/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2003 Robert Osfield 
 *
 * This library is open source and may be redistributed and/or modified under  
 * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or 
 * (at your option) any later version.  The full license is in LICENSE file
 * included with this distribution, and on the openscenegraph.org website.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
 * OpenSceneGraph Public License for more details.
*/

#ifndef OSG_PLANE
#define OSG_PLANE 1

#include <osg/Export>
#include <osg/Vec3>
#include <osg/Vec4>
#include <osg/Matrix>
#include <osg/BoundingSphere>
#include <osg/BoundingBox>

#include <vector>

namespace osg {

/** A plane class. It can be used to represent an infinite plane.*/
class SG_EXPORT Plane
{

    public:

	inline Plane():_fv(0.0f,0.0f,0.0f,0.0f) { _lowerBBCorner = 0; _upperBBCorner = 0; }
	inline Plane(const Plane& pl):_fv(pl._fv) { calculateUpperLowerBBCorners(); }
	inline Plane(float a,float b,float c,float d):_fv(a,b,c,d) { calculateUpperLowerBBCorners(); }
	inline Plane(const Vec4& vec):_fv(vec) { calculateUpperLowerBBCorners(); }
	inline Plane(const Vec3& norm,float d):_fv(norm[0],norm[1],norm[2],d) { calculateUpperLowerBBCorners(); }
        inline Plane(const Vec3& v1, const Vec3& v2, const Vec3& v3) { set(v1,v2,v3); calculateUpperLowerBBCorners(); }
        
        inline Plane& operator = (const Plane& pl)
        {
            if (&pl==this) return *this;
            _fv = pl._fv;
            _lowerBBCorner = pl._lowerBBCorner;
            _upperBBCorner = pl._upperBBCorner;
            return *this;
        }

	inline void set(const Plane& pl) { _fv = pl._fv; calculateUpperLowerBBCorners(); }
	inline void set(float a,float b,float c,float d) { _fv.set(a,b,c,d); calculateUpperLowerBBCorners(); }
	inline void set(const Vec4& vec) { _fv = vec; calculateUpperLowerBBCorners(); }
	inline void set(const Vec3& norm,float d) { _fv.set(norm[0],norm[1],norm[2],d); calculateUpperLowerBBCorners(); }
        inline void set(const Vec3& v1, const Vec3& v2, const Vec3& v3)
        {
            osg::Vec3 norm = (v2-v1)^(v3-v2);
            float length = norm.length();
            if (length>1e-6) norm/= length;
            else norm.set(0.0f,0.0f,0.0f);
            _fv.set(norm[0],norm[1],norm[2],-(v1*norm));
            calculateUpperLowerBBCorners();
        }
        
        inline void set(const Vec3& norm, const Vec3& point)
        {
            float d = -norm[0]*point[0] - norm[1]*point[1] - norm[2]*point[2];
            _fv.set(norm[0],norm[1],norm[2],d);
            calculateUpperLowerBBCorners();
        }

        /** flip/reverse the orientation of the plane.*/
        inline void flip()
        {
            _fv = -_fv;
            calculateUpperLowerBBCorners();
        }


        inline void makeUnitLength()
        {
            float length = sqrtf(_fv[0]*_fv[0] + _fv[1]*_fv[1]+ _fv[2]*_fv[2]);
            _fv /= length;
        }

        /** calculate the upper and lower bounding box corners to be used
          * in the intersect(BoundingBox&) method for speeding calculations.*/
        inline void calculateUpperLowerBBCorners()
        {
            _upperBBCorner = (_fv.x()>=0.0f?1:0) |
                             (_fv.y()>=0.0f?2:0) |
                             (_fv.z()>=0.0f?4:0);

            _lowerBBCorner = (~_upperBBCorner)&7;

        }

        inline bool valid() const { return _fv.valid(); }

        inline bool operator == (const Plane& plane) const { return _fv==plane._fv;  }
        inline bool operator != (const Plane& plane) const { return _fv!=plane._fv; }
        inline bool operator <  (const Plane& plane) const { return _fv<plane._fv; }

	inline float* ptr() { return _fv.ptr(); }
	inline const float* ptr() const { return _fv.ptr(); }

	inline Vec4& asVec4() { return _fv; }

	inline const Vec4& asVec4() const { return _fv; }
        
        inline float& operator [] (unsigned int i) { return _fv[i]; }
        inline float  operator [] (unsigned int i) const { return _fv[i]; }
        
        
        inline osg::Vec3 getNormal() const { return osg::Vec3(_fv[0],_fv[1],_fv[2]); }
      
              /** calculate the distance between a point and the plane.*/
        inline float distance(const osg::Vec3& v) const
        {
            return _fv[0]*v.x()+
                   _fv[1]*v.y()+
                   _fv[2]*v.z()+
                   _fv[3];
        }

        /** intersection test between plane and vertex list
            return 1 if the bs is completely above plane,
            return 0 if the bs intersects the plane,
            return -1 if the bs is completely below the plane.*/
        inline int intersect(const std::vector<Vec3>& vertices) const
        {
            if (vertices.empty()) return -1;
        
            int noAbove = 0;
            int noBelow = 0;
            int noOn = 0;
            for(std::vector<Vec3>::const_iterator itr=vertices.begin();
                itr != vertices.end();
                ++itr)
            {
                float d = distance(*itr);
                if (d>0.0f) ++noAbove;
                else if (d<0.0f) ++noBelow;
                else ++noOn;
            }
            
            if (noAbove>0)
            {
                if (noBelow>0) return 0;
                else return 1;
            }
            return -1; // treat points on line as outside...
        }

        /** intersection test between plane and bounding sphere.
            return 1 if the bs is completely above plane,
            return 0 if the bs intersects the plane,
            return -1 if the bs is completely below the plane.*/
        inline int intersect(const BoundingSphere& bs) const
        {
            float d = distance(bs.center());
                      
            if (d>bs.radius()) return 1;
            else if (d<-bs.radius()) return -1;
            else return 0;
        }
        
        
        /** intersection test between plane and bounding sphere.
            return 1 if the bs is completely above plane,
            return 0 if the bs intersects the plane,
            return -1 if the bs is completely below the plane.*/
        inline int intersect(const BoundingBox& bb) const
        {
             // if lowest point above plane than all above.
            if (distance(bb.corner(_lowerBBCorner))>0.0f) return 1;
            
            // if highest point is below plane then all below.
            if (distance(bb.corner(_upperBBCorner))<0.0f) return -1;
            
            // d_lower<=0.0f && d_upper>=0.0f
            // therefore must be crossing plane.
            return 0;
            
        }

        /** Transform the plane by matrix.  Note, this operations carries out
          * the calculation of the inverse of the matrix since to transforms
          * planes must be multiplied my the inverse transposed. This
          * make this operation expensive.  If the inverse has been already
          * calculated elsewhere then use transformProvidingInverse() instead.
          * See http://www.worldserver.com/turk/computergraphics/NormalTransformations.pdf*/
        inline void transform(const osg::Matrix& matrix)
        {
            osg::Matrix inverse;
            inverse.invert(matrix);
            transformProvidingInverse(inverse);
        }
        
        /** Transform the plane by provide a pre inverted matrix.
          * see transform for details. */
        inline void transformProvidingInverse(const osg::Matrix& matrix)
        {
            // note pre multiplications, which effectively transposes matrix.
            _fv = matrix * _fv;
            makeUnitLength();
            calculateUpperLowerBBCorners();
        }

        friend inline std::ostream& operator << (std::ostream& output, const Plane& pl);


    protected:

	Vec4                _fv;
        
        // variables cached to optimize calcs against bounding boxes.
        unsigned int        _upperBBCorner;
        unsigned int        _lowerBBCorner;


};

inline std::ostream& operator << (std::ostream& output, const Plane& pl)
{
    output << pl._fv[0] << " "
	   << pl._fv[1] << " "
	   << pl._fv[2] << " "
	   << pl._fv[3];
    return output; 	// to enable cascading
}

}	// end of namespace

#endif 
