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 // Created on: 2015-03-16
 // Created by: Varvara POSKONINA
 // Copyright (c) 2005-2014 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 _SelectMgr_Frustum_HeaderFile
 #define _SelectMgr_Frustum_HeaderFile
 
 #include <SelectMgr_BaseFrustum.hxx>
 
 //! This is an internal class containing representation of rectangular selecting frustum, created in
 //! case of point and box selection, and algorithms for overlap detection between selecting frustum
 //! and sensitive entities. The principle of frustum calculation:
 //! - for point selection: on a near view frustum plane rectangular neighborhood of
 //!                        user-picked point is created according to the pixel tolerance
 //!                        given and then this rectangle is projected onto far view frustum
 //!                        plane. This rectangles define the parallel bases of selecting frustum;
 //! - for box selection: box points are projected onto near and far view frustum planes.
 //!                      These 2 projected rectangles define parallel bases of selecting frustum.
 //! Overlap detection tests are implemented according to the terms of separating axis
 //! theorem (SAT).
 //! Vertex order:
 //! - for triangular frustum: V0_Near, V1_Near, V2_Near,
 //!                           V0_Far, V1_Far, V2_Far;
 //! - for rectangular frustum: LeftTopNear, LeftTopFar,
 //!                            LeftBottomNear,LeftBottomFar,
 //!                            RightTopNear, RightTopFar,
 //!                            RightBottomNear, RightBottomFar.
 //! Plane order in array:
 //! - for triangular frustum: V0V1, V1V2, V0V2, Near, Far;
 //! - for rectangular frustum: Top, Bottom, Left, Right, Near, Far.
 //! Uncollinear edge directions order:
 //! - for rectangular frustum: Horizontal, Vertical,
 //!                            LeftLower, RightLower,
 //!                            LeftUpper, RightUpper;
 //! - for triangular frustum: V0_Near - V0_Far, V1_Near - V1_Far, V2_Near - V2_Far,
 //!                           V1_Near - V0_Near, V2_Near - V1_Near, V2_Near - V0_Near.
 template <int N>
 class SelectMgr_Frustum : public SelectMgr_BaseFrustum
 {
 public:
   SelectMgr_Frustum()
       : SelectMgr_BaseFrustum()
   {
     memset(myMaxOrthoVertsProjections, 0, sizeof(myMaxOrthoVertsProjections));
     memset(myMinOrthoVertsProjections, 0, sizeof(myMinOrthoVertsProjections));
     memset(myMaxVertsProjections, 0, sizeof(myMaxVertsProjections));
     memset(myMinVertsProjections, 0, sizeof(myMinVertsProjections));
   }
 
   //! Dumps the content of me into the stream
   inline virtual void DumpJson(Standard_OStream& theOStream,
                                Standard_Integer  theDepth = -1) const Standard_OVERRIDE;
 
 protected:
   // SAT Tests for different objects
 
   //! Returns true if selecting volume is overlapped by axis-aligned bounding box
   //! with minimum corner at point theMinPt and maximum at point theMaxPt
   Standard_Boolean hasBoxOverlap(const SelectMgr_Vec3& theBoxMin,
                                  const SelectMgr_Vec3& theBoxMax,
                                  Standard_Boolean*     theInside = NULL) const;
 
   //! SAT intersection test between defined volume and given point
   Standard_Boolean hasPointOverlap(const gp_Pnt& thePnt) const;
 
   //! SAT intersection test between defined volume and given segment
   Standard_Boolean hasSegmentOverlap(const gp_Pnt& thePnt1, const gp_Pnt& thePnt2) const;
 
   //! SAT intersection test between frustum given and planar convex polygon represented as ordered
   //! point set
   Standard_Boolean hasPolygonOverlap(const TColgp_Array1OfPnt& theArrayOfPnts,
                                      gp_Vec&                   theNormal) const;
 
   //! SAT intersection test between defined volume and given triangle
   Standard_Boolean hasTriangleOverlap(const gp_Pnt& thePnt1,
                                       const gp_Pnt& thePnt2,
                                       const gp_Pnt& thePnt3,
                                       gp_Vec&       theNormal) const;
 
   //! Intersection test between defined volume and given sphere
   Standard_Boolean hasSphereOverlap(const gp_Pnt&       thePnt1,
                                     const Standard_Real theRadius,
                                     Standard_Boolean*   theInside = NULL) const;
 
   //! Intersection test between defined volume and given cylinder (or cone).
   Standard_Boolean hasCylinderOverlap(const Standard_Real    theBottomRad,
                                       const Standard_Real    theTopRad,
                                       const Standard_Real    theHeight,
                                       const gp_Trsf&         theTrsf,
                                       const Standard_Boolean theIsHollow,
                                       Standard_Boolean*      theInside = NULL) const;
 
   //! Intersection test between defined volume and given circle.
   Standard_Boolean hasCircleOverlap(const Standard_Real    theRadius,
                                     const gp_Trsf&         theTrsf,
                                     const Standard_Boolean theIsFilled,
                                     Standard_Boolean*      theInside = NULL) const;
 
   //! Returns True if all vertices (theVertices) are inside the top and bottom sides of the
   //! cylinder.
   Standard_Boolean isInsideCylinderEndFace(const Standard_Real       theBottomRad,
                                            const Standard_Real       theTopRad,
                                            const Standard_Real       theHeight,
                                            const gp_Trsf&            theTrsf,
                                            const TColgp_Array1OfPnt& theVertices) const;
 
   //! Checking whether the point thePnt is inside the shape with borders theVertices.
   //! thePnt and theVertices lie in the same plane.
   Standard_Boolean isDotInside(const gp_Pnt& thePnt, const TColgp_Array1OfPnt& theVertices) const;
 
 private:
   //! Return true if one segment enclosed between the points thePnt1Seg1 and thePnt2Seg1
   //! intersects another segment that enclosed between thePnt1Seg2 and thePnt2Seg2.
   Standard_Boolean isSegmentsIntersect(const gp_Pnt& thePnt1Seg1,
                                        const gp_Pnt& thePnt2Seg1,
                                        const gp_Pnt& thePnt1Seg2,
                                        const gp_Pnt& thePnt2Seg2) const;
 
   //! Checking whether the borders theVertices of the shape intersect
   //! the cylinder (or cone) end face with the center theCenter and radius theRadius
   Standard_Boolean isIntersectCircle(const Standard_Real       theRadius,
                                      const gp_Pnt&             theCenter,
                                      const gp_Trsf&            theTrsf,
                                      const TColgp_Array1OfPnt& theVertices) const;
 
   //! Checks if AABB and frustum are separated along the given axis
   Standard_Boolean isSeparated(const SelectMgr_Vec3& theBoxMin,
                                const SelectMgr_Vec3& theBoxMax,
                                const gp_XYZ&         theDirect,
                                Standard_Boolean*     theInside) const;
 
   //! Checks if triangle and frustum are separated along the given axis
   Standard_Boolean isSeparated(const gp_Pnt& thePnt1,
                                const gp_Pnt& thePnt2,
                                const gp_Pnt& thePnt3,
                                const gp_XYZ& theAxis) const;
 
 protected:
   gp_Vec myPlanes[N + 2];   //!< Plane equations
   gp_Pnt myVertices[N * 2]; //!< Vertices coordinates
 
   // clang-format off
   Standard_Real myMaxVertsProjections[N + 2];      //!< Cached projections of vertices onto frustum plane directions
   Standard_Real myMinVertsProjections[N + 2];      //!< Cached projections of vertices onto frustum plane directions
   Standard_Real myMaxOrthoVertsProjections[3];     //!< Cached projections of vertices onto directions of ortho unit vectors
   Standard_Real myMinOrthoVertsProjections[3];     //!< Cached projections of vertices onto directions of ortho unit vectors
   // clang-format on
 
   gp_Vec myEdgeDirs[6]; //!< Cached edge directions
 };
 
 #include <SelectMgr_Frustum.lxx>
 
 #endif // _SelectMgr_Frustum_HeaderFile

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