//----------------------------------------------------------------------------
//  EgalTech 2024-2024
//----------------------------------------------------------------------------
// File : EXE_TestObjSurface.cpp    Data : 24.03.24      Versione : 2.6c2
// Contenuto : Funzioni per verificare collisioni tra
//             Objects e Superfici (TriMesh).
//
//
// 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/EGkSurfLocal.h"
#include "/EgtDev/Include/EGkStringUtils3d.h"

using namespace std ;

//----------------------------------------------------------------------------
static int
MyTestBoxSurfTm( 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 l'a collisione'interferenza
   return ( TestBoxSurfTm( frBoxL, vtDiag, *pStm, dSafeDist) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeTestBoxSurface( const Frame3d& frBox, const Vector3d& vtDiag, int nSurfId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSurfId) == SRF_TRIMESH)
      nRes = MyTestBoxSurfTm( frBox, vtDiag, nSurfId, dSafeDist, nRefType) ;
   // è da aggiungere il test con le superfici di Bezier
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtTestBoxSurface({{" + ToString( frBox.Orig()) + "},{" +
                                             ToString( frBox.VersX()) + "},{" +
                                             ToString( frBox.VersY()) + "},{" +
                                             ToString( frBox.VersZ()) + "}},{" +
                                             ToString( vtDiag) + "}," +
                                             IdToString( nSurfId) + "," +
                                             ToString( dSafeDist) + "," +
                                             RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyTestRectPrismoidSurfTm( 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 l'a collisione'interferenza
   return ( TestRectPrismoidSurfTm( frPrismoidL, dBaseLenX, dBaseLenY, dTopLenX, dTopLenY, dHeight, *pStm, dSafeDist) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeTestRectPrismoidSurface( const Frame3d& frPrismoid, double dBaseLenX, double dBaseLenY,
                            double dTopLenX, double dTopLenY, double dHeight,
                            int nSurfId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSurfId) == SRF_TRIMESH)
      nRes = MyTestRectPrismoidSurfTm( frPrismoid, dBaseLenX, dBaseLenY, dTopLenX, dTopLenY, dHeight, nSurfId, dSafeDist, nRefType) ;
   // è da aggiungere il test con le superfici di Bezier
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtTestRectPrismoidSurface({{" + ToString( frPrismoid.Orig()) + "},{" +
                                                      ToString( frPrismoid.VersX()) + "},{" +
                                                      ToString( frPrismoid.VersY()) + "},{" +
                                                      ToString( frPrismoid.VersZ()) + "}}," +
                                                      ToString( dBaseLenX) + "," +
                                                      ToString( dBaseLenY) + "," +
                                                      ToString( dTopLenX) + "," +
                                                      ToString( dTopLenY) + "," +
                                                      ToString( dHeight) + "," +
                                                      IdToString( nSurfId) + "," +
                                                      ToString( dSafeDist) + "," +
                                                      RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyTestCylSurfTm( 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 l'interferenza
   return ( TestCylSurfTm( frCylL, dR, dH, *pStm, dSafeDist) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeTestCylSurface( const Frame3d& frCyl, double dR, double dH, int nSurfId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSurfId) == SRF_TRIMESH)
      nRes = MyTestCylSurfTm( frCyl, dR, dH, nSurfId, dSafeDist, nRefType) ;
   // è da aggiungere il test con le superfici di Bezier
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtTestCylSurface({{" + ToString( frCyl.Orig()) + "},{" +
                                             ToString( frCyl.VersX()) + "},{" +
                                             ToString( frCyl.VersY()) + "},{" +
                                             ToString( frCyl.VersZ()) + "}}," +
                                             ToString( dR) + "," +
                                             ToString( dH) + "," +
                                             IdToString( nSurfId) + "," +
                                             ToString( dSafeDist) + "," +
                                             RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyTestConeSurfTm( 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 l'interferenza
   return ( TestConeFrustumSurfTm( frConeL, dR1, dR2, dH, *pStm, dSafeDist) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeTestConeSurface( const Frame3d& frCone, double dR1, double dR2, double dH, int nSurfId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSurfId) == SRF_TRIMESH)
      nRes = MyTestConeSurfTm( frCone, dR1, dR2, dH, nSurfId, dSafeDist, nRefType) ;
   // è da aggiungere il test con le superfici di Bezier
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtTestConeSurface({{" + ToString( frCone.Orig()) + "},{" +
                                              ToString( frCone.VersX()) + "},{" +
                                              ToString( frCone.VersY()) + "},{" +
                                              ToString( frCone.VersZ()) + "}}," +
                                              ToString( dR1) + "," +
                                              ToString( dR2) + "," +
                                              ToString( dH) + "," +
                                              IdToString( nSurfId) + "," +
                                              ToString( dSafeDist) + "," +
                                              RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyTestSpheSurfTm( 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 l'interferenza
   return ( TestSpheSurfTm( ptCenL, dR, *pStm, dSafeDist) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeTestSpheSurface( const Point3d& ptCen, double dR, int nSurfId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr  &&  pGeomDB->GetGeoType( nSurfId) == SRF_TRIMESH)
      nRes = MyTestSpheSurfTm( ptCen, dR, nSurfId, dSafeDist, nRefType) ;
   // è da aggiungere il test con le superfici di Bezier
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtTestSpheSurface({" + ToString( ptCen) + "}," +
                                             ToString( dR) + "," +
                                             IdToString( nSurfId) + "," +
                                             ToString( dSafeDist) + "," +
                                             RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyTestSurfTmSurfTm( int nSurfTm1Id, int nSurfTm2Id, double dSafeDist, bool bTestEnclosion)
{
   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  l'interferenza
   return ( TestSurfTmSurfTm( *pStm1, *pStm2, dSafeDist, bTestEnclosion) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeTestSurfaceSurface( int nSurf1Id, int nSurf2Id, double dSafeDist, bool bTestEnclosion)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   int nRes = -1 ;
   if ( pGeomDB != nullptr) {
      if ( pGeomDB->GetGeoType( nSurf1Id) == SRF_TRIMESH  &&  pGeomDB->GetGeoType( nSurf2Id) == SRF_TRIMESH)
         nRes = MyTestSurfTmSurfTm( nSurf1Id, nSurf2Id, dSafeDist, bTestEnclosion) ;
     // è da aggiungere il test con le superfici di Bezier
   }
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtTestSurfaceSurface({" + IdToString( nSurf1Id) + "," +
                                                IdToString( nSurf2Id) + "," +
                                                ToString( dSafeDist) + "," +
                                                ( bTestEnclosion ? "true" : "false") + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}