/****************************************************************************
* VCGLib                                                            o o     *
* Visual and Computer Graphics Library                            o     o   *
*                                                                _   O  _   *
* Copyright(C) 2004                                                \/)\/    *
* 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.                                                         *
*                                                                           *
****************************************************************************/
/****************************************************************************
  History

$Log: not supported by cvs2svn $
Revision 1.11  2005/01/03 11:21:26  cignoni
Added some casts

Revision 1.10  2004/09/28 10:25:05  ponchio
SetBox minimal change.

Revision 1.9  2004/09/23 14:29:42  ponchio
Small bugs fixed.

Revision 1.8  2004/09/23 13:44:25  ponchio
Removed SetSafeBBox. SetBBox is now safe enough.

Revision 1.7  2004/09/09 12:44:39  fasano
included stdio.h

Revision 1.6  2004/09/09 08:39:29  ganovelli
minor changes for gcc

Revision 1.5  2004/06/25 18:34:23  ganovelli
added Grid to return all the cells sharing a specified edge

Revision 1.4  2004/06/23 15:49:03  ponchio
Added some help and inndentation

Revision 1.3  2004/05/12 18:50:58  ganovelli
changed calls to Dist

Revision 1.2  2004/05/11 14:33:46  ganovelli
changed to grid_static_obj to grid_static_ptr

Revision 1.1  2004/05/10 14:44:13  ganovelli
created

Revision 1.1  2004/03/08 09:21:31  cignoni
Initial commit

****************************************************************************/

#ifndef __VCGLIB_UGRID
#define __VCGLIB_UGRID

#include <vector>
#include <algorithm>
#include <stdio.h>

#include <vcg/space/box3.h>
#include <vcg/space/line3.h>
#include <vcg/space/index/grid_util.h>
namespace vcg {
  
  /** Static Uniform Grid
      A spatial search structure for a accessing a container of objects. 
      It is based on a uniform grid overlayed over a protion of space. 
      The grid partion the space into cells. Cells contains just pointers 
      to the object that are stored elsewhere.
      The set of objects is meant to be static and pointer stable. 

      Useful for situation were many space related query are issued over 
      the same dataset (ray tracing, measuring distances between meshes, 
      re-detailing ecc.). 
      Works well for distribution that ar reasonably uniform.
      How to use it:
      ContainerType must have a 'value_type' typedef inside.
      (stl containers already have it)

      Objects pointed by cells (of kind 'value_type') must have
      a 'ScalarType' typedef (float or double usually)
      and 2 member functions:
      
      bool Dist(const Point3f &point, ScalarType &mindist, Point3f &result);
      which return true if the distance from point to the object is < mindist
      and set mindist to said distance, and result must be set as the closest 
      point of the object to point)

      void GetBBox(Box3<ScalarType> &b)
      which return the bounding box of the object
      
     */
  
template < typename ContainerType >
class GridStaticPtr
{
 public:

  /** Internal class for keeping the first pointer of object.
      Definizione Link dentro la griglia. Classe di supporto per GridStaticObj.
  */
  class Link
    {
    public:
      /// Costruttore di default
      inline Link(){};
      /// Costruttore con inizializzatori
      inline Link(  typename ContainerType::iterator const nt, const int ni ){
	assert(ni>=0);
	t = nt;
	i = ni;
      };
      
      
      inline bool operator <  ( const Link & l ) const{ return i <   l.i; } 
      inline bool operator <= ( const Link & l ) const{ return i <=  l.i; }
      inline bool operator >  ( const Link & l ) const{ return i >   l.i; }
      inline bool operator >= ( const Link & l ) const{ return i >=  l.i; }
      inline bool operator == ( const Link & l ) const{ return i ==  l.i; }
      inline bool operator != ( const Link & l ) const{ return i !=  l.i; }
      
      inline typename ContainerType::iterator & Elem() {
	return t;
      }
      inline int & Index() {
	return i;
      }
      
    private:
      /// Puntatore all'elemento T
      typename ContainerType::iterator t;
      /// Indirizzo del voxel dentro la griglia
      int i;
      
      
    };//end class Link
  
  typedef typename ContainerType::value_type ObjType;
  typedef ObjType* ObjPtr;
  typedef typename ObjType::ScalarType ScalarType;
  typedef Point3<ScalarType> Point3x;
  typedef Box3<ScalarType> Box3x;
  typedef Line3<ScalarType> Line3x;
  typedef Link* Cell;
  
  Box3x   bbox;
  Point3x dim;   /// Dimensione spaziale (lunghezza lati) del bbox
  Point3i siz;   /// Dimensioni griglia in celle
  Point3x voxel; /// Dimensioni di una cella
  

  std::vector<Link>   links;   /// Insieme di tutti i links
  std::vector<Cell> grid;   /// Griglia vera e propria
  
  /// Dato un punto, ritorna la cella che lo contiene
  inline Cell* Grid( const Point3d & p )
    {
      int x = int( (p[0]-bbox.min[0])/voxel[0] );
      int y = int( (p[1]-bbox.min[1])/voxel[1] );
      int z = int( (p[2]-bbox.min[2])/voxel[2] );
      
#ifndef NDEBUG
      if ( x<0 || x>=siz[0] || y<0 || y>=siz[1] || z<0 || z>=siz[2] )
	return NULL;
      else
#endif
	
	return grid.begin() + ( x+siz[0]*(y+siz[1]*z) );
    }
  /// Date le coordinate ritorna la cella
  inline Cell* Grid( const int x, const int y, const int z )
    {
#ifndef NDEBUG
      if ( x<0 || x>=siz[0] || y<0 || y>=siz[1] || z<0 || z>=siz[2] )
	assert(0);
      //return NULL;
      else
#endif
	assert(((unsigned int)x+siz[0]*y+siz[1]*z)<grid.size());
      return &*grid.begin() + ( x+siz[0]*(y+siz[1]*z) );
    }
  
  
  /// Date le coordinate di un grid point (corner minx,miy,minz) ritorna le celle che condividono
  /// l'edge cell che parte dal grid point in direzione axis
  inline void Grid( Point3i p, const int axis,
		    std::vector<Cell*> & cl) 
    {
#ifndef NDEBUG
      if ( p[0]<0 || p[0]>siz[0] || 
	   p[1]<0 || p[1]>siz[1] || 
	   p[2]<0 || p[2]>siz[2] )
	assert(0);
      //return NULL;
      else
#endif
	assert(((unsigned int) p[0]+siz[0]*p[1]+siz[1]*p[2])<grid.size());
      
      int axis0 = (axis+1)%3;
      int axis1 = (axis+2)%3;
      int i,j,x,y;
      x = p[axis0];
      y = p[axis1];
      for(i = max(x-1,0); i <= min( x,siz[axis0]-1);++i)	
	for(j = max(y-1,0); j <= min( y,siz[axis1]-1);++j){
	  p[axis0]=i;
	  p[axis1]=j;
	  cl.push_back(Grid(p[0]+siz[0]*(p[1]+siz[1]*p[2])));
	}
    }
  
  Cell* Grid(const  int i) {
    return &grid[i];
  }
  void Grid( const Point3d & p, Cell & first, Cell & last )
    {
      Cell* g = Grid(s);
      
      first = *g;
      last  = *(g+1);
    }
  void Grid( const Cell* g, Cell & first, Cell & last )
    {
      first = *g;
      last  = *(g+1);
    }
  void Grid( const int x, const int y, const int z, Cell & first, Cell & last )
    {
      Cell* g = Grid(x,y,z);
      
      first = *g;
      last  = *(g+1);
    }
  
  /// Set the bounding box of the grid
  ///We need some extra space for numerical precision.
  void SetBBox( const Box3x & b )
    {
      bbox = b;
      ScalarType t = bbox.Diag()/100.0;
      if(t == 0) t = ScalarType(1e20);  // <--- Some doubts on this (Cigno 5/1/04)
      bbox.Offset(t);
      dim  = bbox.max - bbox.min;
    }
  
  /// Dato un punto 3d ritorna l'indice del box corrispondente
  inline void PToIP(const Point3x & p, Point3i &pi ) const
    {
      Point3x t = p - bbox.min;
      pi[0] = int( t[0]/voxel[0] );
      pi[1] = int( t[1]/voxel[1] );
      pi[2] = int( t[2]/voxel[2] );
    }
  /// Dato un box reale ritorna gli indici dei voxel compresi dentro un ibox
  void BoxToIBox( const Box3x & b, Box3i & ib ) const
    {
      PToIP(b.min,ib.min);
      PToIP(b.max,ib.max);
    }
  
  
  void ShowStats(FILE *fp)
    {
      // Conto le entry
      //int nentry = 0;
      //Hist H;
      //H.SetRange(0,1000,1000);
      //int pg;
      //for(pg=0;pg<grid.size()-1;++pg)
      //	if( grid[pg]!=grid[pg+1] )
      //	{
      //		++nentry;
      //		H.Add(grid[pg+1]-grid[pg]);
      //	}
      
      //	fprintf(fp,"Uniform Grid: %d x %d x %d (%d voxels), %.1f%% full, %d links \nNon empty Cell Occupancy Distribution Avg: %f (%4.0f %4.0f %4.0f) \n",
      //	siz[0],siz[1],siz[2],grid.size()-1,
      //	double(nentry)*100.0/(grid.size()-1),links.size(),H.Avg(),H.Percentile(.25),H.Percentile(.5),H.Percentile(.75)
      //    
      //);
    }
  
  
  /** Returns the closest posistion of a point p and its distance
      @param p a 3d point
      @return The closest element
  */
  ObjPtr  GetClosest( const Point3x & p, ScalarType & min_dist, Point3x  & res)
    {
      ScalarType dx = ( (p[0]-bbox.min[0])/voxel[0] );
      ScalarType dy = ( (p[1]-bbox.min[1])/voxel[1] );
      ScalarType dz = ( (p[2]-bbox.min[2])/voxel[2] );
      
      int ix = int( dx );
      int iy = int( dy );
      int iz = int( dz );
      
      double voxel_min=voxel[0];
      if (voxel_min<voxel[1]) voxel_min=voxel[1];
      if (voxel_min<voxel[2]) voxel_min=voxel[2];
      
      ScalarType radius=(dx-ScalarType(ix));
      if (radius>0.5)  radius=(1.0-radius);	radius*=voxel[0];
      
      ScalarType tmp=dy-ScalarType(iy); 
      if (tmp>0.5) tmp=1.0-tmp; 
      tmp*=voxel[1]; 
      if (radius>tmp) radius=tmp;
      tmp=dz-ScalarType(iz); 
      if (tmp>0.5) tmp=1.0-tmp; 
      tmp*=voxel[2]; 
      if (radius>tmp) radius=tmp;
	
      Point3x t_res;
      //ScalarType min_dist=1e10;
      ObjPtr winner=NULL;

      Link  *first, *last;
      Link *l;
      if ((ix>=0) && (iy>=0) && (iz>=0) && 
	  (ix<siz[0]) && (iy<siz[1]) && (iz<siz[2])) {
	
	Grid( ix, iy, iz, first, last );
	for(l=first;l!=last;++l)
	  {
	    if (!l->Elem()->IsD() && l->Elem()->Dist(p,min_dist,t_res)) {
	      winner=&*(l->Elem());
	      res=t_res;
	      
	    }
	  };
      };
      
      //return winner;
      
      Point3i done_min=Point3i(ix,iy,iz), done_max=Point3i(ix,iy,iz);

      //printf(".");
      
      while (min_dist>radius) {
	//if (dy-ScalarType(iy))
	done_min[0]--; if (done_min[0]<0) done_min[0]=0;
	done_min[1]--; if (done_min[1]<0) done_min[1]=0;
	done_min[2]--; if (done_min[2]<0) done_min[2]=0;
	done_max[0]++; if (done_max[0]>=siz[0]-1) done_max[0]=siz[0]-1;
	done_max[1]++; if (done_max[1]>=siz[1]-1) done_max[1]=siz[1]-1;
	done_max[2]++; if (done_max[2]>=siz[2]-1) done_max[2]=siz[2]-1;
	radius+=voxel_min;
	//printf("+");
	for (ix=done_min[0]; ix<=done_max[0]; ix++) 
	  for (iy=done_min[1]; iy<=done_max[1]; iy++) 
	    for (iz=done_min[2]; iz<=done_max[2]; iz++) 
	      {
		Grid( ix, iy, iz, first, last );
		for(l=first;l!=last;++l)
		  {
		    if (!l->Elem()->IsD() && l->Elem()->Dist(p,min_dist,t_res)) {
		      winner=&*(l->Elem());
		      res=t_res;
		    };
		  };
	      }
      };
      return winner;
    };
  
  /// Inserisce una mesh nella griglia. Nota: prima bisogna 
  /// chiamare SetBBox che setta dim in maniera corretta
  void Set( ContainerType & s )
    {
      Set(s,s.size());
    }
  
  
  /// Inserisce una mesh nella griglia. Nota: prima bisogna 
  /// chiamare SetBBox che setta dim in maniera corretta
  void Set( ContainerType & s,int _size )
    {
      Point3i _siz;
      
      BestDim( _size, dim, _siz );
      Set(s,_siz);
    }
  void Set(ContainerType & s, Point3i _siz)
    {	
      siz=_siz;
      // Calcola la dimensione della griglia
      voxel[0] = dim[0]/siz[0];
      voxel[1] = dim[1]/siz[1];
      voxel[2] = dim[2]/siz[2];
      
      // "Alloca" la griglia: +1 per la sentinella
      grid.resize( siz[0]*siz[1]*siz[2]+1 );
      
      // Ciclo inserimento dei tetraedri: creazione link
      links.clear();
      typename ContainerType::iterator pt;
      for(pt=s.begin(); pt!=s.end(); ++pt)
	{
	  Box3x bb;			// Boundig box del tetraedro corrente
	  (*pt).GetBBox(bb);
	  bb.Intersect(bbox);
	  if(! bb.IsNull() )
	    {

	      Box3i ib;		// Boundig box in voxels
	      BoxToIBox( bb,ib );
	      int x,y,z;
	      for(z=ib.min[2];z<=ib.max[2];++z)
		{
		  int bz = z*siz[1];
		  for(y=ib.min[1];y<=ib.max[1];++y)
		    {
		      int by = (y+bz)*siz[0];
		      for(x=ib.min[0];x<=ib.max[0];++x)
			// Inserire calcolo cella corrente
			// if( pt->Intersect( ... )
			links.push_back( Link(pt,by+x) );
		    }
		}
	    }
	}
      // Push della sentinella
      links.push_back( Link((typename ContainerType::iterator)NULL,
			    (grid.size()-1)));
      
      // Ordinamento dei links
      sort( links.begin(), links.end() );
      
      // Creazione puntatori ai links
      typename std::vector<Link>::iterator pl;
      unsigned int pg;
      pl = links.begin();
      for(pg=0;pg<grid.size();++pg)
	{
	  assert(pl!=links.end());
	  
	  grid[pg] = &*pl;
	  while( (int)pg == pl->Index() )	// Trovato inizio
	    {
	      ++pl;		// Ricerca prossimo blocco
	      if(pl==links.end())
		break;
	    }
	}
      
    }
    
  
  int MemUsed()
    {
      return sizeof(GridStaticObj)+ sizeof(Link)*links.size() + 
	     sizeof(Cell) * grid.size();
    }
}; //end class GridStaticObj
 
}; // end namespace

#endif