//----------------------------------------------------------------------------
//  EgalTech 2020-2020
//----------------------------------------------------------------------------
// File : CDCylSurfTm.cpp      Data : 09.01.20        Versione : 2.2a2
// Contenuto : Implementazione della verifica di collisione tra
//             Cylinder e Closed SurftriMesh.
//
//
// Modifiche : 09.01.20 DS Creazione modulo.
//
//
//----------------------------------------------------------------------------

//--------------------------- Include ----------------------------------------
#include "stdafx.h"
#include "/EgtDev/Include/EGkCDeCylTria.h"
#include "/EgtDev/Include/EGkCDeCylClosedSurfTm.h"

using namespace std ;

//----------------------------------------------------------------------------
bool
CDeCylClosedSurfTm( const Frame3d& frCyl, double dH, double dR, double dSafeDist, const ISurfTriMesh& Stm)
{
  // verifico che la trimesh sia effettivamente chiusa (un poliedro)
   if ( ! Stm.IsClosed())
      return false ;
  // recupero BBox del poliedro
   BBox3d b3Poly = Stm.GetAllTriaBox() ;
  // calcolo il BBox del cilindro
   BBox3d b3Cyl( ORIG, dR, dR, dH) ;
   b3Cyl.Expand( dSafeDist) ;
   b3Cyl.ToGlob( frCyl) ;
  // confronto i due Box
   if ( ! b3Cyl.Overlaps( b3Poly))
      return false ;
  // recupero i triangoli che interferiscono con il box del Cilindro
   INTVECTOR vT ;
   Stm.GetAllTriaOverlapBox( b3Cyl, vT) ;
   for ( int nT : vT) {
      Triangle3d Tria ;
      if ( Stm.GetTriangle( nT, Tria)) {
         if ( CDeCylTria( frCyl, dH, dR, dSafeDist, Tria))
            return true ;
      }
   }
   return false ;
}