//============================================================================
// obbtree.hpp
//============================================================================

#ifndef _OBBTREE_
#define _OBBTREE_

#include "common.hpp"
#include "m33.hpp"
#include "bvtree.hpp"

class OBBtree : public BVtree
{
 protected:

  // TREE OPERATIONS
  void BuildHierarchy();
  int Subdivide();
  void FindTightFit();
  m33 GetCovariance();
  m33 GetBestOrientation();

  // OBB VERTS (in order: RTN,LTN,LBN,RBN,RTF,LTF,LBF,RBF)
  static Vect3d obbV[8];      

 public:

  // NODE (BV) OPERATIONS
  int OverlapPlane(Plane P) const;
  int EdgeIntersect(Vect3d Start, Vect3d End) const;
  int RayIntersect(Vect3d Start, Vect3d Dir, float& InT, float& OutT) const;
  int OverlapVF(ViewFrustum* VF) const;

  m33 pR;           // ORIENTATION (ROTATION) IN MODEL SPACE (COLS FORM OBB AXES)
  Vect3d pT, Dim;   // ORIGIN OF BOX IN MODEL SPACE AND BOX RADII ("half" dimensions)

  Vect3d Xaxis() const { return (pR.col(0)); };  // RETURNS OBB X AXIS
  Vect3d Yaxis() const { return (pR.col(1)); };  // RETURNS OBB Y AXIS
  Vect3d Zaxis() const { return (pR.col(2)); };  // RETURNS OBB Z AXIS

  OBBtree() : BVtree() { pR=Identity(); };

  OBBtree(PtSetObjList* OL, int minobjs=10) : BVtree(minobjs)
  {
    pR=Identity();
    printf("copying PtSetObjList. . ."); CopyPtSetObjList(OL); printf("DONE!\n");
    printf("building OBBtree. . ."); BuildHierarchy(); printf("DONE!\n");
    printf("freeing objects, extracting IDs. . ."); PtSetObjListToIDs(); printf("DONE!\n");
  };
};

#endif