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// -                        Open3D: www.open3d.org                            -
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// The MIT License (MIT)
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// Copyright (c) 2019 www.open3d.org
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#pragma once

#include <Eigen/Dense>

namespace open3d {
namespace geometry {

class IntersectionTest {
public:
    static bool AABBAABB(const Eigen::Vector3d& min0,
                         const Eigen::Vector3d& max0,
                         const Eigen::Vector3d& min1,
                         const Eigen::Vector3d& max1);

    static bool TriangleTriangle3d(const Eigen::Vector3d& p0,
                                   const Eigen::Vector3d& p1,
                                   const Eigen::Vector3d& p2,
                                   const Eigen::Vector3d& q0,
                                   const Eigen::Vector3d& q1,
                                   const Eigen::Vector3d& q2);

    static bool TriangleAABB(const Eigen::Vector3d& box_center,
                             const Eigen::Vector3d& box_half_size,
                             const Eigen::Vector3d& vert0,
                             const Eigen::Vector3d& vert1,
                             const Eigen::Vector3d& vert2);

    /// Tests if the given four points all lie on the same plane.
    static bool PointsCoplanar(const Eigen::Vector3d& p0,
                               const Eigen::Vector3d& p1,
                               const Eigen::Vector3d& p2,
                               const Eigen::Vector3d& p3);

    /// Computes the minimum distance between two lines. The first line is
    /// defined by 3D points \p p0 and \p p1, the second line is defined
    /// by 3D points \p q0 and \p q1. The returned distance is negative
    /// if no minimum distance can be computed. This implementation is based on
    /// the description of Paul Bourke
    /// (http://paulbourke.net/geometry/pointlineplane/).
    static double LinesMinimumDistance(const Eigen::Vector3d& p0,
                                       const Eigen::Vector3d& p1,
                                       const Eigen::Vector3d& q0,
                                       const Eigen::Vector3d& q1);

    /// Computes the minimum distance between two line segments. The first line
    /// segment is defined by 3D points \p p0 and \p p1, the second line
    /// segment is defined by 3D points \p q0 and \p q1. This
    /// implementation is based on the description of David Eberly
    /// (https://www.geometrictools.com/Documentation/DistanceLine3Line3.pdf).
    static double LineSegmentsMinimumDistance(const Eigen::Vector3d& p0,
                                              const Eigen::Vector3d& p1,
                                              const Eigen::Vector3d& q0,
                                              const Eigen::Vector3d& q1);
};

}  // namespace geometry
}  // namespace open3d