//----------------------------------------------------------------------------
//  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/EGkCDeCylClosedSurfTm.h"
#include "/EgtDev/Include/EGkCDeSpheClosedSurfTm.h"
#include "/EgtDev/Include/EGkVolZmap.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, false)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // verifico sia chiusa
   if ( ! pStm->IsClosed())
      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) ;
}

//----------------------------------------------------------------------------
int
ExeCDeBoxClosedSurfTm( const Frame3d& frBox, const Vector3d& vtDiag, int nSurfTmId, double dSafeDist, int nRefType)
{
   int nRes = MyCDeBoxClosedSurfTm( frBox, vtDiag, nSurfTmId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeBoxClosedSurfTm({{" + ToString( frBox.Orig()) + "},{" +
                                                 ToString( frBox.VersX()) + "},{" +
                                                 ToString( frBox.VersY()) + "},{" +
                                                 ToString( frBox.VersZ()) + "}},{" +
                                                 ToString( vtDiag) + "}," +
                                                 IdToString( nSurfTmId) + "," +
                                                 ToString( dSafeDist) + "," +
                                                 RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeCylClosedSurfTm( const Frame3d& frCyl, double dH, double dR, int nSurfTmId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, false)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // verifico sia chiusa
   if ( ! pStm->IsClosed())
      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, dH, dR, dSafeDist, *pStm) ? 1 : 0) ;
}

//----------------------------------------------------------------------------
int
ExeCDeCylClosedSurfTm( const Frame3d& frCyl, double dH, double dR, int nSurfTmId, double dSafeDist, int nRefType)
{
   int nRes = MyCDeCylClosedSurfTm( frCyl, dH, dR, nSurfTmId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeCylClosedSurfTm({{" + ToString( frCyl.Orig()) + "},{" +
                                                 ToString( frCyl.VersX()) + "},{" +
                                                 ToString( frCyl.VersY()) + "},{" +
                                                 ToString( frCyl.VersZ()) + "}}," +
                                                 ToString( dH) + "," +
                                                 ToString( dR) + "," +
                                                 IdToString( nSurfTmId) + "," +
                                                 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, false)
  // recupero la superficie TriMesh
   const ISurfTriMesh* pStm = GetSurfTriMesh( pGeomDB->GetGeoObj( nSurfTmId)) ;
   if ( pStm == nullptr)
      return -1 ;
  // verifico sia chiusa
   if ( ! pStm->IsClosed())
      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) ;
}

//----------------------------------------------------------------------------
int
ExeCDeSpheClosedSurfTm( const Point3d& ptCen, double dR, int nSurfTmId, double dSafeDist, int nRefType)
{
   int nRes = MyCDeSpheClosedSurfTm( ptCen, dR, nSurfTmId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeSpheClosedSurfTm({" + ToString( ptCen) + "}," +
                                                 ToString( dR) + "," +
                                                 IdToString( nSurfTmId) + "," +
                                                 ToString( dSafeDist) + "," +
                                                 RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeBoxVolZmap( const Frame3d& frBox, const Vector3d& vtDiag, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, false)
  // 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) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeBoxVolZmap( const Frame3d& frBox, const Vector3d& vtDiag, int nZmapId, double dSafeDist, int nRefType)
{
   int nRes = MyCDeBoxVolZmap( frBox, vtDiag, nZmapId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeBoxVolZmap({{" + ToString( frBox.Orig()) + "},{" +
                                            ToString( frBox.VersX()) + "},{" +
                                            ToString( frBox.VersY()) + "},{" +
                                            ToString( frBox.VersZ()) + "}},{" +
                                            ToString( vtDiag) + "}," +
                                            IdToString( nZmapId) + "," +
                                            ToString( dSafeDist) + "," +
                                            RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeCylVolZmap( const Frame3d& frCyl, double dL, double dR, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, false)
  // 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 frBoxL = GetFrameLocal( pGeomDB, frCyl, nRefType, frLoc) ;
  // verifico la collisione
   return ( pVZM->AvoidCylinder( frBoxL, dL, dR, dSafeDist) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeCylVolZmap( const Frame3d& frCyl, double dL, double dR, int nZmapId, double dSafeDist, int nRefType)
{
   int nRes = MyCDeCylVolZmap( frCyl, dL, dR, nZmapId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeCylVolZmap({{" + ToString( frCyl.Orig()) + "},{" +
                                            ToString( frCyl.VersX()) + "},{" +
                                            ToString( frCyl.VersY()) + "},{" +
                                            ToString( frCyl.VersZ()) + "}}," +
                                            ToString( dL) + "," +
                                            ToString( dR) + "," +
                                            IdToString( nZmapId) + "," +
                                            ToString( dSafeDist) + "," +
                                            RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}

//----------------------------------------------------------------------------
static int
MyCDeSpheVolZmap( const Point3d& ptCen, double dRad, int nZmapId, double dSafeDist, int nRefType)
{
   IGeomDB* pGeomDB = GetCurrGeomDB() ;
   VERIFY_GEOMDB( pGeomDB, false)
  // 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) ? 0 : 1) ;
}

//----------------------------------------------------------------------------
int
ExeCDeSpheVolZmap( const Point3d& ptCen, double dRad, int nZmapId, double dSafeDist, int nRefType)
{
   int nRes = MyCDeSpheVolZmap( ptCen, dRad, nZmapId, dSafeDist, nRefType) ;
  // se richiesto, salvo il comando Lua equivalente
   if ( IsCmdLog()) {
      string sLua = "EgtCDeSpheVolZmap({" + ToString( ptCen) + "}," +
                                            ToString( dRad) + "," +
                                            IdToString( nZmapId) + "," +
                                            ToString( dSafeDist) + "," +
                                            RefTypeToString( nRefType) + ")" +
                    " -- Res=" + ToString( nRes) ;
      LOG_INFO( GetCmdLogger(), sLua.c_str()) ;
   }
  // restituisco risultato
   return nRes ;
}