f) {
		return false;
	}

	float t = f * DotProduct(edge2, q);
	if (t > EPSILON) {
		outDist = t;
		return true;
	}
	return false;
}

bool RayIntersectsMeshTriangles(
	const Ray& ray,
	IDirect3DRMMesh* mesh,
	const D3DRMMATRIX4D& worldMatrix,
	float& outDistance
)
{
	DWORD groupCount = mesh->GetGroupCount();
	for (DWORD g = 0; g < groupCount; ++g) {
		DWORD vtxCount = 0, faceCount = 0, vpf = 0, dataSize = 0;
		mesh->GetGroup(g, &vtxCount, &faceCount, &vpf, &dataSize, nullptr);

		std::vector<D3DRMVERTEX> vertices(vtxCount);
		mesh->GetVertices(g, 0, vtxCount, vertices.data());
		std::vector<DWORD> faces(faceCount * vpf);
		mesh->GetGroup(g, nullptr, nullptr, nullptr, nullptr, faces.data());

		// Iterate over each face and do ray-triangle tests
		for (DWORD fi = 0; fi < faceCount; ++fi) {
			DWORD i0 = faces[fi * vpf + 0];
			DWORD i1 = faces[fi * vpf + 1];
			DWORD i2 = faces[fi * vpf + 2];

			if (i0 >= vtxCount || i1 >= vtxCount || i2 >= vtxCount) {
				continue;
			}

			// Transform vertices to world space
			D3DVECTOR tri[3];
			for (int j = 0; j < 3; ++j) {
				const D3DVECTOR& v = vertices[(j == 0 ? i0 : (j == 1 ? i1 : i2))].position;
				tri[j] = TransformPoint(v, worldMatrix);
			}

			float dist;
			if (RayIntersectsTriangle(ray, tri[0], tri[1], tri[2], dist)) {
				if (dist < outDistance) {
					outDistance = dist;
				}
				return true;
			}
		}
	}
	return false;
}

inline D3DVECTOR TransformVector(const D3DRMMATRIX4D& mat, const D3DVECTOR& vec)
{
	return {
		vec.x * mat[0][0] + vec.y * mat[1][0] + vec.z * mat[2][0] + mat[3][0],
		vec.x * mat[0][1] + vec.y * mat[1][1] + vec.z * mat[2][1] + mat[3][1],
		vec.x * mat[0][2] + vec.y * mat[1][2] + vec.z * mat[2][2] + mat[3][2]
	};
}

D3DRMBOX ComputeTransformedAABB(const D3DRMBOX& box, const D3DRMMATRIX4D& mat)
{
	D3DVECTOR corners[8] = {
		{box.min.x, box.min.y, box.min.z},
		{box.min.x, box.min.y, box.max.z},
		{box.min.x, box.max.y, box.min.z},
		{box.min.x, box.max.y, box.max.z},
		{box.max.x, box.min.y, box.min.z},
		{box.max.x, box.min.y, box.max.z},
		{box.max.x, box.max.y, box.min.z},
		{box.max.x, box.max.y, box.max.z}
	};

	D3DVECTOR transformed = TransformVector(mat, corners[0]);
	D3DRMBOX worldBox = {transformed, transformed};

	for (int i = 1; i < 8; ++i) {
		D3DVECTOR v = TransformVector(mat, corners[i]);
		worldBox.min.x = std::min(worldBox.min.x, v.x);
		worldBox.min.y = std::min(worldBox.min.y, v.y);
		worldBox.min.z = std::min(worldBox.min.z, v.z);
		worldBox.max.x = std::max(worldBox.max.x, v.x);
		worldBox.max.y = std::max(worldBox.max.y, v.y);
		worldBox.max.z = std::max(worldBox.max.z, v.z);
	}
	return worldBox;
}

HRESULT Direct3DRMViewportImpl::Pick(float x, float y, LPDIRECT3DRMPICKEDARRAY* pickedArray)
{
	if (!m_rootFrame) {
		return DDERR_GENERIC;
	}

	std::vector<PickRecord> hits;

	Ray pickRay = BuildPickingRay(
		x,
		y,
		m_width,
		m_height,
		m_camera,
		m_front,
		m_back,
		m_field,
		(float) m_width / (float) m_height
	);

	std::function<void(IDirect3DRMFrame*, std::vector<IDirect3DRMFrame*>&)> recurse;
	recurse = [&](IDirect3DRMFrame* frame, std::vector<IDirect3DRMFrame*>& path) {
		path.push_back(frame);

		IDirect3DRMVisualArray* visuals = nullptr;
		frame->GetVisuals(&visuals);
		DWORD count = visuals->GetSize();
		for (DWORD i = 0; i < count; ++i) {
			IDirect3DRMVisual* visual = nullptr;
			visuals->GetElement(i, &visual);

			IDirect3DRMFrame* subFrame = nullptr;
			visual->QueryInterface(IID_IDirect3DRMFrame, (void**) &subFrame);
			if (subFrame) {
				recurse(subFrame, path);
				subFrame->Release();
				visual->Release();
				continue;
			}

			IDirect3DRMMesh* mesh = nullptr;
			visual->QueryInterface(IID_IDirect3DRMMesh, (void**) &mesh);
			if (mesh) {
				D3DRMBOX box;
				mesh->GetBox(&box);
				// Transform box corners to world space
				D3DRMMATRIX4D worldMatrix;
				ComputeFrameWorldMatrix(frame, worldMatrix);
				D3DRMBOX worldBox = ComputeTransformedAABB(box, worldMatrix);

				float distance = FLT_MAX;
				if (RayIntersectsBox(pickRay, worldBox, distance) &&
					RayIntersectsMeshTriangles(pickRay, mesh, worldMatrix, distance)) {
					auto* arr = new Direct3DRMFrameArrayImpl();
					for (IDirect3DRMFrame* f : path) {
						arr->AddElement(f);
					}

					PickRecord rec = {visual, arr, {distance}};
					hits.push_back(rec);
				}
				mesh->Release();
			}
			visual->Release();
		}
		visuals->Release();
		path.pop_back(); // Pop after recursion
	};

	std::vector<IDirect3DRMFrame*> framePath;
	recurse(m_rootFrame, framePath);

	std::sort(hits.begin(), hits.end(), [](const PickRecord& a, const PickRecord& b) {
		return a.desc.dist < b.desc.dist;
	});

	*pickedArray = new Direct3DRMPickedArrayImpl(hits.data(), hits.size());

	return D3DRM_OK;
}

void Direct3DRMViewportImpl::CloseDevice()
{
	m_renderer = nullptr;
}