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// Copyright Matt Overby 2020.
// Distributed under the MIT License.
#if 0
#ifndef ADMMPD_SDF_H_
#define ADMMPD_SDF_H_
#include <Eigen/Geometry>
#include "sdfgen/array3.h"
#include <vector>
#include <unordered_map>
#include <set>
namespace admmpd {
template<typename T>
class SDF {
protected:
typedef Eigen::Matrix<T,Eigen::Dynamic,Eigen::Dynamic> MatrixXT;
typedef Eigen::Matrix<T,3,1> VecType;
T sdf_dx;
sdfgen::Array3f sdf;
Eigen::AlignedBox<T,3> aabb;
std::unordered_map<int,std::set<int> > V_map;
std::unordered_map<int,std::set<int> > F_map;
// Get a list of cells that overlap with a box
void get_cells(
const VecType &bmin, const VecType &bmax,
std::vector<int> &cells_inds) const;
void compute_mapping(
const MatrixXT *V,
const Eigen::MatrixXi *F);
public:
SDF();
bool valid() const { return sdf_dx > 0; };
// Computes the signed distance field and
// updates grid mappings
bool generate(
const MatrixXT *V,
const Eigen::MatrixXi *F,
T dx_frac=-1); // (0-1), fraction of AABB to set dx, -1=auto
Eigen::AlignedBox<T,3> box() const { return aabb; }
T dx() const { return sdf_dx; }
// Samples the SDF at position x in space
// by mapping it to a cell.
// < 0 = cell inside surface
// 0 = cell contains surface
// > 0 = cell outside surface
T sample(const VecType &x) const;
// Sample an area, returns min value
T sample(const VecType &bmin, const VecType &bmax) const;
// Given a point on the interior, move along the
// signed distance field until the surface is reached.
// Then, project on the surface face.
// The input mesh (V,F) should be the same as generate(V,F).
// Returns true if success.
bool project_out(
const VecType &pt,
const MatrixXT *V,
const Eigen::MatrixXi *F,
int &face_idx,
VecType &proj_on_face) const;
// Returns index into SDF from 3D pt (clamped to AABB bounds)
Eigen::Vector3i index(const VecType &x) const;
// Returns list of verts in the cell at ind or box
void vertices(const Eigen::Vector3i &ind, std::vector<int> &v) const;
// Returns list of faces in the cell at ind or box
void faces(const Eigen::Vector3i &ind, std::vector<int> &f) const;
void faces(const VecType &bmin, const VecType &bmax, std::vector<int> &f) const;
}; // class sdf
} // namespace admmpd
#endif // ADMMPD_SDF_H_
#endif
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