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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4      *
*                (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; 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 2.1 of the License, or (at     *
* your option) any later version.                                             *
*                                                                             *
* 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 GNU Lesser General Public License *
* for more details.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                              SOFA :: Framework                              *
*                                                                             *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_COLLISION_PROXIMITY_H
#define SOFA_COMPONENT_COLLISION_PROXIMITY_H

#include <sofa/defaulttype/Vec.h>
#include <sofa/helper/helper.h>

namespace sofa
{

namespace helper
{

//-----------------------------------------------------------------------------
//--DistanceTriTri--
//------------------
// this class computes the shortest distance between a triangle P and a triangle Q
//-----------------------------------------------------------------------------
class SOFA_HELPER_API DistanceTriTri
{
public:
	DistanceTriTri(); // start a Proximity solver
	~DistanceTriTri();

	// init the solver with the new coordinates of the triangle & the segment
	// solve the lcp
	//void NewComputation(Triangle *triP, Triangle *triQ, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
	void NewComputation(const sofa::defaulttype::Vector3& P1, const sofa::defaulttype::Vector3& P2, const sofa::defaulttype::Vector3& P3, const sofa::defaulttype::Vector3& Q1, const sofa::defaulttype::Vector3& Q2, const sofa::defaulttype::Vector3& Q3, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
	//double getAlphaP(){return _result[6];}
	//double getBetaP(){return _result[7];}
	//double getAlphaQ(){return _result[8];}
	//double getBetaQ(){return _result[9];}


private:
	//double **_A;
	//double *_b; 
	//double *_result;
};

//-----------------------------------------------------------------------------
//--DistanceSegTri--
//------------------
// this class compute the shortest distance between a triangle and a segment
//-----------------------------------------------------------------------------
class SOFA_HELPER_API DistanceSegTri
{
public:
	DistanceSegTri(); // start a Proximity solver
	~DistanceSegTri();

	// init the solver with the new coordinates of the triangle & the segment
	// solve the lcp
	//void NewComputation(Triangle *tri, const sofa::defaulttype::Vector3 &Q1, const sofa::defaulttype::Vector3 &Q2, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);
	void NewComputation(const sofa::defaulttype::Vector3 &P1, const sofa::defaulttype::Vector3 &P2, const sofa::defaulttype::Vector3 &P3, const sofa::defaulttype::Vector3 &Q1, const sofa::defaulttype::Vector3 &Q2, sofa::defaulttype::Vector3 &Presult, sofa::defaulttype::Vector3 &Qresult);

	// we should add the same procedure using with AAB
	//double distanceBSphere(Triangle &tri, sofa::defaulttype::Vector3 &Q1, sofa::defaulttype::Vector3&Q2);

	//double distanceBBox(Triangle &tri, sofa::defaulttype::Vector3 &Q1, sofa::defaulttype::Vector3&Q2);

	//double getAlpha(){return _result[5];}
	//double getBeta(){return _result[6];}
	//double getGamma(){return _result[7];}

private:
	//double **_A;
	//double *_b; 
	//double *_result;
};

//-----------------------------------------------------------------------------
//--DistancePointTri--
//------------------
// this class compute the shortest distance between a triangle and a Point
//-----------------------------------------------------------------------------
class SOFA_HELPER_API DistancePointTri
{
public:
	DistancePointTri(); // start a Proximity solver
	~DistancePointTri();

	// init the solver with the new coordinates of the triangle & the segment
	// solve the lcp
	//void NewComputation(Triangle *tri, const sofa::defaulttype::Vector3 &Q, sofa::defaulttype::Vector3 &Presult);
	void NewComputation(const sofa::defaulttype::Vector3 &P1, const sofa::defaulttype::Vector3 &P2, const sofa::defaulttype::Vector3 &P3, const sofa::defaulttype::Vector3 &Q, sofa::defaulttype::Vector3 &Presult);

	// distance using bbox precomputed on the triangle
	//double distanceBBox(Triangle &tri, const sofa::defaulttype::Vector3 &Q);

	//double getAlpha(){return _result[4];}
	//double getBeta(){return _result[5];}


private:
	//double **_A;
	//double *_b; 
	//double *_result;
};

} // namespace helper

} // namespace sofa


#endif