// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------

#pragma once

#include <Eigen/Core>
#include <Eigen/Geometry>
#include <vector>

#include "open3d/geometry/Geometry.h"
#include "open3d/utility/Eigen.h"

namespace open3d {
namespace geometry {

class AxisAlignedBoundingBox;
class OrientedBoundingBox;

/// \class Geometry3D
///
/// \brief The base geometry class for 3D geometries.
///
/// Main class for 3D geometries, Derives all data from Geometry Base class.
class Geometry3D : public Geometry {
public:
    ~Geometry3D() override {}

protected:
    /// \brief Parameterized Constructor.
    ///
    /// \param type type of object based on GeometryType.
    Geometry3D(GeometryType type) : Geometry(type, 3) {}

public:
    Geometry3D& Clear() override = 0;
    bool IsEmpty() const override = 0;
    /// Returns min bounds for geometry coordinates.
    virtual Eigen::Vector3d GetMinBound() const = 0;
    /// Returns max bounds for geometry coordinates.
    virtual Eigen::Vector3d GetMaxBound() const = 0;
    /// Returns the center of the geometry coordinates.
    virtual Eigen::Vector3d GetCenter() const = 0;

    /// Creates the axis-aligned bounding box around the points of the object.
    /// Further details in AxisAlignedBoundingBox::CreateFromPoints()
    virtual AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const = 0;

    /// Creates an oriented bounding box around the points of the object.
    /// Further details in OrientedBoundingBox::CreateFromPoints()
    /// \param robust If set to true uses a more robust method which works
    ///               in degenerate cases but introduces noise to the points
    ///               coordinates.
    virtual OrientedBoundingBox GetOrientedBoundingBox(
            bool robust = false) const = 0;

    /// Creates the minimal oriented bounding box around the points of the
    /// object. Further details in
    /// OrientedBoundingBox::CreateFromPointsMinimal()
    /// \param robust If set to true uses a more robust method which works
    ///               in degenerate cases but introduces noise to the points
    ///               coordinates.
    virtual OrientedBoundingBox GetMinimalOrientedBoundingBox(
            bool robust = false) const = 0;

    /// \brief Apply transformation (4x4 matrix) to the geometry coordinates.
    virtual Geometry3D& Transform(const Eigen::Matrix4d& transformation) = 0;

    /// \brief Apply translation to the geometry coordinates.
    ///
    /// \param translation A 3D vector to transform the geometry.
    /// \param relative If `true`, the \p translation is directly applied to the
    /// geometry. Otherwise, the geometry center is moved to the \p translation.
    virtual Geometry3D& Translate(const Eigen::Vector3d& translation,
                                  bool relative = true) = 0;
    /// \brief Apply scaling to the geometry coordinates.
    /// Given a scaling factor \f$s\f$, and center \f$c\f$, a given point
    /// \f$p\f$ is transformed according to \f$s (p - c) + c\f$.
    ///
    /// \param scale The scale parameter that is multiplied to the
    /// points/vertices of the geometry.
    /// \param center Scale center that is used to resize the geometry.
    virtual Geometry3D& Scale(const double scale,
                              const Eigen::Vector3d& center) = 0;

    /// \brief Apply rotation to the geometry coordinates and normals.
    /// Given a rotation matrix \f$R\f$, and center \f$c\f$, a given point
    /// \f$p\f$ is transformed according to \f$R (p - c) + c\f$.
    ///
    /// \param R A 3x3 rotation matrix
    /// \param center Rotation center that is used for the rotation.
    virtual Geometry3D& Rotate(const Eigen::Matrix3d& R,
                               const Eigen::Vector3d& center) = 0;

    virtual Geometry3D& Rotate(const Eigen::Matrix3d& R);

    /// Get Rotation Matrix from XYZ RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromXYZ(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from YZX RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromYZX(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from ZXY RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromZXY(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from XZY RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromXZY(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from ZYX RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromZYX(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from YXZ RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromYXZ(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from AxisAngle RotationType.
    static Eigen::Matrix3d GetRotationMatrixFromAxisAngle(
            const Eigen::Vector3d& rotation);
    /// Get Rotation Matrix from Quaternion.
    static Eigen::Matrix3d GetRotationMatrixFromQuaternion(
            const Eigen::Vector4d& rotation);

protected:
    /// Compute min bound of a list points.
    Eigen::Vector3d ComputeMinBound(
            const std::vector<Eigen::Vector3d>& points) const;
    /// Compute max bound of a list points.
    Eigen::Vector3d ComputeMaxBound(
            const std::vector<Eigen::Vector3d>& points) const;
    /// Computer center of a list of points.
    Eigen::Vector3d ComputeCenter(
            const std::vector<Eigen::Vector3d>& points) const;

    /// \brief Resizes the colors vector and paints a uniform color.
    ///
    /// \param colors An array of eigen vectors specifies colors in RGB.
    /// \param size The resultant size of the colors array.
    /// \param color The final color in which the colors will be painted.
    void ResizeAndPaintUniformColor(std::vector<Eigen::Vector3d>& colors,
                                    const size_t size,
                                    const Eigen::Vector3d& color) const;

    /// \brief Transforms all points with the transformation matrix.
    ///
    /// \param transformation 4x4 matrix for transformation.
    /// \param points A list of points to be transformed.
    void TransformPoints(const Eigen::Matrix4d& transformation,
                         std::vector<Eigen::Vector3d>& points) const;

    /// \brief Transforms the normals with the transformation matrix.
    ///
    /// \param transformation 4x4 matrix for transformation.
    /// \param normals A list of normals to be transformed.
    void TransformNormals(const Eigen::Matrix4d& transformation,
                          std::vector<Eigen::Vector3d>& normals) const;

    /// \brief Transforms all covariance matrices with the transformation.
    ///
    /// \param transformation 4x4 matrix for transformation.
    /// \param covariances A list of covariance matrices to be transformed.
    void TransformCovariances(const Eigen::Matrix4d& transformation,
                              std::vector<Eigen::Matrix3d>& covariances) const;

    /// \brief Apply translation to the geometry coordinates.
    ///
    /// \param translation A 3D vector to transform the geometry.
    /// \param points A list of points to be transformed.
    /// \param relative If `true`, the \p translation is directly applied to the
    /// \p points. Otherwise, the center of the \p points is moved to the \p
    /// translation.
    void TranslatePoints(const Eigen::Vector3d& translation,
                         std::vector<Eigen::Vector3d>& points,
                         bool relative) const;

    /// \brief Scale the coordinates of all points by the scaling factor \p
    /// scale.
    ///
    /// \param scale The scale factor that is used to resize the geometry
    /// \param points A list of points to be transformed
    /// \param center Scale center that is used to resize the geometry..
    void ScalePoints(const double scale,
                     std::vector<Eigen::Vector3d>& points,
                     const Eigen::Vector3d& center) const;

    /// \brief Rotate all points with the rotation matrix \p R.
    ///
    /// \param R A 3x3 rotation matrix
    /// defines the axis of rotation and the norm the angle around this axis.
    /// \param points A list of points to be transformed.
    /// \param center Rotation center that is used for the rotation.
    void RotatePoints(const Eigen::Matrix3d& R,
                      std::vector<Eigen::Vector3d>& points,
                      const Eigen::Vector3d& center) const;

    /// \brief Rotate all normals with the rotation matrix \p R.
    ///
    /// \param R A 3x3 rotation matrix
    /// \param normals A list of normals to be transformed.
    void RotateNormals(const Eigen::Matrix3d& R,
                       std::vector<Eigen::Vector3d>& normals) const;

    /// \brief Rotate all covariance matrices with the rotation matrix \p R.
    ///
    /// \param R A 3x3 rotation matrix
    /// \param covariances A list of covariance matrices to be transformed.
    void RotateCovariances(const Eigen::Matrix3d& R,
                           std::vector<Eigen::Matrix3d>& covariances) const;
};

}  // namespace geometry
}  // namespace open3d