/*
 * Copyright (c) 2008-2017, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */


#ifndef BEST_FIT_H

#define BEST_FIT_H

// A code snippet to compute the best fit AAB, OBB, plane, capsule and sphere
// Quaternions are assumed a float X,Y,Z,W
// Matrices are assumed 4x4 D3DX style format passed as a float pointer
// The orientation of a capsule is assumed that height is along the Y axis, the same format as the PhysX SDK uses
// The best fit plane routine is derived from code previously published by David Eberly on his Magic Software site.
// The best fit OBB is computed by first approximating the best fit plane, and then brute force rotating the points
// around a single axis to derive the closest fit.  If you set 'bruteforce' to false, it will just use the orientation
// derived from the best fit plane, which is close enough in most cases, but not all.
// Each routine allows you to pass the point stride between position elements in your input vertex stream.
// These routines should all be thread safe as they make no use of any global variables.



namespace SharedTools
{

bool  computeBestFitPlane(size_t vcount,	// number of input data points
                          const float* points,					// starting address of points array.
                          size_t vstride,							// stride between input points.
                          const float* weights,					// *optional point weighting values.
                          size_t wstride,							// weight stride for each vertex.
                          float plane[4]);

float  computeBestFitAABB(size_t vcount, const float* points, size_t pstride, float bmin[3], float bmax[3]); // returns the diagonal distance
float  computeBestFitSphere(size_t vcount, const float* points, size_t pstride, float center[3]);
void   computeBestFitOBB(size_t vcount, const float* points, size_t pstride, float* sides, float matrix[16], bool bruteForce);
void   computeBestFitOBB(size_t vcount, const float* points, size_t pstride, float* sides, float pos[3], float quat[4], bool bruteForce);
void   computeBestFitCapsule(size_t vcount, const float* points, size_t pstride, float& radius, float& height, float matrix[16], bool bruteForce);
void   computeBestFitCapsule(size_t vcount, const float* points, size_t pstride, float& radius, float& height, float pos[3], float quat[4], bool bruteForce);

};

#endif