#ifndef ENV_MAP_H
#define ENV_MAP_H


//#define DEBUG_affichage
//#define DEBUG

#include <iostream>
#include <algorithm>
#include <chrono>
#include <ctime>
#include "Topology/generic/parameters.h"



#include "Algo/Modelisation/polyhedron.h"
#include "Algo/Modelisation/extrusion.h"
#include "Algo/Modelisation/subdivision.h"
#include "Algo/Geometry/centroid.h"
#include "Algo/Geometry/area.h"
#include "Geometry/bounding_box.h"

#include "Container/fakeAttribute.h"
#include "Algo/Tiling/Volume/cubic.h"
#include "Algo/Modelisation/polyhedron.h"
#include "Algo/Import/import.h"
#include "Algo/Geometry/volume.h"
#include "Algo/Geometry/area.h"


/////////////////particules
#include "Algo/MovingObjects/particle_cell_3D_memo.h"


using namespace CGoGN ;
#include "pfp.h"
#include "segment.h"
#include "triangle.h"


typedef CGoGN::Algo::Volume::MovingObjects::ParticleCell3D<PFP> PARTICULE;
typedef CGoGN::Algo::Volume::MovingObjects::ParticleCell3DMemo<PFP> PARTICULEMEMO;

class EnvMap
{
public:
    std::chrono::duration<double> duration_pop, duration_subdiv, duration_push;

	EnvMap() ;
	void init(int argc, char **argv) ;
    bool checkPointInMap(VEC3 pos,Dart neighborhood);
    bool insideVolume(VEC3 pos, Dart d);
    REAL volumeMaxdistance(Vol volume);
    VEC3 normaleFromVolume(Dart volume,Dart face);
	void open_file(std::string filename);
    float mapMinX;
    float mapMaxX;
    float mapMinY;
    float mapMaxY;
    float mapMinZ;
    float mapMaxZ;
    float maxCellRay;
    bool subdivideVolume(Dart d , bool OneLevelDifference=true);
    Dart getBelongingCell(const PFP::VEC3& pos);



//
//	void resetAgentInFace(Agent* agent) ;

	PFP::MAP map ;

	VertexAttribute<VEC3, MAP> position ;
    FaceAttribute<VEC3, MAP> facecenter;
	VolumeAttribute<VEC3, MAP> color ;
    VolumeAttribute<ARETES, MAP> RegisteredEdges ;
    VolumeAttribute<ARETES, MAP> RegisteredNeighborEdges ;
    VolumeAttribute<TRIANGLES, MAP> RegisteredTriangles ;
    VolumeAttribute<TRIANGLES, MAP> RegisteredNeighborTriangles ;
	Geom::BoundingBox<PFP::VEC3> bb;

    std::vector<Dart> getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1);
    void FindNeighborCells (const std::vector<Dart>& belonging_cells, std::vector<Dart> * nieghbor_cells);


// Enregistrement Aretes//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
   //
    Dart popAndPushSegment(Segment* o);
    void FirstRegistrationSegment(Segment * mo);
    void pushAOneCellSegment(Segment * o, Dart d);
    void pushSegmentInSetOfCells(Segment* o, const std::vector<Dart>& memo_cross);
    void popSegment(Segment* o);


    void pushSegmentInCellAsNeighbor(Segment* o, Dart d);
    void popSegmentInCellAsNeighbor(Segment* o, Dart d);
    void resetPartSubdiv(Segment* o);
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

    //Enregistrement Surfaces
    void popAndPushTriangle(Triangle* o);                // pop et push d'une Triangle
    void FirstRegistrationTriangle (Triangle* o);        // premier enregistrement d'une Triangle
    void markNeighbors(CellMarkerMemo<MAP,VOLUME> * memo_mark, CellMarkerMemo<MAP,VOLUME> * OneRingMark, const std::vector<Dart>& memo_cross); // marker les cellules voisines d'un ensemble de cellules retenu dans memo_cross
    void popTriangle(Triangle* o);

    void pushTriangleInCell(Triangle*  o, Dart d);
    void popTriangleInCell(Triangle*  o, Dart d);
    void pushTriangleInCellAsNeighbor(Triangle* cell, Dart d);
    void popTriangleInCellAsNeighbor(Triangle* cell, Dart d);
    void resetPartSubdiv(Triangle* cell);


} ;

//void update_registration(Segment * o);
//void register_pop(Segment* o, int n);
//void resetPartSubdiv(Segment* o);
//void resetObstPartInFace(Segment* o, Dart d, unsigned int fLevel);// empeche de viser une dart ayant disparu
//void resetObstPartInFace(Segment* o, Dart d);// empeche de viser une dart ayant disparu
//void resetPart(Segment * mo, Dart d); // empeche de viser une dart ayant disparu pour les voisins


/**************************************
 *           INLINE FUNCTIONS          *
 **************************************/
//////////////////// BASIC OPERATIONS ////////////////////////////////////////////////////////////////
template <typename T>
inline bool addElementToVector(std::vector<T>& a, T ag)
{
    if (std::find(a.begin(), a.end(), ag) == a.end())
    {
        a.push_back(ag) ;
        return true;
    }
    return false;
}

template <typename T>
inline bool removeElementFromVector(std::vector<T>& a, T ag)
{
    typedef  typename std::vector<T>::iterator iterator;
    iterator it = std::find(a.begin(), a.end(), ag);
    if (it == a.end())
    {
        return false;
    } else {
        *it = a.back();
        a.pop_back();
    }
    return true;
}

/////////////////////////////////////////////////////////////////////REGISTRATIONS

inline std::vector<Dart> EnvMap::getMemoCross(const VEC3& pos, const VEC3& dest, Dart& d1)
{
    typedef CGoGN::Algo::Volume::MovingObjects::ParticleCell3DMemo<PFP> ParticleCell3DMemo;
    return ParticleCell3DMemo(map, d1, pos,position).move(dest);
}


inline void EnvMap::FindNeighborCells (const std::vector<Dart>& belonging_cells, std::vector<Dart> *neighbor_cells)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    assert(!belonging_cells.empty());

    neighbor_cells->clear();
    CellMarkerMemo<MAP,VOLUME> memo_mark(map); //marqueur des cellules "présentes"
    CellMarkerMemo<MAP,VOLUME> OneRingMark(map); // marquer des cellules voisines

    for (std::vector<Dart>::const_iterator it =belonging_cells.begin();it<belonging_cells.end();++it)
            memo_mark.mark(*it);

   for( Dart dd : belonging_cells)
   {
        for (Vol d : volumesAdjacentByVertex3(map,dd))
        {

            if (!map.isBoundaryMarked<3>(d) && !memo_mark.isMarked(d) && !OneRingMark.isMarked(d) )
            {
                OneRingMark.mark(d);
                (*neighbor_cells).push_back(d);
            }
        }

    }

}



inline void EnvMap::pushSegmentInCellAsNeighbor(Segment* o, Dart d)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    addElementToVector(RegisteredNeighborEdges[d],o);

}

inline void EnvMap::popSegmentInCellAsNeighbor(Segment* o, Dart d)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    removeElementFromVector(RegisteredNeighborEdges[d],o);
}

inline void EnvMap::pushTriangleInCellAsNeighbor(Triangle*  o, Dart d)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    addElementToVector(RegisteredNeighborTriangles[d],o);

}

inline void EnvMap::popTriangleInCellAsNeighbor(Triangle*  o, Dart d)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    removeElementFromVector(RegisteredNeighborTriangles[d],o);
}



inline void EnvMap::pushTriangleInCell(Triangle * o, Dart d)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    addElementToVector(RegisteredTriangles[d],o);

}

inline void EnvMap::popTriangleInCell(Triangle* o, Dart d)
{
#ifdef IHMap
    assert(map.getCurrentLevel() == map.getMaxLevel());
#endif
    removeElementFromVector(RegisteredTriangles[d],o);
}



#endif