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#ifndef __RGRID_H
#define __RGRID_H

#include <vector>
#include "CGLA/Vec3i.h"
#include "AncestorGrid.h"

namespace Geometry 
{

        /** Regular voxel grid. 
                        This class template can be instantiated and used directly.
                        This is just a regular voxel grid stored as a linear array
                        with functions to access its contents. */                       
        template<class T>
        class RGrid: public AncestorGrid<T,RGrid<T> >
        {
        public:
                typedef T DataType;

        private:
                /// x size of grid.
                int x_dim;
                
                /// x size times y size of grid. Stored for efficiency reasons.
                int xy_dim;

                /// Vector containing the actual data.
                std::vector<T> data;

                /// Convert xyz index into an index in a linear array.
                int grid_idx(const CGLA::Vec3i& idx) const
                {
                        return  idx[2] * xy_dim + idx[1] * x_dim + idx[0];
                }

                /// The default grid value, used to clear grid. 
                DataType default_val;

        public:
        
                /** Construct a regular voxel grid. This function
                                is passed a Vec3i _dims and an optional 
                                initialization value, val. It creates a grid
                                of specified dimensions, and initializes the 
                                value of all voxels to val. */
                RGrid(CGLA::Vec3i _dims, const T& val = T()):
                        AncestorGrid<T,RGrid<T> >(_dims), 
                        x_dim(_dims[0]), xy_dim(_dims[0]*_dims[1]),
                        data(_dims[0]*_dims[1]*_dims[2],val),
                        default_val(val)
                {}      

                /** Construct a grid of dimensions 0,0,0 */
                RGrid(): AncestorGrid<T,RGrid<T> >(CGLA::Vec3i(0)), 
                        x_dim(0), xy_dim(0),
                        data(0,0), default_val(0)
                {}      

                /** Store a voxel in a regular grid. */
                void store(const CGLA::Vec3i& p, const T& t) 
                {
                        assert(in_domain(p));
                        data[grid_idx(p)] = t;
                }

                /** Read/write access to voxel grid. This is 
                                a non-const overloaded operator[]. In a regular 
                                grid, we have reserved room for all voxels in 
                                advance. Hence, it is possible to create a non-const
                                operator[]. See AncestorGrid::operator[]. */
                T& operator[](const CGLA::Vec3i& p) 
                {
                        assert(in_domain(p));
                        return data[grid_idx(p)];
                }

                /// Read only access to voxel grid through const operator[]
                const T& operator[](const CGLA::Vec3i& p) const 
                {
                        assert(in_domain(p));
                        return data[grid_idx(p)];
                }

                /// Const function to get a pointer to the first voxel in grid.
                const T* get() const {return &data[0];}

                /// Non-const function to get a pointer to the first voxel in grid.
                T* get() {return &data[0];}

                /// Get x dimensions of grid.
                int get_x_dim() const { return x_dim;}

                /// Get x size times y size of grid.
                int get_xy_dim() const { return xy_dim;}

                /// Get length of linear array actually containing voxels.
                int get_size() const { return data.size();}

                void clear()
                {
                        int N = data.size();
                        for(int i=0;i<N;++i)
                                data[i] = default_val;
                }


        };

}

#endif