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/** \author Jia Pan */

#ifndef HPP_FCL_INTERSECT_H
#define HPP_FCL_INTERSECT_H

/// @cond INTERNAL

#include <hpp/fcl/math/transform.h>

namespace hpp
{
namespace fcl
{

/// @brief CCD intersect kernel among primitives
class HPP_FCL_DLLAPI Intersect
{
public:
  static bool buildTrianglePlane
    (const Vec3f& v1, const Vec3f& v2, const Vec3f& v3, Vec3f* n, FCL_REAL* t);
}; // class Intersect

/// @brief Project functions
class HPP_FCL_DLLAPI Project
{
public:
  struct HPP_FCL_DLLAPI ProjectResult
  {
    /// @brief Parameterization of the projected point (based on the simplex to be projected, use 2 or 3 or 4 of the array)
    FCL_REAL parameterization[4];

    /// @brief square distance from the query point to the projected simplex
    FCL_REAL sqr_distance;

    /// @brief the code of the projection type
    unsigned int encode;

    ProjectResult() : sqr_distance(-1), encode(0)
    {
    }
  };

  /// @brief Project point p onto line a-b
  static ProjectResult projectLine(const Vec3f& a, const Vec3f& b, const Vec3f& p);

  /// @brief Project point p onto triangle a-b-c
  static ProjectResult projectTriangle(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& p);

  /// @brief Project point p onto tetrahedra a-b-c-d
  static ProjectResult projectTetrahedra(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& d, const Vec3f& p);

  /// @brief Project origin (0) onto line a-b
  static ProjectResult projectLineOrigin(const Vec3f& a, const Vec3f& b);

  /// @brief Project origin (0) onto triangle a-b-c
  static ProjectResult projectTriangleOrigin(const Vec3f& a, const Vec3f& b, const Vec3f& c);

  /// @brief Project origin (0) onto tetrahedran a-b-c-d
  static ProjectResult projectTetrahedraOrigin(const Vec3f& a, const Vec3f& b, const Vec3f& c, const Vec3f& d);
};

/// @brief Triangle distance functions
class HPP_FCL_DLLAPI TriangleDistance
{
public:

  /// @brief Returns closest points between an segment pair.
  /// The first segment is P + t * A
  /// The second segment is Q + t * B
  /// X, Y are the closest points on the two segments
  /// VEC is the vector between X and Y
  static void segPoints(const Vec3f& P, const Vec3f& A, const Vec3f& Q, const Vec3f& B,
                        Vec3f& VEC, Vec3f& X, Vec3f& Y);

  /// Compute squared distance between triangles
  /// @param S and T are two triangles
  /// @retval P, Q closest points if triangles do not intersect.
  /// @return squared distance if triangles do not intersect, 0 otherwise.
  /// If the triangles are disjoint, P and Q give the closet points of
  /// S and T respectively. However,
  /// if the triangles overlap, P and Q are basically a random pair of points
  /// from the triangles, not coincident points on the intersection of the
  /// triangles, as might be expected.
  static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
				  Vec3f& P, Vec3f& Q);

  static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
				  const Vec3f& S3, const Vec3f& T1,
				  const Vec3f& T2, const Vec3f& T3,
				  Vec3f& P, Vec3f& Q);

  /// Compute squared distance between triangles
  /// @param S and T are two triangles
  /// @param R, Tl, rotation and translation applied to T,
  /// @retval P, Q closest points if triangles do not intersect.
  /// @return squared distance if triangles do not intersect, 0 otherwise.
  /// If the triangles are disjoint, P and Q give the closet points of
  /// S and T respectively. However,
  /// if the triangles overlap, P and Q are basically a random pair of points
  /// from the triangles, not coincident points on the intersection of the
  /// triangles, as might be expected.
  static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
				  const Matrix3f& R, const Vec3f& Tl,
				  Vec3f& P, Vec3f& Q);

  /// Compute squared distance between triangles
  /// @param S and T are two triangles
  /// @param tf, rotation and translation applied to T,
  /// @retval P, Q closest points if triangles do not intersect.
  /// @return squared distance if triangles do not intersect, 0 otherwise.
  /// If the triangles are disjoint, P and Q give the closet points of
  /// S and T respectively. However,
  /// if the triangles overlap, P and Q are basically a random pair of points
  /// from the triangles, not coincident points on the intersection of the
  /// triangles, as might be expected.
  static FCL_REAL sqrTriDistance (const Vec3f S[3], const Vec3f T[3],
				  const Transform3f& tf,
				  Vec3f& P, Vec3f& Q);


  /// Compute squared distance between triangles
  /// @param S1, S2, S3 and T1, T2, T3 are triangle vertices
  /// @param R, Tl, rotation and translation applied to T1, T2, T3,
  /// @retval P, Q closest points if triangles do not intersect.
  /// @return squared distance if triangles do not intersect, 0 otherwise.
  /// If the triangles are disjoint, P and Q give the closet points of
  /// S and T respectively. However,
  /// if the triangles overlap, P and Q are basically a random pair of points
  /// from the triangles, not coincident points on the intersection of the
  /// triangles, as might be expected.
  static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
				  const Vec3f& S3, const Vec3f& T1,
				  const Vec3f& T2, const Vec3f& T3,
				  const Matrix3f& R, const Vec3f& Tl,
				  Vec3f& P, Vec3f& Q);

  /// Compute squared distance between triangles
  /// @param S1, S2, S3 and T1, T2, T3 are triangle vertices
  /// @param tf, rotation and translation applied to T1, T2, T3,
  /// @retval P, Q closest points if triangles do not intersect.
  /// @return squared distance if triangles do not intersect, 0 otherwise.
  /// If the triangles are disjoint, P and Q give the closet points of
  /// S and T respectively. However,
  /// if the triangles overlap, P and Q are basically a random pair of points
  /// from the triangles, not coincident points on the intersection of the
  /// triangles, as might be expected.
  static FCL_REAL sqrTriDistance (const Vec3f& S1, const Vec3f& S2,
				  const Vec3f& S3, const Vec3f& T1,
				  const Vec3f& T2, const Vec3f& T3,
				  const Transform3f& tf,
				  Vec3f& P, Vec3f& Q);

};

}

} // namespace hpp

/// @endcond

#endif
