/home/slemaign/softs-local/BioMove3D-git/groundHeight/src/groundHeight.h

/*
 *  Copyright (c) 2007 Florent Lamiraux
 *
 * Permission to use, copy, modify, and distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 *
 */

#ifndef GROUND_HEIGHT_H
#define GROUND_HEIGHT_H
#ifdef __cplusplus

#include <stddef.h>
#include <vector>

class CgroundHeight 
{
public:
  CgroundHeight(unsigned int inNbTrianglesPerSquare):
    attInitialized(false), attFiltering(true), attGroundXMin(1e30), attGroundYMin(1e30), attGroundXMax(-1e30), 
    attGroundYMax(-1e30), attNbSquaresAlongX(0), attNbSquaresAlongY(0), attSquareSize(0), 
      attTriangleIndexVectorArray(NULL), attAverageNbTrianglesPerSquare(inNbTrianglesPerSquare) {}
  CgroundHeight():
    attInitialized(false), attFiltering(false), attGroundXMin(1e30), attGroundYMin(1e30), attGroundXMax(-1e30), 
    attGroundYMax(-1e30), attNbSquaresAlongX(0), attNbSquaresAlongY(0), attSquareSize(0), 
      attTriangleIndexVectorArray(NULL), attAverageNbTrianglesPerSquare(0) {}
  ~CgroundHeight();

  unsigned int averageNbTrianglesPerSquare() {
    return attAverageNbTrianglesPerSquare;
  }

  void initializeGrid();

  unsigned int addVertex(const double & inX = 0., const double & inY = 0., const double & inZ = 0.);

  bool addTriangle(unsigned int inPt1, unsigned int inPt2, unsigned int inPt3);

  bool intersectionVerticalLineWithGround(double inX, double inY, double& groundHeight);

  unsigned int countTriangles() { return attTriangleVector.size();};

  bool triangleAtRank(unsigned int inRank, double& outX1, double& outY1, double& outZ1, 
                      double& outX2, double& outY2, double& outZ2, 
                      double& outX3, double& outY3, double& outZ3);
  
private:
  
  /*
   
                  P R I V A T E   T Y P E S

  */
  typedef struct Ttriangle {
    unsigned int pt1;
    unsigned int pt2;
    unsigned int pt3;
  } Ttriangle;

  typedef struct T3dPoint {
    double x;
    double y;
    double z;
  } T3dPoint;

  /*
   
                  P R I V A T E   M E T H O D S

  */

  void boundingRectangleOfTriangle(const Ttriangle& triangle,
                                   double& xminTriangle,
                                   double &yminTriangle,
                                   double& xmaxTriangle,
                                   double& ymaxTriangle);
  
  bool computeGroundBoundingRectangle(); 

  /* 
     \brief Test whether one of the vertices of a triangle is inside a square.

     Square edges are aligned with coordinate axis.
     
     \param x1,y1 coordinates of first vectex of the triangle.
     \param x2,y2 coordinates of second vectex of the triangle.
     \param x3,y3 coordinates of third vectex of the triangle.

     \param xMinSquare, yMinSquare, xMaxSquare, yMaxSquare two opposite vertices of the square.
 */

  bool isTriangleInsideSquare(double x1, double y1, 
                              double x2, double y2, 
                              double x3, double y3, 
                              double xMinSquare, double yMinSquare, 
                              double xMaxSquare, double yMaxSquare);

/*
  \brief Test whether a point lies inside a triangle.
  
  \param x,y Coordinates of the point.
  \param x1,y1,x2,y2,x3,y3 Vectices of the triangle.

 */

  bool isPointInsideTriangle(double x, double y,
                             double x1, double y1, 
                             double x2, double y2, 
                             double x3, double y3);
  
  
  /* 
     \brief Test whether one of the vertices of a square is inside a triangle
     
     Square edges are aligned with coordinate axis.
     
     \param x1,y1,x2,y2,x3,y3  Vertices of the triangle.
     \param xMinSquare, yMinSquare,xMaxSquare,yMaxSquare Two opposite vertices of the square.
  */

  bool isSquareInsideTriangle(double x1, double y1, 
                              double x2, double y2, 
                              double x3, double y3, 
                              double xMinSquare, double yMinSquare, 
                              double xMaxSquare, double yMaxSquare);
  

  /*
    \brief Test whether two segments intersect.

    \param x1,y1,x2,y2 Extremities of first line-segment.
    \param x3,y3,x4,y4 Extremities of second line-segment.

 */
  
  bool doSegmentsIntersect(double x1, double y1, 
                           double x2, double y2, 
                           double x3, double y3, 
                           double x4, double y4);
  

  /* 
     \brief Test whether the edges of a triangle and of a square intersect.

     Square edges are aligned with coordinate axis.

     \param x1,y1,x2,y2,x3,y3  Vertices of the triangle.
     \param xMinSquare, yMinSquare,xMaxSquare,yMaxSquare Two opposite vertices of the square.

  */
  bool doEdgesIntersect(double x1, double y1, 
                        double x2, double y2, 
                        double x3, double y3, 
                        double xMinSquare, double yMinSquare, 
                        double xMaxSquare, double yMaxSquare);
  bool doesTriangleIntersectSquare(const Ttriangle& triangle, 
                                   unsigned int i, unsigned int j);



  void computeSizeAndNumberOfSquares();

  bool intersectionVerticalLineWithTriangle(const Ttriangle& triangle, double inX, 
                                            double inY, double& groundHeight);

  /*
   
                  P R I V A T E   A T T R I B U T E S

  */

  bool attInitialized;
  bool attFiltering;
  std::vector<T3dPoint> attVertexVector;

  std::vector<Ttriangle> attTriangleVector;

  double attGroundXMin;
  double attGroundYMin;
  double attGroundXMax;
  double attGroundYMax;
  unsigned int attNbSquaresAlongX;         
  unsigned int attNbSquaresAlongY;         
  /* 
     \brief Size of squares 
  */
  double attSquareSize;             
  /* 
     Number of polyhedra for this floor 
     int nb_polyhedron;       
  */
  /* array of polyhedra for this floor 
     poly_polyhedre** polyhedron_array; */
  
  /* 
     \brief Vector of facet indices for each square
     
     Index correspond to vector attTriangleVector.
  */
  std::vector<unsigned int>** attTriangleIndexVectorArray; 
  
  unsigned int attAverageNbTrianglesPerSquare;
};

#endif /* __cplusplus */

#endif