// Copyright (c) 2009 INRIA Sophia-Antipolis (France).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org); you may redistribute it under
// the terms of the Q Public License version 1.0.
// See the file LICENSE.QPL distributed with CGAL.
//
// Licensees holding a valid commercial license may use this file in
// accordance with the commercial license agreement provided with the software.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
//
// $URL:  $
// $Id:  $
//
//
// Author(s)     : Pierre Alliez
//
//******************************************************************************
// File Description :
//
//******************************************************************************

#include <iostream>

#include <CGAL/AABB_tree.h> // must be inserted before kernel
#include <CGAL/AABB_traits.h>
#include <CGAL/Polyhedron_3.h>
#include <CGAL/AABB_polyhedron_triangle_primitive.h>

#include <CGAL/Simple_cartesian.h>

typedef CGAL::Simple_cartesian<double> K;
typedef K::FT FT;
typedef K::Point_3 Point;
typedef K::Segment_3 Segment;
typedef CGAL::Polyhedron_3<K> Polyhedron;
typedef CGAL::AABB_polyhedron_triangle_primitive<K,Polyhedron> Primitive;
typedef CGAL::AABB_traits<K, Primitive> Traits;
typedef CGAL::AABB_tree<Traits> Tree;
typedef Tree::Object_and_primitive_id Object_and_primitive_id;
typedef Tree::Point_and_primitive_id Point_and_primitive_id;

int main()
{
    Point p(1.0, 0.0, 0.0);
    Point q(0.0, 1.0, 0.0);
    Point r(0.0, 0.0, 1.0);
    Point s(0.0, 0.0, 0.0);
    Polyhedron polyhedron;
    polyhedron.make_tetrahedron(p, q, r, s);

    // constructs AABB tree and computes internal KD-tree 
    // data structure to accelerate distance queries
    Tree tree(polyhedron.facets_begin(),polyhedron.facets_end());
    tree.accelerate_distance_queries();

    // query point
    Point query(0.0, 0.0, 3.0);

    // computes squared distance from query
    FT sqd = tree.squared_distance(query);
    std::cout << "squared distance: " << sqd << std::endl;

    // computes closest point
    Point closest = tree.closest_point(query);
    std::cout << "closest point: " << closest << std::endl;

    // computes closest point and primitive id
    Point_and_primitive_id pp = tree.closest_point_and_primitive(query);
    std::cout << "closest point: " << pp.first << std::endl;
    Polyhedron::Face_handle f = pp.second; // closest primitive id
    return EXIT_SUCCESS;
}