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#include <cfloat>
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#include <cfloat>
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#include <GL/gl.h>
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#include "CGLA/statistics.h"
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#include "CGLA/statistics.h"
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#include "CGLA/eigensolution.h"
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#include "CGLA/eigensolution.h"
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#include "CGLA/Mat4x4f.h"
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#include "CGLA/Mat4x4f.h"
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#include "AABox.h"
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#include "AABox.h"
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#include "OBox.h"
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#include "OBox.h"
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#include "Triangle.h"
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using namespace std;
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using namespace std;
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using namespace CGLA;
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using namespace CGLA;
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namespace
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namespace
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{
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{
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	Mat3x3f compute_rotation(const vector<Triangle>& invec)
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	Mat3x3f compute_rotation(const vector<Geometry::Triangle>& invec)
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	{
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	{
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		const int N_tri = invec.size();
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		const int N_tri = invec.size();
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		Mat3x3f C;
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		Mat3x3f C;
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		float a_H = 0;
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		float a_H = 0;
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		Vec3f m_H(0);
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		Vec3f m_H(0);
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		for(int i=0;i<N_tri;++i)
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		for(int i=0;i<N_tri;++i)
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			{
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			{
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				const Triangle& tri = invec[i];
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				const Geometry::Triangle& tri = invec[i];
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				float a_k = tri.area();
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				float a_k = tri.area();
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				a_H += a_k;
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				a_H += a_k;
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				Vec3f m_k = tri.centre();
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				Vec3f m_k = tri.centre();
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}
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}
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namespace Geometry
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{
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bool OBox::intersect(const CGLA::Vec3f& p, const CGLA::Vec3f& d) const
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bool OBox::intersect(const CGLA::Vec3f& p, const CGLA::Vec3f& d) const
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{
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{
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	Vec3f pr = R * p;
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	Vec3f pr = R * p;
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	Vec3f dr = R * d;
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	Vec3f dr = R * d;
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	return aabox.intersect(pr, dr);
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	return aabox.intersect(pr, dr);
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{
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{
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	Vec3f pr = R * p;
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	Vec3f pr = R * p;
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	aabox.minmax_sq_dist(pr, dmin, dmax);
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	aabox.minmax_sq_dist(pr, dmin, dmax);
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}
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}
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void OBox::gl_draw() const
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{
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	Mat4x4f m = identity_Mat4x4f();
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	copy_matrix(R, m);
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	glPushMatrix();
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	glMultMatrixf(m.get());
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	aabox.gl_draw();
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	glPopMatrix();
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}
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OBox OBox::box_triangle(const Triangle& t)
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OBox OBox::box_triangle(const Triangle& t)
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{
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{
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	Vec3f e0 = t.get_v1()-t.get_v0();
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	Vec3f e0 = t.get_v1()-t.get_v0();
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	Vec3f e1 = t.get_v2()-t.get_v1();
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	Vec3f e1 = t.get_v2()-t.get_v1();
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	Vec3f e2 = t.get_v0()-t.get_v2();
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	Vec3f e2 = t.get_v0()-t.get_v2();
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		}
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		}
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	return OBox(Rot, AABox(tri_pmin, tri_pmax, centre_close));
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	return OBox(Rot, AABox(tri_pmin, tri_pmax, centre_close));
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}
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}
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}
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