/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Le module "view.h" contient les Macros et les types
 * des parametres de visualisation et de transformation 3D.
 *
 * Authors:
 * Jean-Luc CORRE
 *
*****************************************************************************/

#ifndef vpView_H
#define vpView_H

#include <visp3/core/vpConfig.h>

#ifndef DOXYGEN_SHOULD_SKIP_THIS

#include "vpArit.h"
#include "vpMy.h"

/*
 * Macros de numerotation des 6 plans de decoupage :
 * - Les 6 plans de clipping definissent le volume canonique
 *   de la pyramide de vision dans lequel la scene est visible.
 * - les 6 plans ont pour equations :
 * Plan dessus  :  W = Y
 * Plan dessous  : -W = Y
 * Plan droit  :  W = X
 * Plan gauche  : -W = X
 * Plan arriere  :  W = Z
 * Plan avant  :  W = 0
 */
#define PLANE_ABOVE 0
#define PLANE_BELOW 1
#define PLANE_RIGHT 2
#define PLANE_LEFT 3
#define PLANE_BACK 4
#define PLANE_FRONT 5
#define PLANE_NBR 6

/*
 * Macros de positionnement des points 4D :
 * Le positionnement d'un point 4D dans l'espace de l'observateur virtuel
 * se fait par rapport aux 6 plans de decoupage.
 * A chaque point 4D on associe 6 bits, un par plan de decoupage.
 */
#define IS_INSIDE 0x00
#define IS_ABOVE 0x01
#define IS_BELOW 0x02
#define IS_RIGHT 0x04
#define IS_LEFT 0x08
#define IS_BACK 0x10
#define IS_FRONT 0x20

#define vpDEFAULT_REMOVE IS_INSIDE

#define PARALLEL 0
#define PERSPECTIVE 1

#define vpDEFAULT_EYE                                                                                                  \
  {                                                                                                                    \
    0.0, 0.0, 1.0                                                                                                      \
  }
#define vpDEFAULT_TARGET                                                                                               \
  {                                                                                                                    \
    0.0, 0.0, 0.0                                                                                                      \
  }
#define vpDEFAULT_FOCAL 1.0
#define vpDEFAULT_ANGLE 45.0
#define vpDEFAULT_TWIST 0.0
#define vpDEFAULT_SPEED 0.0
#define vpDEFAULT_CAMERA                                                                                               \
  {                                                                                                                    \
    vpDEFAULT_EYE, vpDEFAULT_TARGET, vpDEFAULT_FOCAL, vpDEFAULT_ANGLE, vpDEFAULT_TWIST, vpDEFAULT_SPEED                \
  }

#define vpDEFAULT_COP                                                                                                  \
  {                                                                                                                    \
    0.0, 0.0, 1.0                                                                                                      \
  }
#define vpDEFAULT_VRP                                                                                                  \
  {                                                                                                                    \
    0.0, 0.0, 0.0                                                                                                      \
  }
#define vpDEFAULT_VPN                                                                                                  \
  {                                                                                                                    \
    0.0, 0.0, -1.0                                                                                                     \
  }
#define vpDEFAULT_VUP                                                                                                  \
  {                                                                                                                    \
    0.0, 1.0, 0.0                                                                                                      \
  }
#define vpDEFAULT_VWD                                                                                                  \
  {                                                                                                                    \
    -1.0, 1.0, -1.0, 1.0                                                                                               \
  }
#define vpDEFAULT_DEPTH                                                                                                \
  {                                                                                                                    \
    0.0, 1.0                                                                                                           \
  }
#define vpDEFAULT_TYPE PERSPECTIVE

#define vpDEFAULT_VIEW                                                                                                 \
  {                                                                                                                    \
    vpDEFAULT_TYPE, vpDEFAULT_COP, vpDEFAULT_VRP, vpDEFAULT_VPN, vpDEFAULT_VUP, vpDEFAULT_VWD, vpDEFAULT_DEPTH         \
  }

#define vpDEFAULT_WC                                                                                                   \
  {                                                                                                                    \
    1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0                                     \
  }

/*
 *      CAMERA PARAMETERS
 *      _________________
 *
 * La structure "Camera_parameters" definit les parametres de la camera.
 * eye    Position de l'oeil ou de la camera.
 * target  Position de la cible ou du point visee dans la scene.
 * focal  Distance eye-target
 * angle  Angle d'ouverture en degres.
 * twist  Angle de rotation sur l'axe de visee (eye,target) en degres.
 * speed  Vitesse sur l'axe de visee (eye,target).
 */
typedef struct {
  Point3f eye;    /* position de l'observateur  */
  Point3f target; /* point vise      */
  float focal;    /* focale de la camera    */
  float angle;    /* angle d'ouverture    */
  float twist;    /* rotation sur l'axe de visee  */
  float speed;    /* vitesse  sur l'axe de visee  */
} Camera_parameters;

typedef struct {
  float umin, umax; /* bords gauche et droit  */
  float vmin, vmax; /* bords inferieur et superieur */
} View_window;

typedef struct {
  float front; /* plan avant ("hither")  */
  float back;  /* plan arriere ("yon")    */
} View_depth;

typedef struct {
  Type type;        /* type de la  projection  */
  Point3f cop;      /* centre de projection    */
  Point3f vrp;      /* point de reference de visee  */
  Vector vpn;       /* vecteur nomal au plan  */
  Vector vup;       /* vecteur indiquant le "haut"  */
  View_window vwd;  /* fenetre de projection  */
  View_depth depth; /* profondeurs de decoupages  */
} View_parameters;

#endif
#endif
