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#ifndef PCL_GEOMETRY_TRIANGLE_MESH_H
#define PCL_GEOMETRY_TRIANGLE_MESH_H

#include <utility>

#include <pcl/geometry/mesh_base.h>

namespace pcl
{
  namespace geometry
  {
    /** \brief Tag describing the type of the mesh. */
    struct TriangleMeshTag {};

    /** \brief Half-edge mesh that can only store triangles.
      * \tparam MeshTraitsT Please have a look at pcl::geometry::DefaultMeshTraits.
      * \author Martin Saelzle
      * \ingroup geometry
      */
    template <class MeshTraitsT>
    class TriangleMesh : public pcl::geometry::MeshBase <TriangleMesh <MeshTraitsT>, MeshTraitsT, TriangleMeshTag>
    {
      public:

        typedef pcl::geometry::MeshBase <TriangleMesh <MeshTraitsT>, MeshTraitsT, TriangleMeshTag> Base;

        typedef TriangleMesh <MeshTraitsT>     Self;
        typedef boost::shared_ptr <Self>       Ptr;
        typedef boost::shared_ptr <const Self> ConstPtr;

        typedef typename Base::VertexData   VertexData;
        typedef typename Base::HalfEdgeData HalfEdgeData;
        typedef typename Base::EdgeData     EdgeData;
        typedef typename Base::FaceData     FaceData;
        typedef typename Base::IsManifold   IsManifold;
        typedef typename Base::MeshTag      MeshTag;

        typedef typename Base::HasVertexData   HasVertexData;
        typedef typename Base::HasHalfEdgeData HasHalfEdgeData;
        typedef typename Base::HasEdgeData     HasEdgeData;
        typedef typename Base::HasFaceData     HasFaceData;

        typedef typename Base::VertexDataCloud   VertexDataCloud;
        typedef typename Base::HalfEdgeDataCloud HalfEdgeDataCloud;
        typedef typename Base::EdgeDataCloud     EdgeDataCloud;
        typedef typename Base::FaceDataCloud     FaceDataCloud;

        // Indices
        typedef typename Base::VertexIndex       VertexIndex;
        typedef typename Base::HalfEdgeIndex     HalfEdgeIndex;
        typedef typename Base::EdgeIndex         EdgeIndex;
        typedef typename Base::FaceIndex         FaceIndex;
        typedef std::pair <FaceIndex, FaceIndex> FaceIndexPair;

        typedef typename Base::VertexIndices   VertexIndices;
        typedef typename Base::HalfEdgeIndices HalfEdgeIndices;
        typedef typename Base::EdgeIndices     EdgeIndices;
        typedef typename Base::FaceIndices     FaceIndices;

        // Circulators
        typedef typename Base::VertexAroundVertexCirculator           VertexAroundVertexCirculator;
        typedef typename Base::OutgoingHalfEdgeAroundVertexCirculator OutgoingHalfEdgeAroundVertexCirculator;
        typedef typename Base::IncomingHalfEdgeAroundVertexCirculator IncomingHalfEdgeAroundVertexCirculator;
        typedef typename Base::FaceAroundVertexCirculator             FaceAroundVertexCirculator;
        typedef typename Base::VertexAroundFaceCirculator             VertexAroundFaceCirculator;
        typedef typename Base::InnerHalfEdgeAroundFaceCirculator      InnerHalfEdgeAroundFaceCirculator;
        typedef typename Base::OuterHalfEdgeAroundFaceCirculator      OuterHalfEdgeAroundFaceCirculator;
        typedef typename Base::FaceAroundFaceCirculator               FaceAroundFaceCirculator;

        /** \brief Constructor. */
        TriangleMesh ()
          : Base (),
            add_triangle_ (3),
            inner_he_atp_ (4),
            is_new_atp_   (4)
        {
        }

        /** \brief The base method of addFace is hidden because of the overloads in this class. */
        using Base::addFace;

        /** \brief Add a triangle to the mesh. Data is only added if it is associated with the elements. The last vertex is connected with the first one.
          * \param[in] idx_v_0        Index to the first vertex.
          * \param[in] idx_v_1        Index to the second vertex.
          * \param[in] idx_v_2        Index to the third vertex.
          * \param[in] face_data      Data that is set for the face.
          * \param[in] half_edge_data Data that is set for all added half-edges.
          * \param[in] edge_data      Data that is set for all added edges.
          * \return Index to the new face. Failure is signaled by returning an invalid face index.
          * \warning The vertices must be valid and unique (each vertex may be contained only once). Not complying with this requirement results in undefined behavior!
          */
        inline FaceIndex
        addFace (const VertexIndex&   idx_v_0,
                 const VertexIndex&   idx_v_1,
                 const VertexIndex&   idx_v_2,
                 const FaceData&      face_data      = FaceData (),
                 const EdgeData&      edge_data      = EdgeData (),
                 const HalfEdgeData&  half_edge_data = HalfEdgeData ())
        {
          add_triangle_ [0] = idx_v_0;
          add_triangle_ [1] = idx_v_1;
          add_triangle_ [2] = idx_v_2;

          return (this->addFaceImplBase (add_triangle_, face_data, edge_data, half_edge_data));
        }

        /** \brief Add two triangles for the four given input vertices. When using a manifold triangle mesh it is not possible to connect two bounded regions without going through a non-manifold intermediate step. This method first tries to add the triangles individually and if this fails connects the whole configuration at once (if possible).
          * \param[in] vertices       Indices to the vertices of the new face. (The size must be equal to four).
          * \param[in] face_data      Data that is set for the face.
          * \param[in] half_edge_data Data that is set for all added half-edges.
          * \param[in] edge_data      Data that is set for all added edges.
          * \return Pair of face indices. The first index is valid if one triangle was added. Both indices are valid if two triangles were added.
          * \warning The vertices must be valid and unique (each vertex may be contained only once). Not complying with this requirement results in undefined behavior!
          */
        FaceIndexPair
        addTrianglePair (const VertexIndices& vertices,
                         const FaceData&      face_data      = FaceData (),
                         const EdgeData&      edge_data      = EdgeData (),
                         const HalfEdgeData&  half_edge_data = HalfEdgeData ())
        {
          if (vertices.size () != 4)
          {
            return (std::make_pair (FaceIndex (), FaceIndex ()));
          }
          else
          {
            return (this->addTrianglePair (vertices [0], vertices [1], vertices [2], vertices [3], face_data, edge_data, half_edge_data));
          }
        }

        /** \brief Add two triangles for the four given input vertices. When using a manifold triangle mesh it is not possible to connect two bounded regions without going through a non-manifold intermediate step. This method first tries to add the triangles individually and if this fails connects the whole configuration at once (if possible).
          * \param[in] idx_v_0        Index to the first vertex.
          * \param[in] idx_v_1        Index to the second vertex.
          * \param[in] idx_v_2        Index to the third vertex.
          * \param[in] idx_v_3        Index to the fourth vertex.
          * \param[in] face_data      Data that is set for the face.
          * \param[in] half_edge_data Data that is set for all added half-edges.
          * \param[in] edge_data      Data that is set for all added edges.
          * \return Pair of face indices. The first index is valid if one triangle was added. Both indices are valid if two triangles were added.
          * \warning The vertices must be valid and unique (each vertex may be contained only once). Not complying with this requirement results in undefined behavior!
          */
        inline FaceIndexPair
        addTrianglePair (const VertexIndex&   idx_v_0,
                         const VertexIndex&   idx_v_1,
                         const VertexIndex&   idx_v_2,
                         const VertexIndex&   idx_v_3,
                         const FaceData&      face_data      = FaceData (),
                         const EdgeData&      edge_data      = EdgeData (),
                         const HalfEdgeData&  half_edge_data = HalfEdgeData ())
        {
          // Try to add two faces
          // 3 - 2
          // | / |
          // 0 - 1
          FaceIndex idx_face_0 = this->addFace (idx_v_0, idx_v_1, idx_v_2, face_data);
          FaceIndex idx_face_1 = this->addFace (idx_v_0, idx_v_2, idx_v_3, face_data);

          if (idx_face_0.isValid ())
          {
            return (std::make_pair (idx_face_0, idx_face_1));
          }
          else if (idx_face_1.isValid ())
          {
            idx_face_0 = this->addFace (idx_v_0, idx_v_1, idx_v_2, face_data); // might be possible to add now
            return (std::make_pair (idx_face_1, idx_face_0));
          }

          // Try to add two faces
          // 3 - 2
          // | \ |
          // 0 - 1
          idx_face_0 = this->addFace (idx_v_1, idx_v_2, idx_v_3, face_data);
          idx_face_1 = this->addFace (idx_v_0, idx_v_1, idx_v_3, face_data);

          if (idx_face_0.isValid ())
          {
            return (std::make_pair (idx_face_0, idx_face_1));
          }
          else if (idx_face_1.isValid ())
          {
            idx_face_0 = this->addFace (idx_v_1, idx_v_2, idx_v_3, face_data); // might be possible to add now
            return (std::make_pair (idx_face_1, idx_face_0));
          }

          if (!IsManifold::value)
          {
            return (std::make_pair (FaceIndex (), FaceIndex ()));
          }

          // Check manifoldness
          if (!Base::checkTopology1 (idx_v_0,idx_v_1, inner_he_atp_ [0], is_new_atp_ [0], IsManifold ()) ||
              !Base::checkTopology1 (idx_v_1,idx_v_2, inner_he_atp_ [1], is_new_atp_ [1], IsManifold ()) ||
              !Base::checkTopology1 (idx_v_2,idx_v_3, inner_he_atp_ [2], is_new_atp_ [2], IsManifold ()) ||
              !Base::checkTopology1 (idx_v_3,idx_v_0, inner_he_atp_ [3], is_new_atp_ [3], IsManifold ()))
          {
            return (std::make_pair (FaceIndex (), FaceIndex ()));
          }

          // Connect the triangle pair
          if (!is_new_atp_ [0] && is_new_atp_ [1] && !is_new_atp_ [2] && is_new_atp_ [3])
          {
            return (this->connectTrianglePair (inner_he_atp_ [0], inner_he_atp_ [2], idx_v_0, idx_v_1, idx_v_2, idx_v_3, face_data, edge_data, half_edge_data));
          }
          else if (is_new_atp_ [0] && !is_new_atp_ [1] && is_new_atp_ [2] && !is_new_atp_ [3])
          {
            return (this->connectTrianglePair (inner_he_atp_ [1], inner_he_atp_ [3], idx_v_1, idx_v_2, idx_v_3, idx_v_0, face_data, edge_data, half_edge_data));
          }
          else
          {
            return (std::make_pair (FaceIndex (), FaceIndex ()));
          }
        }

      private:

        // NOTE: Can't use the typedef of Base as a friend.
        friend class pcl::geometry::MeshBase <TriangleMesh <MeshTraitsT>, MeshTraitsT, pcl::geometry::TriangleMeshTag>;

        /** \brief addFace for the triangular mesh. */
        inline FaceIndex
        addFaceImpl (const VertexIndices& vertices,
                     const FaceData&      face_data,
                     const EdgeData&      edge_data,
                     const HalfEdgeData&  half_edge_data)
        {
          if (vertices.size () == 3)
            return (this->addFaceImplBase (vertices, face_data, edge_data, half_edge_data));
          else
            return (FaceIndex ());
        }

        /** \brief Connect the triangles a-b-c and a-c-d. The edges a-b and c-d must be old and the edges b-c and d-a must be new. */
        // d - c
        // | / |
        // a - b
        FaceIndexPair
        connectTrianglePair (const HalfEdgeIndex& idx_he_ab,
                             const HalfEdgeIndex& idx_he_cd,
                             const VertexIndex&   idx_v_a,
                             const VertexIndex&   idx_v_b,
                             const VertexIndex&   idx_v_c,
                             const VertexIndex&   idx_v_d,
                             const FaceData&      face_data,
                             const EdgeData&      edge_data,
                             const HalfEdgeData&  he_data)
        {
          // Add new half-edges
          const HalfEdgeIndex idx_he_bc = Base::addEdge (idx_v_b, idx_v_c, he_data, edge_data);
          const HalfEdgeIndex idx_he_da = Base::addEdge (idx_v_d, idx_v_a, he_data, edge_data);
          const HalfEdgeIndex idx_he_ca = Base::addEdge (idx_v_c, idx_v_a, he_data, edge_data);

          const HalfEdgeIndex idx_he_cb = Base::getOppositeHalfEdgeIndex (idx_he_bc);
          const HalfEdgeIndex idx_he_ad = Base::getOppositeHalfEdgeIndex (idx_he_da);
          const HalfEdgeIndex idx_he_ac = Base::getOppositeHalfEdgeIndex (idx_he_ca);

          // Get the existing half-edges
          const HalfEdgeIndex idx_he_ab_prev = Base::getPrevHalfEdgeIndex (idx_he_ab); // No reference!
          const HalfEdgeIndex idx_he_ab_next = Base::getNextHalfEdgeIndex (idx_he_ab); // No reference!

          const HalfEdgeIndex idx_he_cd_prev = Base::getPrevHalfEdgeIndex (idx_he_cd); // No reference!
          const HalfEdgeIndex idx_he_cd_next = Base::getNextHalfEdgeIndex (idx_he_cd); // No reference!

          // Connect the outer half-edges
          Base::connectPrevNext (idx_he_ab_prev, idx_he_ad     );
          Base::connectPrevNext (idx_he_ad     , idx_he_cd_next);
          Base::connectPrevNext (idx_he_cd_prev, idx_he_cb     );
          Base::connectPrevNext (idx_he_cb     , idx_he_ab_next);

          // Connect the inner half-edges
          Base::connectPrevNext (idx_he_ab, idx_he_bc);
          Base::connectPrevNext (idx_he_bc, idx_he_ca);
          Base::connectPrevNext (idx_he_ca, idx_he_ab);

          Base::connectPrevNext (idx_he_ac, idx_he_cd);
          Base::connectPrevNext (idx_he_cd, idx_he_da);
          Base::connectPrevNext (idx_he_da, idx_he_ac);

          // Connect the vertices to the boundary half-edges
          Base::setOutgoingHalfEdgeIndex (idx_v_a, idx_he_ad     );
          Base::setOutgoingHalfEdgeIndex (idx_v_b, idx_he_ab_next);
          Base::setOutgoingHalfEdgeIndex (idx_v_c, idx_he_cb     );
          Base::setOutgoingHalfEdgeIndex (idx_v_d, idx_he_cd_next);

          // Add and connect the faces
          HalfEdgeIndices inner_he_abc; inner_he_abc.reserve (3);
          inner_he_abc.push_back (idx_he_ab);
          inner_he_abc.push_back (idx_he_bc);
          inner_he_abc.push_back (idx_he_ca);

          HalfEdgeIndices inner_he_acd; inner_he_acd.reserve (3);
          inner_he_acd.push_back (idx_he_ac);
          inner_he_acd.push_back (idx_he_cd);
          inner_he_acd.push_back (idx_he_da);

          const FaceIndex idx_f_abc = Base::connectFace (inner_he_abc, face_data);
          const FaceIndex idx_f_acd = Base::connectFace (inner_he_acd, face_data);

          return (std::make_pair (idx_f_abc, idx_f_acd));
        }

        ////////////////////////////////////////////////////////////////////////
        // Members
        ////////////////////////////////////////////////////////////////////////

        /** \brief Storage for adding a triangle. */
        VertexIndices add_triangle_;

        /** \brief Storage for addTrianglePair. */
        HalfEdgeIndices inner_he_atp_;

        /** \brief Storage for addTrianglePair. */
        std::vector <bool> is_new_atp_;

      public:

        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  } // End namespace geom
} // End namespace pcl

#endif // PCL_GEOMETRY_TRIANGLE_MESH_H
