/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Jia Pan */

#ifndef HPP_FCL_BVH_MODEL_H
#define HPP_FCL_BVH_MODEL_H

#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/BVH/BVH_internal.h>
#include <hpp/fcl/BV/BV_node.h>
#include <hpp/fcl/BVH/BV_splitter.h>
#include <hpp/fcl/BVH/BV_fitter.h>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <boost/noncopyable.hpp>

namespace hpp
{
namespace fcl
{

class ConvexBase;

/// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
template<typename BV>
class BVHModel : public CollisionGeometry
{

public:
  /// @brief Geometry point data
  Vec3f* vertices;

  /// @brief Geometry triangle index data, will be NULL for point clouds
  Triangle* tri_indices;

  /// @brief Geometry point data in previous frame
  Vec3f* prev_vertices;

  /// @brief Number of triangles
  int num_tris;

  /// @brief Number of points
  int num_vertices;

  /// @brief The state of BVH building process
  BVHBuildState build_state;

  /// @brief Split rule to split one BV node into two children
  boost::shared_ptr<BVSplitterBase<BV> > bv_splitter;

  /// @brief Fitting rule to fit a BV node to a set of geometry primitives
  boost::shared_ptr<BVFitterBase<BV> > bv_fitter;

  /// @brief Convex<Triangle> representation of this object
  boost::shared_ptr< ConvexBase > convex;
  
  /// @brief Model type described by the instance
  BVHModelType getModelType() const
  {
    if(num_tris && num_vertices)
      return BVH_MODEL_TRIANGLES;
    else if(num_vertices)
      return BVH_MODEL_POINTCLOUD;
    else
      return BVH_MODEL_UNKNOWN;
  }

  /// @brief Constructing an empty BVH
  BVHModel() : vertices(NULL),
               tri_indices(NULL),
               prev_vertices(NULL),
               num_tris(0),
               num_vertices(0),
               build_state(BVH_BUILD_STATE_EMPTY),
               bv_splitter(new BVSplitter<BV>(SPLIT_METHOD_MEAN)),
               bv_fitter(new BVFitter<BV>()),
               num_tris_allocated(0),
               num_vertices_allocated(0),
               num_bvs_allocated(0),
               num_vertex_updated(0),
               primitive_indices(NULL),
               bvs(NULL),
               num_bvs(0)
  {
  }

  /// @brief copy from another BVH
  BVHModel(const BVHModel& other);

  /// @brief deconstruction, delete mesh data related.
  ~BVHModel()
  {
    delete [] vertices;
    delete [] tri_indices;
    delete [] bvs;

    delete [] prev_vertices;
    delete [] primitive_indices;
  }

  /// @brief We provide getBV() and getNumBVs() because BVH may be compressed (in future), so we must provide some flexibility here
  
  /// @brief Access the bv giving the its index
  const BVNode<BV>& getBV(int id) const
  {
    assert (id < num_bvs);
    return bvs[id];
  }

  /// @brief Access the bv giving the its index
  BVNode<BV>& getBV(int id)
  {
    assert (id < num_bvs);
    return bvs[id];
  }

  /// @brief Get the number of bv in the BVH
  int getNumBVs() const
  {
    return num_bvs;
  }

  /// @brief Get the object type: it is a BVH
  OBJECT_TYPE getObjectType() const { return OT_BVH; }

  /// @brief Get the BV type: default is unknown
  NODE_TYPE getNodeType() const { return BV_UNKNOWN; }

  /// @brief Compute the AABB for the BVH, used for broad-phase collision
  void computeLocalAABB();

  /// @brief Begin a new BVH model
  int beginModel(int num_tris = 0, int num_vertices = 0);

  /// @brief Add one point in the new BVH model
  int addVertex(const Vec3f& p);

  /// @brief Add one triangle in the new BVH model
  int addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

  /// @brief Add a set of triangles in the new BVH model
  int addSubModel(const std::vector<Vec3f>& ps, const std::vector<Triangle>& ts);

  /// @brief Add a set of points in the new BVH model
  int addSubModel(const std::vector<Vec3f>& ps);

  /// @brief End BVH model construction, will build the bounding volume hierarchy
  int endModel();

  /// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame)
  int beginReplaceModel();

  /// @brief Replace one point in the old BVH model
  int replaceVertex(const Vec3f& p);

  /// @brief Replace one triangle in the old BVH model
  int replaceTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

  /// @brief Replace a set of points in the old BVH model
  int replaceSubModel(const std::vector<Vec3f>& ps);

  /// @brief End BVH model replacement, will also refit or rebuild the bounding volume hierarchy
  int endReplaceModel(bool refit = true, bool bottomup = true);

  /// @brief Replace the geometry information of current frame (i.e. should have the same mesh topology with the previous frame).
  /// The current frame will be saved as the previous frame in prev_vertices.
  int beginUpdateModel();

  /// @brief Update one point in the old BVH model
  int updateVertex(const Vec3f& p);

  /// @brief Update one triangle in the old BVH model
  int updateTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3);

  /// @brief Update a set of points in the old BVH model
  int updateSubModel(const std::vector<Vec3f>& ps);

  /// @brief End BVH model update, will also refit or rebuild the bounding volume hierarchy
  int endUpdateModel(bool refit = true, bool bottomup = true);

  /// @brief Check the number of memory used
  int memUsage(int msg) const;

  /// @brief Build this Convex<Triangle> representation of this model.
  /// \note this only takes the points of this model. It does not check that the
  ///       object is convex. It does not compute a convex hull.
  void buildConvexRepresentation();

  /// @brief This is a special acceleration: BVH_model default stores the BV's transform in world coordinate. However, we can also store each BV's transform related to its parent 
  /// BV node. When traversing the BVH, this can save one matrix transformation.
  void makeParentRelative()
  {
    Matrix3f I (Matrix3f::Identity());
    makeParentRelativeRecurse(0, I, Vec3f());
  }

  Vec3f computeCOM() const
  {
    FCL_REAL vol = 0;
    Vec3f com(0,0,0);
    for(int i = 0; i < num_tris; ++i)
    {
      const Triangle& tri = tri_indices[i];
      FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
      vol += d_six_vol;
      com += (vertices[tri[0]] + vertices[tri[1]] + vertices[tri[2]]) * d_six_vol;
    }

    return com / (vol * 4);
  }

  FCL_REAL computeVolume() const
  {
    FCL_REAL vol = 0;
    for(int i = 0; i < num_tris; ++i)
    {
      const Triangle& tri = tri_indices[i];
      FCL_REAL d_six_vol = (vertices[tri[0]].cross(vertices[tri[1]])).dot(vertices[tri[2]]);
      vol += d_six_vol;
    }

    return vol / 6;
  }

  Matrix3f computeMomentofInertia() const
  {
    Matrix3f C = Matrix3f::Zero();

    Matrix3f C_canonical;
    C_canonical << 1/60.0, 1/120.0, 1/120.0,
                   1/120.0, 1/60.0, 1/120.0,
                   1/120.0, 1/120.0, 1/60.0;

    for(int i = 0; i < num_tris; ++i)
    {
      const Triangle& tri = tri_indices[i];
      const Vec3f& v1 = vertices[tri[0]];
      const Vec3f& v2 = vertices[tri[1]];
      const Vec3f& v3 = vertices[tri[2]];
      Matrix3f A; A << v1.transpose(), v2.transpose(), v3.transpose();
      C += A.derived().transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
    }

    return C.trace() * Matrix3f::Identity() - C;
  }

private:

  int num_tris_allocated;
  int num_vertices_allocated;
  int num_bvs_allocated;
  int num_vertex_updated; /// for ccd vertex update
  unsigned int* primitive_indices;

  /// @brief Bounding volume hierarchy
  BVNode<BV>* bvs;

  /// @brief Number of BV nodes in bounding volume hierarchy
  int num_bvs;

  /// @brief Build the bounding volume hierarchy
  int buildTree();

  /// @brief Refit the bounding volume hierarchy
  int refitTree(bool bottomup);

  /// @brief Refit the bounding volume hierarchy in a top-down way (slow but more compact)
  int refitTree_topdown();

  /// @brief Refit the bounding volume hierarchy in a bottom-up way (fast but less compact)
  int refitTree_bottomup();

  /// @brief Recursive kernel for hierarchy construction
  int recursiveBuildTree(int bv_id, int first_primitive, int num_primitives);

  /// @brief Recursive kernel for bottomup refitting 
  int recursiveRefitTree_bottomup(int bv_id);

  /// @recursively compute each bv's transform related to its parent. For default BV, only the translation works. 
  /// For oriented BV (OBB, RSS, OBBRSS), special implementation is provided.
  void makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c)
  {
    if(!bvs[bv_id].isLeaf())
    {
      makeParentRelativeRecurse(bvs[bv_id].first_child, parent_axes, bvs[bv_id].getCenter());

      makeParentRelativeRecurse(bvs[bv_id].first_child + 1, parent_axes, bvs[bv_id].getCenter());
    }

    bvs[bv_id].bv = translate(bvs[bv_id].bv, -parent_c);
  }
};


template<>
void BVHModel<OBB>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);

template<>
void BVHModel<RSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);

template<>
void BVHModel<OBBRSS>::makeParentRelativeRecurse(int bv_id, Matrix3f& parent_axes, const Vec3f& parent_c);


/// @brief Specialization of getNodeType() for BVHModel with different BV types
template<>
NODE_TYPE BVHModel<AABB>::getNodeType() const;

template<>
NODE_TYPE BVHModel<OBB>::getNodeType() const;

template<>
NODE_TYPE BVHModel<RSS>::getNodeType() const;

template<>
NODE_TYPE BVHModel<kIOS>::getNodeType() const;

template<>
NODE_TYPE BVHModel<OBBRSS>::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<16> >::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<18> >::getNodeType() const;

template<>
NODE_TYPE BVHModel<KDOP<24> >::getNodeType() const;

}

} // namespace hpp

#endif