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 // Created by: Eugeny MALTCHIKOV
 // Created on: 2019-04-17
 // Copyright (c) 2019 OPEN CASCADE SAS
 //
 // This file is part of Open CASCADE Technology software library.
 //
 // This library is free software; you can redistribute it and/or modify it under
 // the terms of the GNU Lesser General Public License version 2.1 as published
 // by the Free Software Foundation, with special exception defined in the file
 // OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
 // distribution for complete text of the license and disclaimer of any warranty.
 //
 // Alternatively, this file may be used under the terms of Open CASCADE
 // commercial license or contractual agreement.
 
 #ifndef _BVH_Tools_Header
 #define _BVH_Tools_Header
 
 #include <BVH_Box.hxx>
 #include <BVH_Ray.hxx>
 #include <BVH_Types.hxx>
 
 //! Defines a set of static methods operating with points and bounding boxes.
 //! \tparam T Numeric data type
 //! \tparam N Vector dimension
 template <class T, int N>
 class BVH_Tools
 {
 public: //! @name public types
   typedef typename BVH::VectorType<T, N>::Type BVH_VecNt;
 
 public:
   enum BVH_PrjStateInTriangle
   {
     BVH_PrjStateInTriangle_VERTEX,
     BVH_PrjStateInTriangle_EDGE,
     BVH_PrjStateInTriangle_INNER
   };
 
 public: //! @name Box-Box Square distance
   //! Computes Square distance between Axis aligned bounding boxes
   static T BoxBoxSquareDistance(const BVH_Box<T, N>& theBox1, const BVH_Box<T, N>& theBox2)
   {
     if (!theBox1.IsValid() || !theBox2.IsValid())
     {
       return static_cast<T>(0);
     }
     return BoxBoxSquareDistance(theBox1.CornerMin(),
                                 theBox1.CornerMax(),
                                 theBox2.CornerMin(),
                                 theBox2.CornerMax());
   }
 
   //! Computes Square distance between Axis aligned bounding boxes
   static T BoxBoxSquareDistance(const BVH_VecNt& theCMin1,
                                 const BVH_VecNt& theCMax1,
                                 const BVH_VecNt& theCMin2,
                                 const BVH_VecNt& theCMax2)
   {
     T aDist = 0;
     for (int i = 0; i < N; ++i)
     {
       if (theCMin1[i] > theCMax2[i])
       {
         T d = theCMin1[i] - theCMax2[i];
         d *= d;
         aDist += d;
       }
       else if (theCMax1[i] < theCMin2[i])
       {
         T d = theCMin2[i] - theCMax1[i];
         d *= d;
         aDist += d;
       }
     }
     return aDist;
   }
 
 public: //! @name Point-Box Square distance
   //! Computes square distance between point and bounding box
   static T PointBoxSquareDistance(const BVH_VecNt& thePoint, const BVH_Box<T, N>& theBox)
   {
     if (!theBox.IsValid())
     {
       return static_cast<T>(0);
     }
     return PointBoxSquareDistance(thePoint, theBox.CornerMin(), theBox.CornerMax());
   }
 
   //! Computes square distance between point and bounding box
   static T PointBoxSquareDistance(const BVH_VecNt& thePoint,
                                   const BVH_VecNt& theCMin,
                                   const BVH_VecNt& theCMax)
   {
     T aDist = 0;
     for (int i = 0; i < N; ++i)
     {
       if (thePoint[i] < theCMin[i])
       {
         T d = theCMin[i] - thePoint[i];
         d *= d;
         aDist += d;
       }
       else if (thePoint[i] > theCMax[i])
       {
         T d = thePoint[i] - theCMax[i];
         d *= d;
         aDist += d;
       }
     }
     return aDist;
   }
 
 public: //! @name Point-Box projection
   //! Computes projection of point on bounding box
   static BVH_VecNt PointBoxProjection(const BVH_VecNt& thePoint, const BVH_Box<T, N>& theBox)
   {
     if (!theBox.IsValid())
     {
       return thePoint;
     }
     return PointBoxProjection(thePoint, theBox.CornerMin(), theBox.CornerMax());
   }
 
   //! Computes projection of point on bounding box
   static BVH_VecNt PointBoxProjection(const BVH_VecNt& thePoint,
                                       const BVH_VecNt& theCMin,
                                       const BVH_VecNt& theCMax)
   {
     return thePoint.cwiseMax(theCMin).cwiseMin(theCMax);
   }
 
 public: //! @name Point-Triangle Square distance
   //! Find nearest point on a triangle for the given point
   static BVH_VecNt PointTriangleProjection(const BVH_VecNt&        thePoint,
                                            const BVH_VecNt&        theNode0,
                                            const BVH_VecNt&        theNode1,
                                            const BVH_VecNt&        theNode2,
                                            BVH_PrjStateInTriangle* thePrjState          = nullptr,
                                            Standard_Integer*       theNumberOfFirstNode = nullptr,
                                            Standard_Integer*       theNumberOfLastNode  = nullptr)
   {
     const BVH_VecNt aAB = theNode1 - theNode0;
     const BVH_VecNt aAC = theNode2 - theNode0;
     const BVH_VecNt aAP = thePoint - theNode0;
 
     T aABdotAP = aAB.Dot(aAP);
     T aACdotAP = aAC.Dot(aAP);
 
     if (aABdotAP <= 0. && aACdotAP <= 0.)
     {
       if (thePrjState != nullptr)
       {
         *thePrjState          = BVH_PrjStateInTriangle_VERTEX;
         *theNumberOfFirstNode = 0;
         *theNumberOfLastNode  = 0;
       }
       return theNode0;
     }
 
     const BVH_VecNt aBC = theNode2 - theNode1;
     const BVH_VecNt aBP = thePoint - theNode1;
 
     T aBAdotBP = -(aAB.Dot(aBP));
     T aBCdotBP = (aBC.Dot(aBP));
 
     if (aBAdotBP <= 0. && aBCdotBP <= 0.)
     {
       if (thePrjState != nullptr)
       {
         *thePrjState          = BVH_PrjStateInTriangle_VERTEX;
         *theNumberOfFirstNode = 1;
         *theNumberOfLastNode  = 1;
       }
       return theNode1;
     }
 
     const BVH_VecNt aCP = thePoint - theNode2;
 
     T aCBdotCP = -(aBC.Dot(aCP));
     T aCAdotCP = -(aAC.Dot(aCP));
 
     if (aCAdotCP <= 0. && aCBdotCP <= 0.)
     {
       if (thePrjState != nullptr)
       {
         *thePrjState          = BVH_PrjStateInTriangle_VERTEX;
         *theNumberOfFirstNode = 2;
         *theNumberOfLastNode  = 2;
       }
       return theNode2;
     }
 
     T aACdotBP = (aAC.Dot(aBP));
 
     T aVC = aABdotAP * aACdotBP + aBAdotBP * aACdotAP;
 
     if (aVC <= 0. && aABdotAP > 0. && aBAdotBP > 0.)
     {
       if (thePrjState != nullptr)
       {
         *thePrjState          = BVH_PrjStateInTriangle_EDGE;
         *theNumberOfFirstNode = 0;
         *theNumberOfLastNode  = 1;
       }
       return theNode0 + aAB * (aABdotAP / (aABdotAP + aBAdotBP));
     }
 
     T aABdotCP = (aAB.Dot(aCP));
 
     T aVA = aBAdotBP * aCAdotCP - aABdotCP * aACdotBP;
 
     if (aVA <= 0. && aBCdotBP > 0. && aCBdotCP > 0.)
     {
       if (thePrjState != nullptr)
       {
         *thePrjState          = BVH_PrjStateInTriangle_EDGE;
         *theNumberOfFirstNode = 1;
         *theNumberOfLastNode  = 2;
       }
       return theNode1 + aBC * (aBCdotBP / (aBCdotBP + aCBdotCP));
     }
 
     T aVB = aABdotCP * aACdotAP + aABdotAP * aCAdotCP;
 
     if (aVB <= 0. && aACdotAP > 0. && aCAdotCP > 0.)
     {
       if (thePrjState != nullptr)
       {
         *thePrjState          = BVH_PrjStateInTriangle_EDGE;
         *theNumberOfFirstNode = 2;
         *theNumberOfLastNode  = 0;
       }
       return theNode0 + aAC * (aACdotAP / (aACdotAP + aCAdotCP));
     }
 
     T aNorm = aVA + aVB + aVC;
 
     if (thePrjState != nullptr)
     {
       *thePrjState = BVH_PrjStateInTriangle_INNER;
     }
 
     return (theNode0 * aVA + theNode1 * aVB + theNode2 * aVC) / aNorm;
   }
 
   //! Computes square distance between point and triangle
   static T PointTriangleSquareDistance(const BVH_VecNt& thePoint,
                                        const BVH_VecNt& theNode0,
                                        const BVH_VecNt& theNode1,
                                        const BVH_VecNt& theNode2)
   {
     const BVH_VecNt aProj = PointTriangleProjection(thePoint, theNode0, theNode1, theNode2);
     const BVH_VecNt aPP   = aProj - thePoint;
     return aPP.Dot(aPP);
   }
 
 public: //! @name Ray-Box Intersection
   //! Computes hit time of ray-box intersection
   static Standard_Boolean RayBoxIntersection(const BVH_Ray<T, N>& theRay,
                                              const BVH_Box<T, N>& theBox,
                                              T&                   theTimeEnter,
                                              T&                   theTimeLeave)
   {
     if (!theBox.IsValid())
     {
       return Standard_False;
     }
     return RayBoxIntersection(theRay,
                               theBox.CornerMin(),
                               theBox.CornerMax(),
                               theTimeEnter,
                               theTimeLeave);
   }
 
   //! Computes hit time of ray-box intersection
   static Standard_Boolean RayBoxIntersection(const BVH_Ray<T, N>& theRay,
                                              const BVH_VecNt&     theBoxCMin,
                                              const BVH_VecNt&     theBoxCMax,
                                              T&                   theTimeEnter,
                                              T&                   theTimeLeave)
   {
     return RayBoxIntersection(theRay.Origin,
                               theRay.Direct,
                               theBoxCMin,
                               theBoxCMax,
                               theTimeEnter,
                               theTimeLeave);
   }
 
   //! Computes hit time of ray-box intersection
   static Standard_Boolean RayBoxIntersection(const BVH_VecNt&     theRayOrigin,
                                              const BVH_VecNt&     theRayDirection,
                                              const BVH_Box<T, N>& theBox,
                                              T&                   theTimeEnter,
                                              T&                   theTimeLeave)
   {
     if (!theBox.IsValid())
     {
       return Standard_False;
     }
     return RayBoxIntersection(theRayOrigin,
                               theRayDirection,
                               theBox.CornerMin(),
                               theBox.CornerMax(),
                               theTimeEnter,
                               theTimeLeave);
   }
 
   //! Computes hit time of ray-box intersection
   static Standard_Boolean RayBoxIntersection(const BVH_VecNt& theRayOrigin,
                                              const BVH_VecNt& theRayDirection,
                                              const BVH_VecNt& theBoxCMin,
                                              const BVH_VecNt& theBoxCMax,
                                              T&               theTimeEnter,
                                              T&               theTimeLeave)
   {
     BVH_VecNt aNodeMin, aNodeMax;
     for (int i = 0; i < N; ++i)
     {
       if (theRayDirection[i] == 0)
       {
         aNodeMin[i] = (theBoxCMin[i] - theRayOrigin[i]) <= 0 ? (std::numeric_limits<T>::min)()
                                                              : (std::numeric_limits<T>::max)();
         aNodeMax[i] = (theBoxCMax[i] - theRayOrigin[i]) < 0 ? (std::numeric_limits<T>::min)()
                                                             : (std::numeric_limits<T>::max)();
       }
       else
       {
         aNodeMin[i] = (theBoxCMin[i] - theRayOrigin[i]) / theRayDirection[i];
         aNodeMax[i] = (theBoxCMax[i] - theRayOrigin[i]) / theRayDirection[i];
       }
     }
 
     BVH_VecNt aTimeMin, aTimeMax;
     for (int i = 0; i < N; ++i)
     {
       aTimeMin[i] = Min(aNodeMin[i], aNodeMax[i]);
       aTimeMax[i] = Max(aNodeMin[i], aNodeMax[i]);
     }
 
     T aTimeEnter = Max(aTimeMin[0], Max(aTimeMin[1], aTimeMin[2]));
     T aTimeLeave = Min(aTimeMax[0], Min(aTimeMax[1], aTimeMax[2]));
 
     Standard_Boolean hasIntersection = aTimeEnter <= aTimeLeave && aTimeLeave >= 0;
     if (hasIntersection)
     {
       theTimeEnter = aTimeEnter;
       theTimeLeave = aTimeLeave;
     }
 
     return hasIntersection;
   }
 };
 
 #endif

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