//----------------------------------------------------------------------------
//  EgalTech 2020-2020
//----------------------------------------------------------------------------
// File : EXE_CDeObjClosedSurfTm.cpp    Data : 09.01.20      Versione : 2.2a2
// Contenuto : Funzioni per verificare collisioni tra
//             Objects e Closed SurftriMesh.
//
//
// Modifiche : 09.01.20 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------

//--------------------------- Include ----------------------------------------
#include "stdafx.h"
#include "EXE.h"
#include "EXE_Macro.h"
#include "EXE_Const.h"
#include "AuxTools.h"
#include "GeoTools.h"
#include "/EgtDev/Include/EXeExecutor.h"
#include "/EgtDev/Include/EXeConst.h"
#include "/EgtDev/Include/EGkCDeBoxClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeRectPrismoidClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeCylClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeConeFrustumClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeSpheClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeClosedSurfTmClosedSurfTm.h"
#include "/EgtDev/Include/EGkVolZmap.h"
#include "/EgtDev/Include/EGkSurfLocal.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"

using namespace std ;

//----------------------------------------------------------------------------
static int
MyCDeBoxClosedSurfTm( const Frame3d& frBox, const Vector3d& vtDiag, int nSurfTmId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // recupero il riferimento della superficie
   Frame3d frSurf ;
   if ( ! pGeomDB->GetGlobFrame( nSurfTmId, frSurf))
      return -1 ;
  // porto in locale alla superficie il riferimento del box (il vettore è già in questo stesso riferimento)
   Frame3d frBoxL = GetFrameLocal( pGeomDB, frBox, nRefType, frSurf) ;
  // verifico la collisione
   return ( CDeBoxClosedSurfTm( frBoxL, vtDiag, dSafeDist, *pStm) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
static int
MyCDeBoxVolZmap( const Frame3d& frBox, const Vector3d& vtDiag, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero lo Zmap
   const IVolZmap* pVZM = GetVolZmap( pGeomDB->GetGeoObj( nZmapId)) ;
   if ( pVZM == nullptr)
      return -1 ;
  // recupero il riferimento locale
   Frame3d frLoc ;
   if ( ! pGeomDB->GetGlobFrame( nZmapId, frLoc))
      return -1 ;
  // porto in locale il riferimento (il vettore è già in locale a questo stesso riferimento)
   Frame3d frBoxL = GetFrameLocal( pGeomDB, frBox, nRefType, frLoc) ;
  // verifico la collisione
   return ( pVZM->AvoidBox( frBoxL, vtDiag, dSafeDist, false) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeBoxSolid( const Frame3d& frBox, const Vector3d& vtDiag, int nSolidId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == SRF_TRIMESH)
      nRes = MyCDeBoxClosedSurfTm( frBox, vtDiag, nSolidId, dSafeDist, nRefType) ;
   else if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == VOL_ZMAP)
      nRes = MyCDeBoxVolZmap( frBox, vtDiag, nSolidId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeBoxSolid({{" + ToString( frBox.Orig()) + "},{" +
                                          ToString( frBox.VersX()) + "},{" +
                                          ToString( frBox.VersY()) + "},{" +
                                          ToString( frBox.VersZ()) + "}},{" +
                                          ToString( vtDiag) + "}," +
                                          IdToString( nSolidId) + "," +
                                          ToString( dSafeDist) + "," +
                                          RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeRectPrismoidClosedSurfTm( const Frame3d& frPrismoid, double dBaseLenX, double dBaseLenY,
                               double dTopLenX, double dTopLenY, double dHeight,
                               int nSurfTmId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // recupero il riferimento della superficie
   Frame3d frSurf ;
   if ( ! pGeomDB->GetGlobFrame( nSurfTmId, frSurf))
      return -1 ;
  // porto in locale alla superficie il riferimento del prismoide rettangolare
   Frame3d frPrismoidL = GetFrameLocal( pGeomDB, frPrismoid, nRefType, frSurf) ;
  // verifico la collisione
   return ( CDeRectPrismoidClosedSurfTm( frPrismoidL, dBaseLenX, dBaseLenY, dTopLenX, dTopLenY, dHeight, dSafeDist, *pStm) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
static int
MyCDeRectPrismoidVolZmap( const Frame3d& frPrismoid, double dBaseLenX, double dBaseLenY,
                          double dTopLenX, double dTopLenY, double dHeight,
                          int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero lo Zmap
   const IVolZmap* pVZM = GetVolZmap( pGeomDB->GetGeoObj( nZmapId)) ;
   if ( pVZM == nullptr)
      return -1 ;
  // recupero il riferimento locale
   Frame3d frLoc ;
   if ( ! pGeomDB->GetGlobFrame( nZmapId, frLoc))
      return -1 ;
  // porto in locale il riferimento (il vettore è già in locale a questo stesso riferimento)
   Frame3d frPrismoidL = GetFrameLocal( pGeomDB, frPrismoid, nRefType, frLoc) ;
  // verifico la collisione
   return ( pVZM->AvoidRectPrismoid( frPrismoidL, dBaseLenX, dBaseLenY, dTopLenX, dTopLenY, dHeight, dSafeDist, false) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeRectPrismoidSolid( const Frame3d& frPrismoid, double dBaseLenX, double dBaseLenY,
                         double dTopLenX, double dTopLenY, double dHeight,
                         int nSolidId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == SRF_TRIMESH)
      nRes = MyCDeRectPrismoidClosedSurfTm( frPrismoid, dBaseLenX, dBaseLenY, dTopLenX, dTopLenY, dHeight, nSolidId, dSafeDist, nRefType) ;
   else if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == VOL_ZMAP)
      nRes = MyCDeRectPrismoidVolZmap( frPrismoid, dBaseLenX, dBaseLenY, dTopLenX, dTopLenY, dHeight, nSolidId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeRectPrismoidSolid({{" + ToString( frPrismoid.Orig()) + "},{" +
                                                   ToString( frPrismoid.VersX()) + "},{" +
                                                   ToString( frPrismoid.VersY()) + "},{" +
                                                   ToString( frPrismoid.VersZ()) + "}}," +
                                                   ToString( dBaseLenX) + "," +
                                                   ToString( dBaseLenY) + "," +
                                                   ToString( dTopLenX) + "," +
                                                   ToString( dTopLenY) + "," +
                                                   ToString( dHeight) + "," +
                                                   IdToString( nSolidId) + "," +
                                                   ToString( dSafeDist) + "," +
                                                   RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeCylClosedSurfTm( const Frame3d& frCyl, double dR, double dH, int nSurfTmId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // recupero il riferimento della superficie
   Frame3d frSurf ;
   if ( ! pGeomDB->GetGlobFrame( nSurfTmId, frSurf))
      return -1 ;
  // porto in locale alla superficie il riferimento del cilindro
   Frame3d frCylL = GetFrameLocal( pGeomDB, frCyl, nRefType, frSurf) ;
  // verifico la collisione
   return ( CDeCylClosedSurfTm( frCylL, dR, dH, dSafeDist, *pStm) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
static int
MyCDeCylVolZmap( const Frame3d& frCyl, double dR, double dH, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero lo Zmap
   const IVolZmap* pVZM = GetVolZmap( pGeomDB->GetGeoObj( nZmapId)) ;
   if ( pVZM == nullptr)
      return -1 ;
  // recupero il riferimento locale
   Frame3d frLoc ;
   if ( ! pGeomDB->GetGlobFrame( nZmapId, frLoc))
      return -1 ;
  // porto in locale il riferimento
   Frame3d frCylL = GetFrameLocal( pGeomDB, frCyl, nRefType, frLoc) ;
  // verifico la collisione
   return ( pVZM->AvoidCylinder( frCylL, dR, dH, dSafeDist, false) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeCylSolid( const Frame3d& frCyl, double dR, double dH, int nSolidId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == SRF_TRIMESH)
      nRes = MyCDeCylClosedSurfTm( frCyl, dR, dH, nSolidId, dSafeDist, nRefType) ;
   else if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == VOL_ZMAP)
      nRes = MyCDeCylVolZmap( frCyl, dR, dH, nSolidId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeCylSolid({{" + ToString( frCyl.Orig()) + "},{" +
                                          ToString( frCyl.VersX()) + "},{" +
                                          ToString( frCyl.VersY()) + "},{" +
                                          ToString( frCyl.VersZ()) + "}}," +
                                          ToString( dR) + "," +
                                          ToString( dH) + "," +
                                          IdToString( nSolidId) + "," +
                                          ToString( dSafeDist) + "," +
                                          RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeConeClosedSurfTm( const Frame3d& frCone, double dR1, double dR2, double dH, int nSurfTmId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // recupero il riferimento della superficie
   Frame3d frSurf ;
   if ( ! pGeomDB->GetGlobFrame( nSurfTmId, frSurf))
      return -1 ;
  // porto in locale alla superficie il riferimento del cilindro
   Frame3d frConeL = GetFrameLocal( pGeomDB, frCone, nRefType, frSurf) ;
  // verifico la collisione
   return ( CDeConeFrustumClosedSurfTm( frConeL, dR1, dR2, dH, dSafeDist, *pStm) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
static int
MyCDeConeVolZmap( const Frame3d& frCone, double dR1, double dR2, double dH, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero lo Zmap
   const IVolZmap* pVZM = GetVolZmap( pGeomDB->GetGeoObj( nZmapId)) ;
   if ( pVZM == nullptr)
      return -1 ;
  // recupero il riferimento locale
   Frame3d frLoc ;
   if ( ! pGeomDB->GetGlobFrame( nZmapId, frLoc))
      return -1 ;
  // porto in locale il riferimento
   Frame3d frConeL = GetFrameLocal( pGeomDB, frCone, nRefType, frLoc) ;
  // verifico la collisione
   return ( pVZM->AvoidConeFrustum( frConeL, dR1, dR2, dH, dSafeDist, false) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeConeSolid( const Frame3d& frCone, double dR1, double dR2, double dH, int nSolidId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == SRF_TRIMESH)
      nRes = MyCDeConeClosedSurfTm( frCone, dR1, dR2, dH, nSolidId, dSafeDist, nRefType) ;
   else if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == VOL_ZMAP)
      nRes = MyCDeConeVolZmap( frCone, dR1, dR2, dH, nSolidId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeConeSolid({{" + ToString( frCone.Orig()) + "},{" +
                                           ToString( frCone.VersX()) + "},{" +
                                           ToString( frCone.VersY()) + "},{" +
                                           ToString( frCone.VersZ()) + "}}," +
                                           ToString( dR1) + "," +
                                           ToString( dR2) + "," +
                                           ToString( dH) + "," +
                                           IdToString( nSolidId) + "," +
                                           ToString( dSafeDist) + "," +
                                           RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeSpheClosedSurfTm( const Point3d& ptCen, double dR, int nSurfTmId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // recupero il riferimento della superficie
   Frame3d frSurf ;
   if ( ! pGeomDB->GetGlobFrame( nSurfTmId, frSurf))
      return -1 ;
  // porto in locale alla superficie il centro della sfera
   Point3d ptCenL = GetPointLocal( pGeomDB, ptCen, nRefType, frSurf) ;
  // verifico la collisione
   return ( CDeSpheClosedSurfTm( ptCenL, dR, dSafeDist, *pStm) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
static int
MyCDeSpheVolZmap( const Point3d& ptCen, double dRad, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero lo Zmap
   const IVolZmap* pVZM = GetVolZmap( pGeomDB->GetGeoObj( nZmapId)) ;
   if ( pVZM == nullptr)
      return -1 ;
  // recupero il riferimento locale
   Frame3d frLoc ;
   if ( ! pGeomDB->GetGlobFrame( nZmapId, frLoc))
      return -1 ;
  // porto in locale il centro della sfera
   Point3d ptCenL = GetPointLocal( pGeomDB, ptCen, nRefType, frLoc) ;
  // verifico la collisione
   return ( pVZM->AvoidSphere( ptCenL, dRad, dSafeDist, false) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeSpheSolid( const Point3d& ptCen, double dR, int nSolidId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == SRF_TRIMESH)
      nRes = MyCDeSpheClosedSurfTm( ptCen, dR, nSolidId, dSafeDist, nRefType) ;
   else if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolidId) == VOL_ZMAP)
      nRes = MyCDeSpheVolZmap( ptCen, dR, nSolidId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeSpheSolid({" + ToString( ptCen) + "}," +
                                          ToString( dR) + "," +
                                          IdToString( nSolidId) + "," +
                                          ToString( dSafeDist) + "," +
                                          RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeClosedSurfTmClosedSurfTm( int nSurfTm1Id, int nSurfTm2Id, double dSafeDist)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero il riferimento della seconda superficie
   Frame3d frSurf2 ;
   if ( ! pGeomDB->GetGlobFrame( nSurfTm2Id, frSurf2))
      return -1 ;
  // recupero la prima superficie in locale alla seconda
   SurfLocal Surf1Loc( pGeomDB, nSurfTm1Id, frSurf2) ;
   const ISurfTriMesh* pStm1 = GetSurfTriMesh( Surf1Loc) ;
   if ( pStm1 == nullptr)
      return -1 ;
  // recupero la seconda superficie TriMesh
   const ISurfTriMesh* pStm2 = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTm2Id)) ;
   if ( pStm2 == nullptr)
      return -1 ;
  // verifico la collisione
   return ( CDeClosedSurfTmClosedSurfTm( *pStm1, *pStm2, dSafeDist) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
static int
MyCDeClosedSurfTmVolZmap( int nSurfTmId, int nZmapId, double dSafeDist)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, -1)
  // recupero il riferimento dello Zmap
   Frame3d frZmap ;
   if ( ! pGeomDB->GetGlobFrame( nZmapId, frZmap))
      return -1 ;
  // recupero la superficie in locale allo Zmap
   SurfLocal SurfLoc( pGeomDB, nSurfTmId, frZmap) ;
   const ISurfTriMesh* pStm = GetSurfTriMesh( SurfLoc) ;
   if ( pStm == nullptr)
      return -1 ;
  // recupero lo Zmap
   const IVolZmap* pVZM = GetVolZmap( pGeomDB->GetGeoObj( nZmapId)) ;
   if ( pVZM == nullptr)
      return -1 ;
  // verifico la collisione
   return ( pVZM->AvoidSurfTm( *pStm, dSafeDist, false) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeSolidSolid( int nSolid1Id, int nSolid2Id, double dSafeDist)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolid1Id) == SRF_TRIMESH  &&  pGeomDB->GetGeoType( nSolid2Id) == SRF_TRIMESH)
      nRes = MyCDeClosedSurfTmClosedSurfTm( nSolid1Id, nSolid2Id, dSafeDist) ;
   else if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSolid1Id) == SRF_TRIMESH  &&  pGeomDB->GetGeoType( nSolid2Id) == VOL_ZMAP)
      nRes = MyCDeClosedSurfTmVolZmap( nSolid1Id, nSolid2Id, dSafeDist) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeSolidSolid({" + IdToString( nSolid1Id) + "," +
                                           IdToString( nSolid2Id) + "," +
                                           ToString( dSafeDist) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}