/****************************************************************************
* VCGLib                                                            o o     *
* Visual and Computer Graphics Library                            o     o   *
*                                                                _   O  _   *
* Copyright(C) 2004-2016                                           \/)\/    *
* Visual Computing Lab                                            /\/|      *
* ISTI - Italian National Research Council                           |      *
*                                                                    \      *
* All rights reserved.                                                      *
*                                                                           *
* This program is free software; you can redistribute it and/or modify      *
* it under the terms of the GNU General Public License as published by      *
* the Free Software Foundation; either version 2 of the License, or         *
* (at your option) any later version.                                       *
*                                                                           *
* This program is distributed in the hope that it will be useful,           *
* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
* for more details.                                                         *
*                                                                           *
****************************************************************************/
#ifndef __VCGLIB_BOX3
#define __VCGLIB_BOX3

#include <vcg/space/point3.h>
#include <vcg/math/matrix44.h>
#include <vcg/space/line3.h>
#include <vcg/space/plane3.h>

namespace vcg {

/** \addtogroup space */
/*@{*/
/**
Templated class for 3D boxes.
  This is the class for definition of a axis aligned bounding box in 3D space. It is stored just as two Point3
    @param BoxScalarType (template parameter) Specifies the type of scalar used to represent coords.
*/
template <class BoxScalarType>
class Box3
{
public:

    /// The scalar type
    typedef BoxScalarType ScalarType;

    /// min coordinate point
  Point3<BoxScalarType> min;
    /// max coordinate point
    Point3<BoxScalarType> max;
        /// The bounding box constructor
    inline  Box3() { min.X()= 1;max.X()= -1;min.Y()= 1;max.Y()= -1;min.Z()= 1;max.Z()= -1;}
        /// Copy constructor
    inline  Box3( const Box3 & b ) { min=b.min; max=b.max; }
        /// Min Max constructor
    inline  Box3( const Point3<BoxScalarType> & mi, const Point3<BoxScalarType> & ma ) { min = mi; max = ma; }
    /// Point Radius Constructor
  inline Box3(const Point3<BoxScalarType> & center, const BoxScalarType & radius) {
    min = center-Point3<BoxScalarType>(radius,radius,radius);
    max = center+Point3<BoxScalarType>(radius,radius,radius);
  }
        /// The bounding box distructor
    inline ~Box3() { }
        /// Operator to compare two bounding box
    inline bool operator == ( Box3<BoxScalarType> const & p ) const
    {
        return min==p.min && max==p.max;
    }
        /// Operator to dispare two bounding box
    inline bool operator != ( Box3<BoxScalarType> const & p ) const
    {
        return min!=p.min || max!=p.max;
    }
        /** Offset of a vector (s,s,s)
        */
    void Offset( const BoxScalarType s )
    {
        Offset( Point3<BoxScalarType> (s,s,s));
    }
        /** Offset the two corner of the box of a vector delta. 
         *  adding delta to max and -delta to min. 
            @param delta offset vector
        */
    void Offset( const Point3<BoxScalarType> & delta )
    {
        min -= delta;
        max += delta;
    }
    /// Initializing the bounding box
    void Set( const Point3<BoxScalarType> & p )
    {
        min = max = p;
    }
    
    /// Set the bounding box to a null value
    void SetNull()
    {
        min.X()= 1; max.X()= -1;
        min.Y()= 1; max.Y()= -1;
        min.Z()= 1; max.Z()= -1;
    }
        /** Modify the current bbox to contain also the passed box.
         *  Adding a null bounding box does nothing
        */
    void Add( Box3<BoxScalarType> const & b )
    {
        if(b.IsNull()) return; // Adding a null bbox should do nothing
        if(IsNull()) *this=b;
        else
        {
            if(min.X() > b.min.X()) min.X() = b.min.X();
            if(min.Y() > b.min.Y()) min.Y() = b.min.Y();
            if(min.Z() > b.min.Z()) min.Z() = b.min.Z();

            if(max.X() < b.max.X()) max.X() = b.max.X();
            if(max.Y() < b.max.Y()) max.Y() = b.max.Y();
            if(max.Z() < b.max.Z()) max.Z() = b.max.Z();
        }
    }
        /** Modify the current bbox to contain also the passed point
        */
    void Add( const Point3<BoxScalarType> & p )
    {
        if(IsNull()) Set(p);
        else
        {
            if(min.X() > p.X()) min.X() = p.X();
            if(min.Y() > p.Y()) min.Y() = p.Y();
            if(min.Z() > p.Z()) min.Z() = p.Z();

            if(max.X() < p.X()) max.X() = p.X();
            if(max.Y() < p.Y()) max.Y() = p.Y();
            if(max.Z() < p.Z()) max.Z() = p.Z();
        }
    }

    /** Modify the current bbox to contain also the passed sphere
    */
void Add( const Point3<BoxScalarType> & p, const BoxScalarType radius )
{
    if(IsNull()) Set(p);
    else
    {
      min.X() = std::min(min.X(),p.X()-radius);
      min.Y() = std::min(min.Y(),p.Y()-radius);
      min.Z() = std::min(min.Z(),p.Z()-radius);

      max.X() = std::max(max.X(),p.X()+radius);
      max.Y() = std::max(max.Y(),p.Y()+radius);
      max.Z() = std::max(max.Z(),p.Z()+radius);
    }
}
  /** Modify the current bbox to contain also the box b trasformed according to the matrix m
  */
    void Add( const Matrix44<BoxScalarType> &m, const Box3<BoxScalarType> & b )
    {
      if(b.IsNull()) return; // Adding a null bbox should do nothing
      
      const Point3<BoxScalarType> &mn= b.min;
      const Point3<BoxScalarType> &mx= b.max;
      Add(m*(Point3<BoxScalarType>(mn[0],mn[1],mn[2])));
      Add(m*(Point3<BoxScalarType>(mx[0],mn[1],mn[2])));
      Add(m*(Point3<BoxScalarType>(mn[0],mx[1],mn[2])));
      Add(m*(Point3<BoxScalarType>(mx[0],mx[1],mn[2])));
      Add(m*(Point3<BoxScalarType>(mn[0],mn[1],mx[2])));
      Add(m*(Point3<BoxScalarType>(mx[0],mn[1],mx[2])));
      Add(m*(Point3<BoxScalarType>(mn[0],mx[1],mx[2])));
      Add(m*(Point3<BoxScalarType>(mx[0],mx[1],mx[2])));
    }
        /** Calcola l'intersezione tra due bounding box. Al bounding box viene assegnato il valore risultante.
            @param b Il bounding box con il quale si vuole effettuare l'intersezione
        */
    void Intersect( const Box3<BoxScalarType> & b )
    {
        if(min.X() < b.min.X()) min.X() = b.min.X();
        if(min.Y() < b.min.Y()) min.Y() = b.min.Y();
        if(min.Z() < b.min.Z()) min.Z() = b.min.Z();

        if(max.X() > b.max.X()) max.X() = b.max.X();
        if(max.Y() > b.max.Y()) max.Y() = b.max.Y();
        if(max.Z() > b.max.Z()) max.Z() = b.max.Z();

        if(min.X()>max.X() || min.Y()>max.Y() || min.Z()>max.Z()) SetNull();
    }
        /** Trasla il bounding box di un valore definito dal parametro.
            @param p Il bounding box trasla sulla x e sulla y in base alle coordinate del parametro
        */
    void Translate( const Point3<BoxScalarType> & p )
    {
        min += p;
        max += p;
    }
        /** true if the point belong to the closed box 
        */
    bool IsIn( Point3<BoxScalarType> const & p ) const
    {
        return (
            min.X() <= p.X() && p.X() <= max.X() &&
            min.Y() <= p.Y() && p.Y() <= max.Y() &&
            min.Z() <= p.Z() && p.Z() <= max.Z()
        );
    }
        /** true if the point belong to the open box (open on the max side) 
         * e.g. if p in [min,max)
        */
    bool IsInEx( Point3<BoxScalarType> const & p ) const
    {
        return (
            min.X() <= p.X() && p.X() < max.X() &&
            min.Y() <= p.Y() && p.Y() < max.Y() &&
            min.Z() <= p.Z() && p.Z() < max.Z()
        );
    }
        /** Verifica se due bounding box collidono cioe' se hanno una intersezione non vuota. Per esempio
            due bounding box adiacenti non collidono.
            @param b A bounding box
            @return True se collidoo, false altrimenti
        */
    /* old version
    bool Collide(Box3<BoxScalarType> const &b)
    {
        Box3<BoxScalarType> bb=*this;
        bb.Intersect(b);
        return bb.IsValid();
    }
    */
    bool Collide(Box3<BoxScalarType> const &b) const
    {
        return b.min.X()<max.X() && b.max.X()>min.X() &&
               b.min.Y()<max.Y() && b.max.Y()>min.Y() &&
               b.min.Z()<max.Z() && b.max.Z()>min.Z() ;
    }
        /** 
          return true if the box is null (e.g. invalid or not initialized);
        */
    bool IsNull() const { return min.X()>max.X() || min.Y()>max.Y() || min.Z()>max.Z(); }
        /** return true if the box is empty (e.g. if min == max)
        */
    bool IsEmpty() const { return min==max; }
        /// Return the lenght of the diagonal of the box .
    BoxScalarType Diag() const
    {
        return Distance(min,max);
    }
        /// Calcola il quadrato della diagonale del bounding box.
    BoxScalarType SquaredDiag() const
    {
        return SquaredDistance(min,max);
    }
        /// Return the center of the box.
    Point3<BoxScalarType> Center() const
    {
        return (min+max)/2;
    }
        /// Compute bounding box size.
    Point3<BoxScalarType> Dim() const
    {
        return (max-min);
    }
      /// Returns global coords of a local point expressed in [0..1]^3
    Point3<BoxScalarType> LocalToGlobal(Point3<BoxScalarType> const & p) const{
        return Point3<BoxScalarType>(
            min[0] + p[0]*(max[0]-min[0]),
            min[1] + p[1]*(max[1]-min[1]),
            min[2] + p[2]*(max[2]-min[2]));
    }
      /// Returns local coords expressed in [0..1]^3 of a point in 3D
    Point3<BoxScalarType> GlobalToLocal(Point3<BoxScalarType> const & p) const{
        return Point3<BoxScalarType>(
          (p[0]-min[0])/(max[0]-min[0]),
          (p[1]-min[1])/(max[1]-min[1]),
          (p[2]-min[2])/(max[2]-min[2])
            );
    }
        /// Return the volume of the box.
    BoxScalarType Volume() const
    {
        return (max.X()-min.X())*(max.Y()-min.Y())*(max.Z()-min.Z());
    }
        /// Calcola la dimensione del bounding box sulla x.
    inline BoxScalarType DimX() const { return max.X()-min.X();}
        /// Calcola la dimensione del bounding box sulla y.
    inline BoxScalarType DimY() const { return max.Y()-min.Y();}
        /// Calcola la dimensione del bounding box sulla z.
    inline BoxScalarType DimZ() const { return max.Z()-min.Z();}
        /// Calcola il lato di lunghezza maggiore
    inline unsigned char MaxDim() const {
        int i;
        Point3<BoxScalarType> diag = max-min;
        if(diag[0]>diag[1]) i=0; else i=1;
        return (diag[i]>diag[2])? i: 2;
    }
        /// Calcola il lato di lunghezza minore
    inline unsigned char MinDim() const {
        int i;
        Point3<BoxScalarType> diag =  max-min;
        if(diag[0]<diag[1]) i=0; else i=1;
        return (diag[i]<diag[2])? i: 2;
    }

    template <class Q>
    inline void Import( const Box3<Q> & b )
    {
        min.Import(b.min);
        max.Import(b.max);
    }

    template <class Q>
    static inline Box3 Construct( const Box3<Q> & b )
    {
    return Box3(Point3<BoxScalarType>::Construct(b.min),Point3<BoxScalarType>::Construct(b.max));
    }

        /// gives the ith box vertex in order: (x,y,z),(X,y,z),(x,Y,z),(X,Y,z),(x,y,Z),(X,y,Z),(x,Y,Z),(X,Y,Z)
    Point3<BoxScalarType> P(const int & i) const {
            return Point3<BoxScalarType>(
                min[0]+ (i%2) * DimX(),
                min[1]+ ((i / 2)%2) * DimY(),
                min[2]+ (i>3)* DimZ());
    }
}; // end class definition

template <class T> Box3<T> Point3<T>::GetBBox(Box3<T> &bb) const {
 bb.Set( *this );
 return bb;
}


typedef Box3<short>  Box3s;
typedef Box3<int>	 Box3i;
typedef Box3<float>  Box3f;
typedef Box3<double> Box3d;


/*@}*/

} // end namespace
#endif