/*=========================================================================

  Program:   Visualization Toolkit
  Module:    $RCSfile: vtkOBBTree.h,v $

  Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
  All rights reserved.
  See Copyright.txt or http://www.kitware.com/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notice for more information.

=========================================================================*/
// .NAME vtkOBBTree - generate oriented bounding box (OBB) tree
// .SECTION Description
// vtkOBBTree is an object to generate oriented bounding box (OBB) trees.
// An oriented bounding box is a bounding box that does not necessarily line 
// up along coordinate axes. The OBB tree is a hierarchical tree structure 
// of such boxes, where deeper levels of OBB confine smaller regions of space.
//
// To build the OBB, a recursive, top-down process is used. First, the root OBB
// is constructed by finding the mean and covariance matrix of the cells (and
// their points) that define the dataset. The eigenvectors of the covariance
// matrix are extracted, giving a set of three orthogonal vectors that define 
// the tightest-fitting OBB. To create the two children OBB's, a split plane 
// is found that (approximately) divides the number cells in half. These are 
// then assigned to the children OBB's. This process then continues until
// the MaxLevel ivar limits the recursion, or no split plane can be found.
//
// A good reference for OBB-trees is Gottschalk & Manocha in Proceedings of 
// Siggraph `96.

// .SECTION Caveats
// Since this algorithms works from a list of cells, the OBB tree will only 
// bound the "geometry" attached to the cells if the convex hull of the 
// cells bounds the geometry.
//
// Long, skinny cells (i.e., cells with poor aspect ratio) may cause 
// unsatisfactory results. This is due to the fact that this is a top-down
// implementation of the OBB tree, requiring that one or more complete cells
// are contained in each OBB. This requirement makes it hard to find good 
// split planes during the recursion process. A bottom-up implementation would
// go a long way to correcting this problem.

// .SECTION See Also
// vtkLocator vtkCellLocator vtkPointLocator

#ifndef __vtkOBBTree_h
#define __vtkOBBTree_h

#include "vtkAbstractCellLocator.h"

class vtkMatrix4x4;

// Special class defines node for the OBB tree
//
//BTX
//
class vtkOBBNode { //;prevent man page generation
public:
  vtkOBBNode();
  ~vtkOBBNode();

  double Corner[3]; //center point of this node
  double Axes[3][3]; //the axes defining the OBB - ordered from long->short
  vtkOBBNode *Parent; //parent node; NULL if root
  vtkOBBNode **Kids; //two children of this node; NULL if leaf
  vtkIdList *Cells; //list of cells in node
  void DebugPrintTree( int level, double *leaf_vol, int *minCells,
                       int *maxCells );
};
//ETX
//

class VTK_GRAPHICS_EXPORT vtkOBBTree : public vtkAbstractCellLocator
{
public:
  vtkTypeRevisionMacro(vtkOBBTree,vtkAbstractCellLocator);
  void PrintSelf(ostream& os, vtkIndent indent);

  // Description:
  // Construct with automatic computation of divisions, averaging
  // 25 cells per octant.
  static vtkOBBTree *New();

//BTX
/*
  if the borland compiler is ever removed, we can use these declarations
  instead of reimplementaing the calls in this subclass
  using vtkAbstractCellLocator::IntersectWithLine;
  using vtkAbstractCellLocator::FindClosestPoint;
  using vtkAbstractCellLocator::FindClosestPointWithinRadius;
*/
//ETX

  // Description:
  // reimplemented from vtkAbstractCellLocator to support bad compilers
  virtual int IntersectWithLine(
    double a0[3], double a1[3], double tol,
    double& t, double x[3], double pcoords[3],
    int &subId) 
  {
    return Superclass::
      IntersectWithLine(a0, a1, tol,t, x, pcoords, subId);
  }

  // Description:
  // reimplemented from vtkAbstractCellLocator to support bad compilers
  virtual int IntersectWithLine(
    double a0[3], double a1[3], double tol,
    double& t, double x[3], double pcoords[3],
    int &subId, vtkIdType &cellId)
  {
    return Superclass::
      IntersectWithLine(a0, a1, tol,t, x, pcoords, subId, cellId);
  }

  // Description:
  // Take the passed line segment and intersect it with the data set.
  // This method assumes that the data set is a vtkPolyData that describes
  // a closed surface, and the intersection points that are returned in
  // 'points' alternate between entrance points and exit points.
  // The return value of the function is 0 if no intersections were found,
  // -1 if point 'a0' lies inside the closed surface, or +1 if point 'a0'
  // lies outside the closed surface.
  // Either 'points' or 'cellIds' can be set to NULL if you don't want
  // to receive that information.
  int IntersectWithLine(const double a0[3], const double a1[3],
                        vtkPoints *points, vtkIdList *cellIds);

  // Description:
  // Return the first intersection of the specified line segment with
  // the OBB tree, as well as information about the cell which the
  // line segment intersected.
  int IntersectWithLine(double a0[3], double a1[3], double tol,
                        double& t, double x[3], double pcoords[3],
                        int &subId, vtkIdType &cellId, vtkGenericCell *cell);

  // Description:
  // Return the closest point and the cell which is closest to the point x.
  // The closest point is somewhere on a cell, it need not be one of the
  // vertices of the cell.  This version takes in a vtkGenericCell
  // to avoid allocating and deallocating the cell.  This is much faster than
  // the version which does not take a *cell, especially when this function is
  // called many times in a row such as by a for loop, where the allocation and
  // deallocation can be done only once outside the for loop.  If a cell is
  // found, "cell" contains the points and ptIds for the cell "cellId" upon
  // exit.
  virtual void FindClosestPoint(
    double x[3], double closestPoint[3],
    vtkIdType &cellId, int &subId, double& dist2)
  {
    Superclass::
      FindClosestPoint(x, closestPoint, cellId, subId, dist2);
  }
  
  // Description:
  // reimplemented from vtkAbstractCellLocator to support bad compilers
  virtual void FindClosestPoint(
    double x[3], double closestPoint[3],
    vtkGenericCell *cell, vtkIdType &cellId, 
    int &subId, double& dist2)
  {
    Superclass::
      FindClosestPoint(x, closestPoint, cell, cellId, subId, dist2);
  }

  // Description:
  // reimplemented from vtkAbstractCellLocator to support bad compilers
  virtual vtkIdType FindClosestPointWithinRadius(
    double x[3], double radius,
    double closestPoint[3], vtkIdType &cellId,
    int &subId, double& dist2)
  {
    return Superclass::FindClosestPointWithinRadius
      (x, radius, closestPoint, cellId, subId, dist2);
  }
 
  // Description:
  // reimplemented from vtkAbstractCellLocator to support bad compilers
  virtual vtkIdType FindClosestPointWithinRadius(
    double x[3], double radius,
    double closestPoint[3],
    vtkGenericCell *cell, vtkIdType &cellId,
    int &subId, double& dist2)
  {
    return Superclass::FindClosestPointWithinRadius
      (x, radius, closestPoint, cell, cellId, subId, dist2);
  }

  // Description:
  // reimplemented from vtkAbstractCellLocator to support bad compilers
  virtual vtkIdType FindClosestPointWithinRadius(
    double x[3], double radius, double closestPoint[3],
    vtkGenericCell *cell, vtkIdType &cellId,
    int &subId, double& dist2, int &inside)
  {
    return Superclass::FindClosestPointWithinRadius
      (x, radius, closestPoint, cell, cellId, subId, dist2, inside);
  }
  
  // Description:
  // Compute an OBB from the list of points given. Return the corner point
  // and the three axes defining the orientation of the OBB. Also return
  // a sorted list of relative "sizes" of axes for comparison purposes.
  static void ComputeOBB(vtkPoints *pts, double corner[3], double max[3], 
                  double mid[3], double min[3], double size[3]);

  // Description:
  // Compute an OBB for the input dataset using the cells in the data.
  // Return the corner point and the three axes defining the orientation
  // of the OBB. Also return a sorted list of relative "sizes" of axes for
  // comparison purposes.
  void ComputeOBB(vtkDataSet *input, double corner[3], double max[3],
                  double mid[3], double min[3], double size[3]);

  // Description:
  // Determine whether a point is inside or outside the data used to build
  // this OBB tree.  The data must be a closed surface vtkPolyData data set.
  // The return value is +1 if outside, -1 if inside, and 0 if undecided.
  int InsideOrOutside(const double point[3]);

  //BTX

  // Description:
  // Returns true if nodeB and nodeA are disjoint after optional
  // transformation of nodeB with matrix XformBtoA
  int DisjointOBBNodes( vtkOBBNode *nodeA, vtkOBBNode *nodeB,
                        vtkMatrix4x4 *XformBtoA );

  // Description:
  // Returns true if line intersects node.
  int LineIntersectsNode( vtkOBBNode *pA, double b0[3], double b1[3] );

  // Description:
  // Returns true if triangle (optionally transformed) intersects node.
  int TriangleIntersectsNode( vtkOBBNode *pA,
                              double p0[3], double p1[3],
                              double p2[3], vtkMatrix4x4 *XformBtoA );

  // Description:
  // For each intersecting leaf node pair, call function.
  // OBBTreeB is optionally transformed by XformBtoA before testing.
  int IntersectWithOBBTree( vtkOBBTree *OBBTreeB, vtkMatrix4x4 *XformBtoA,
                            int(*function)( vtkOBBNode *nodeA,
                                            vtkOBBNode *nodeB,
                                            vtkMatrix4x4 *Xform,
                                            void *arg ),
                            void *data_arg );
  //ETX

  // Description:
  // Satisfy locator's abstract interface, see vtkLocator.
  void FreeSearchStructure();
  void BuildLocator();

  // Description:
  // Create polygonal representation for OBB tree at specified level. If
  // level < 0, then the leaf OBB nodes will be gathered. The aspect ratio (ar)
  // and line diameter (d) are used to control the building of the
  // representation. If a OBB node edge ratio's are greater than ar, then the
  // dimension of the OBB is collapsed (OBB->plane->line). A "line" OBB will be
  // represented either as two crossed polygons, or as a line, depending on
  // the relative diameter of the OBB compared to the diameter (d).
  void GenerateRepresentation(int level, vtkPolyData *pd);

  //BTX
protected:
  vtkOBBTree();
  ~vtkOBBTree();

  // Compute an OBB from the list of cells given.  This used to be
  // public but should not have been.  A public call has been added
  // so that the functionality can be accessed.
  void ComputeOBB(vtkIdList *cells, double corner[3], double max[3], 
                       double mid[3], double min[3], double size[3]);

  vtkOBBNode *Tree;
  void BuildTree(vtkIdList *cells, vtkOBBNode *parent, int level);
  vtkPoints *PointsList;
  int *InsertedPoints;
  int OBBCount;

  void DeleteTree(vtkOBBNode *OBBptr);
  void GeneratePolygons(vtkOBBNode *OBBptr, int level, int repLevel, 
                        vtkPoints* pts, vtkCellArray *polys);

  //ETX
private:
  vtkOBBTree(const vtkOBBTree&);  // Not implemented.
  void operator=(const vtkOBBTree&);  // Not implemented.
};

#endif
