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using namespace CGLA;
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using namespace CGLA;
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using namespace Util;
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using namespace Util;
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namespace
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namespace
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{
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{
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	Vec3i vol_dim(64);
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	Vec3i vol_dim(64);
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		const Mat4x4d fit_bounding_volume(const Vec3d& p0,
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    const Mat4x4d fit_bounding_volume(const Vec3d& p0,
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																		const Vec3d& p7,
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                                      const Vec3d& p7,
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																		float buf_reg)
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                                      float buf_reg)
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	{
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	{
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		Vec3d sz = p7 - p0;
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		Vec3d sz = p7 - p0;
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		Vec3i dims = vol_dim;
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		Vec3i dims = vol_dim;
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		Vec3d scal_vec = (Vec3d(dims)-Vec3d(2*buf_reg+2))/sz;
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		Vec3d scal_vec = (Vec3d(dims)-Vec3d(2*buf_reg+2))/sz;
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		float scal = min(scal_vec[0], min(scal_vec[1],scal_vec[2]));
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		float scal = min(scal_vec[0], min(scal_vec[1],scal_vec[2]));
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		Mat4x4d m = translation_Mat4x4d(Vec3d(0)+Vec3d(buf_reg+1));
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		Mat4x4d m = translation_Mat4x4d(Vec3d(0)+Vec3d(buf_reg+1));
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		m *= scaling_Mat4x4d(Vec3d(scal));
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		m *= scaling_Mat4x4d(Vec3d(scal));
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		m *= translation_Mat4x4d(-p0);
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		m *= translation_Mat4x4d(-p0);
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		return m;
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		return m;
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	}
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	}
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	bool do_ray_tests = false;
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	bool do_ray_tests = false;
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	bool do_obb = true;
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	bool do_obb = true;
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	bool do_aabb = false;
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	bool do_aabb = false;
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	bool flip_normals = false;
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	bool flip_normals = false;
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}
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}
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template<class BBTree>
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template<class BBTree>
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{
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{
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	BBTree *T;
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	BBTree *T;
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	float old_d;
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	float old_d;
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	Vec3i old_p;
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	Vec3i old_p;
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public:
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public:
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	DistCompCache(BBTree* _T): T(_T), old_p(-99999) {}
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	DistCompCache(BBTree* _T): T(_T), old_p(-99999) {}
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	void operator()(const CGLA::Vec3i& pi, float& vox_val)
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	void operator()(const CGLA::Vec3i& pi, float& vox_val)
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	{
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	{
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		Vec3f p(pi);
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		Vec3f p(pi);
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 		if(sqr_length(pi-old_p)==1)
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 		if(sqr_length(pi-old_p)==1)
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 				vox_val = T->compute_signed_distance(p,CGLA::sqr(1.001+fabs(old_d)));
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            vox_val = T->compute_signed_distance(p,CGLA::sqr(1.001+fabs(old_d)));
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 		else
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 		else
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			vox_val = T->compute_signed_distance(p);
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			vox_val = T->compute_signed_distance(p);
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		if(flip_normals) vox_val = -vox_val;
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		if(flip_normals) vox_val = -vox_val;
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		old_p = pi;
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		old_p = pi;
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		old_d = vox_val;
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		old_d = vox_val;
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	}
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	}
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};
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};
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template<class BBTree>
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template<class BBTree>
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class DistComp
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class DistComp
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{
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{
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	BBTree *T;
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	BBTree *T;
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public:
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public:
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	DistComp(BBTree* _T): T(_T) {}
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	DistComp(BBTree* _T): T(_T) {}
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	void operator()(const CGLA::Vec3i& pi, float& vox_val)
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	void operator()(const CGLA::Vec3i& pi, float& vox_val)
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	{
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	{
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		Vec3d p(pi);
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		Vec3d p(pi);
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		vox_val =  T->compute_signed_distance(p);
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		vox_val =  T->compute_signed_distance(p);
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		if(flip_normals) vox_val = -vox_val;
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		if(flip_normals) vox_val = -vox_val;
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template<class BBTree>
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template<class BBTree>
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class RayCast
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class RayCast
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{
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{
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	BBTree *T;
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	BBTree *T;
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public:
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public:
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	RayCast(BBTree* _T): T(_T) {}
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	RayCast(BBTree* _T): T(_T) {}
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	void operator()(const CGLA::Vec3i& pi, float& vox_val)
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	void operator()(const CGLA::Vec3i& pi, float& vox_val)
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	{
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	{
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		int n = T->intersect_cnt(Vec3f(pi), Vec3f(1,0,0));
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		int n = T->intersect_cnt(Vec3f(pi), Vec3f(1,0,0));
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		if(n%2==0)
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		if(n%2==0)
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			vox_val=1000;
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			vox_val=1000;
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typedef RGrid<float> RGridf;
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typedef RGrid<float> RGridf;
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int main(int argc, char** argv)
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int main(int argc, char** argv)
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{
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{
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	// LOAD OBJ
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	// LOAD OBJ
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    Manifold m;
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    Manifold m;
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    string fn;
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    string fn;
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    if(argc>1)
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    if(argc>1)
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	{
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	{
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 	RGridf grid(vol_dim,FLT_MAX);
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 	RGridf grid(vol_dim,FLT_MAX);
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	Util::Timer tim;
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	Util::Timer tim;
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	float T_build_obb=0, T_build_aabb=0, T_dist_obb=0,
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	float T_build_obb=0, T_build_aabb=0, T_dist_obb=0,
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		T_dist_aabb=0, T_ray_obb=0, T_ray_aabb=0;
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    T_dist_aabb=0, T_ray_obb=0, T_ray_aabb=0;
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	if(do_obb)
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	if(do_obb)
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	{
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	{
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		cout << "Building OBB Tree" << endl;
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		cout << "Building OBB Tree" << endl;
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		tim.start();
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		tim.start();