// Copyright (c) 2003  INRIA Sophia-Antipolis (France).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org); you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License as
// published by the Free Software Foundation; either version 3 of the License,
// or (at your option) any later version.
//
// Licensees holding a valid commercial license may use this file in
// accordance with the commercial license agreement provided with the software.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
//
// $URL$
// $Id$
// SPDX-License-Identifier: LGPL-3.0+
// 
//
// Author(s)     : Philippe Guigue

#ifndef CGAL_TRIANGLE_3_RAY_3_DO_INTERSECT_H
#define CGAL_TRIANGLE_3_RAY_3_DO_INTERSECT_H

#include <CGAL/enum.h>
#include <CGAL/kernel_assertions.h>
#include <CGAL/Intersection_traits_3.h>

namespace CGAL {

  template <class K>
  class Triangle_3;

  template <class K>
  class Ray_3;

  
namespace Intersections {
namespace internal {

namespace R3T3_intersection{
  enum type {COPLANAR_RAY=3,ENDPOINT_IN_TRIANGLE=4,CROSS_SEGMENT=1,CROSS_VERTEX=2,CROSS_FACET=0};
} //R3T3_intersection

struct r3t3_do_intersect_empty_visitor{
  typedef bool result_type;
  result_type result(bool b){return b;}
  void update(Orientation){}
  void ray_coplanar(){}
  void end_point_in_triangle(){}
};

struct r3t3_do_intersect_endpoint_position_visitor{
  int m_intersection_type;
  r3t3_do_intersect_endpoint_position_visitor():
    m_intersection_type(0){}
  typedef std::pair<bool,R3T3_intersection::type> result_type;
  result_type result(bool b){
    CGAL_assertion(m_intersection_type>-1 && m_intersection_type<5);
    return std::make_pair(b,enum_cast<R3T3_intersection::type>(m_intersection_type));
  }
  void update(Orientation orient)
  {
    if (orient==ZERO) ++m_intersection_type;
  }
  void ray_coplanar(){
    m_intersection_type=3;
  }
  void end_point_in_triangle(){
    m_intersection_type=4; 
  }
};

//the template parameter Visitor here is used to offer the posibility to use
//r3t3_do_intersect_endpoint_position_visitor to track whether the endpoint of
//the ray lies inside the plane of the triangle or not. It is used for example
//in the function that checks whether a point is inside a polyhedron; if the ray
//is on an edge of the triangle, we try with another random ray (as this case does not
//happen often in practice).
//By default an empty visitor is used to avoid penalizing the running time.

template <class K,class Visitor>
typename Visitor::result_type
do_intersect_coplanar(const typename K::Triangle_3 &t, 
                      const typename K::Ray_3      &r,
                      const K & k,
                      Visitor visitor);

template <class K,class Visitor>
typename Visitor::result_type
     do_intersect(const typename K::Triangle_3 &t, 
                  const typename K::Ray_3 &r,
                  const K & k,
                  Visitor visitor)
{

  CGAL_kernel_precondition( ! k.is_degenerate_3_object()(t) ) ;
  CGAL_kernel_precondition( ! k.is_degenerate_3_object()(r) ) ;

  typedef typename K::Point_3 Point_3;

  typename K::Construct_vertex_3 vertex_on =
    k.construct_vertex_3_object();
  
  typename K::Orientation_3 orientation = 
    k.orientation_3_object();


  const Point_3 & a = vertex_on(t,0);
  const Point_3 & b = vertex_on(t,1);
  const Point_3 & c = vertex_on(t,2);
  
  typename K::Construct_vector_3  construct_vector =
    k.construct_vector_3_object();

  typename K::Construct_ray_3 construct_ray = 
    k.construct_ray_3_object();

  typename K::Construct_point_on_3 point_on = 
    k.construct_point_on_3_object();

  const Point_3 & p = point_on(r,0);
  const Point_3 & q = point_on(r,1);


  const Orientation ray_direction =
    orientation(a,b,c,point_on(construct_ray(a, construct_vector(r)),1));

    if (ray_direction == COPLANAR ) {
      if (orientation(a,b,c,p) == COPLANAR) 
	return do_intersect_coplanar(t,r,k,visitor);
      else return visitor.result(false);
    }
  
  const Orientation abcp = orientation(a,b,c,p);

  switch ( abcp ) {
  case POSITIVE: 
    switch ( ray_direction ) {
    case POSITIVE: 
      // the ray lies in the positive open halfspaces defined by the
      // triangle's supporting plane
      return visitor.result(false);
      
    case NEGATIVE:{
      // The ray straddles the triangle's plane
      // p sees the triangle in counterclockwise order
      Orientation
      orient=orientation(p,q,a,b);
      if (orient == POSITIVE ) return visitor.result(false);
      visitor.update(orient);
      orient=orientation(p,q,b,c);
      if (orient == POSITIVE ) return visitor.result(false);
      visitor.update(orient);
      orient=orientation(p,q,c,a);
      if (orient == POSITIVE ) return visitor.result(false);
      visitor.update(orient);
      return visitor.result(true);
    }
    // case COPLANAR: should not happen
    default: // should not happen.
      CGAL_kernel_assertion(false);
      return visitor.result(false);
    }
    
  case NEGATIVE:
    switch ( ray_direction ) {
    case POSITIVE:{
      // The ray straddles the triangle's plane
      // q sees the triangle in counterclockwise order
      Orientation
      orient=orientation(q,p,a,b);
      if (orient == POSITIVE ) return visitor.result(false);
      visitor.update(orient);
      orient=orientation(q,p,b,c);
      if (orient == POSITIVE ) return visitor.result(false);
      visitor.update(orient);
      orient=orientation(q,p,c,a);
      if (orient == POSITIVE ) return visitor.result(false);
      visitor.update(orient);
      return visitor.result(true);
      
    }
    case NEGATIVE:
      // the ray lies in the negative open halfspaces defined by the
      // triangle's supporting plane
      return visitor.result(false);
      
      // case COPLANAR: should not happen
      
    default: // should not happen.
      CGAL_kernel_assertion(false);
      return visitor.result(false);
    }
    
  case COPLANAR: // p belongs to the triangle's supporting plane
    visitor.end_point_in_triangle();
    switch ( ray_direction ) {
    case POSITIVE:
      // q sees the triangle in counterclockwise order
      return visitor.result( 
           orientation(q,p,a,b) != POSITIVE
	&& orientation(q,p,b,c) != POSITIVE
	&& orientation(q,p,c,a) != POSITIVE);
      
    case NEGATIVE:
      // q sees the triangle in clockwise order
      return visitor.result( 
           orientation(p,q,a,b) != POSITIVE
	&& orientation(p,q,b,c) != POSITIVE
	&& orientation(p,q,c,a) != POSITIVE);
      
      // case COPLANAR: should not happen
      
    default: // should not happen.
      CGAL_kernel_assertion(false);
      return visitor.result(false);
    }
    
  default: // should not happen.
    CGAL_kernel_assertion(false);
    return visitor.result(false);
    
  } 
}

template <class K>
bool do_intersect(const typename K::Triangle_3 &t, 
                 const typename K::Ray_3 &r,
                 const K & k)
{
  return  do_intersect(t,r,k,r3t3_do_intersect_empty_visitor());
}


template <class K>
inline
bool do_intersect(const typename K::Ray_3 &r,
		  const typename K::Triangle_3 &t, 
		  const K & k)
{
  return do_intersect(t,r, k);
}


template <class K,class Visitor>
typename Visitor::result_type 
do_intersect_coplanar(const typename K::Triangle_3 &t, 
      const typename K::Ray_3      &r,
      const K & k,
      Visitor visitor)
{
  visitor.ray_coplanar();
  CGAL_kernel_precondition( ! k.is_degenerate_3_object()(t) ) ;
  CGAL_kernel_precondition( ! k.is_degenerate_3_object()(r) ) ;
  
  typedef typename K::Point_3 Point_3;
  
  typename K::Construct_point_on_3 point_on = 
    k.construct_point_on_3_object();
  
  typename K::Construct_vertex_3 vertex_on =
    k.construct_vertex_3_object();
  
  typename K::Coplanar_orientation_3 coplanar_orientation = 
    k.coplanar_orientation_3_object();

  
  const Point_3 & p = point_on(r,0);
  const Point_3 & q = point_on(r,1);
  
  const Point_3 & A = vertex_on(t,0);
  const Point_3 & B = vertex_on(t,1);
  const Point_3 & C = vertex_on(t,2);
  
  
  const Point_3 * a = &A;
  const Point_3 * b = &B;
  const Point_3 * c = &C;
  // Determine the orientation of the triangle in the common plane

  if (coplanar_orientation(A,B,C) != POSITIVE)
    {
      // The triangle is not counterclockwise oriented
      // swap two vertices.
      b = &C;
      c = &B;
    }

  // Test whether the ray's supporting line intersects the
  // triangle in the common plane
  
  const Orientation pqa = coplanar_orientation(p,q,*a);
  const Orientation pqb = coplanar_orientation(p,q,*b);
  const Orientation pqc = coplanar_orientation(p,q,*c);


  switch ( pqa ) {
  case POSITIVE:
    switch ( pqb ) {
    case POSITIVE:
       if (pqc == POSITIVE) 
	 // the triangle lies in the positive halfspace
	 // defined by the ray's supporting line.
	 return visitor.result(false);
       // c is isolated on the negative side
       return visitor.result( coplanar_orientation(*a,*c,p) != POSITIVE );
       
    case NEGATIVE:
      if (pqc == POSITIVE) // b is isolated on the negative side
	return visitor.result( coplanar_orientation(*c,*b,p) != POSITIVE );
      // a is isolated on the positive side
      return visitor.result( coplanar_orientation(*a,*c,p) != POSITIVE );

    case COLLINEAR:
      if (pqc == POSITIVE) // b is isolated on the negative side
	return visitor.result( coplanar_orientation(*c,*b,p) != POSITIVE );
      // a is isolated on the positive side
      return visitor.result( coplanar_orientation(*a,*c,p) != POSITIVE );
      
    default: // should not happen.
      CGAL_kernel_assertion(false);
      return visitor.result(false);
    }
    
  case NEGATIVE:
    switch ( pqb ) {
    case POSITIVE:
      if (pqc == POSITIVE) 	// a is isolated on the negative side
	return visitor.result( coplanar_orientation(*b,*a,p) != POSITIVE );
      // b is isolated on the positive side
      return visitor.result( coplanar_orientation(*b,*a,p) != POSITIVE );
      
    case NEGATIVE:
      if (pqc == NEGATIVE) 	
	// the triangle lies in the negative halfspace
	// defined by the ray's supporting line.
	return visitor.result( false );
      // c is isolated on the positive side
      return visitor.result( coplanar_orientation(*c,*b,p) != POSITIVE );
    case COLLINEAR:
      if (pqc == NEGATIVE) // b is isolated on the positive side
	return visitor.result( coplanar_orientation(*b,*a,p) != POSITIVE );
      // a is isolated on the negative side
      return visitor.result( coplanar_orientation(*b,*a,p) != POSITIVE );
      
    default: // should not happen.
      CGAL_kernel_assertion(false);
      return visitor.result(false);
    }
    
  case COLLINEAR:
    switch ( pqb ) {
    case POSITIVE:
      if (pqc == POSITIVE) // a is isolated on the negative side
	return visitor.result( coplanar_orientation(*b,*a,p) != POSITIVE );
      // b is isolated on the positive side
      return visitor.result( coplanar_orientation(*b,*a,p) != POSITIVE );
    case NEGATIVE:
      if (pqc == NEGATIVE) // a is isolated on the positive side
	return visitor.result( coplanar_orientation(*a,*c,p) != POSITIVE );
      // b is isolated on the negative side
      return visitor.result( coplanar_orientation(*c,*b,p) != POSITIVE );

    case COLLINEAR:
      if (pqc == POSITIVE) // c is isolated on the positive side
	return visitor.result( coplanar_orientation(*c,*b,p) != POSITIVE );
      // c is isolated on the negative side
      return visitor.result( coplanar_orientation(*a,*c,p) != POSITIVE );
      // case pqc == COLLINEAR is imposiible

    default: // should not happen.
      CGAL_kernel_assertion(false);
      return visitor.result(false);
    }
    
  default: // should not happen.
    CGAL_kernel_assertion(false);
    return visitor.result(false);
  }
}


} // namespace internal
} // namespace Intersections
} //namespace CGAL

#endif // CGAL_TRIANGLE_3_RAY_3_DO_INTERSECT_H
