///////////////////////////////////////////////////////////////////////////////////
//
// Implementation of vtkToolScissors
//
///////////////////////////////////////////////////////////////////////////////////

#include "vtkToolScissors.h"
#include "vtkOBB.h"
#include "vtkObjectFactory.h"
#include "MathGlobal.h"
#include "vtkModeloHerramienta.h"
#include "Tipoherramienta.h"
#include "vtkTransform.h"
#include "vtkAssembly.h"
#include "vtkActorCollection.h"
#include "vtkRenderer.h"
#include "vtkRenderWindow.h"
#include "vtk3DSImporterEsqui.h"
#include "vtkObjectFactory.h"
#include "vtkEsquiActorCollection.h"
#include "vtkMatrix4x4.h"

#include "vtkCellArray.h"
#include "vtkPolyData.h"
#include "vtkPoints.h"
#include "vtkPolyDataMapper.h"
#include "vtkActor.h"
#include "vtkPolyDataReader.h"
#include "vtkTransformPolyDataFilter.h"

vtkCxxRevisionMacro(vtkToolScissors, "$Revision: 0.1 $");
vtkStandardNewMacro(vtkToolScissors);

vtkToolScissors::vtkToolScissors():vtkTool(){	
	_bPossCut=false;
}
//
//
//
vtkToolScissors::~vtkToolScissors(){}
//
//
//

void vtkToolScissors::InitializeTool3DSFile(){

	vtkActorCollection *TempCollection;
	vtk3DSImporterEsqui *Importer = vtk3DSImporterEsqui::New();
	Importer->SetFileName(this->PathToModel);
	Importer->SetRenderWindow(this->RenderWindow);
	Importer->ComputeNormalsOn();
	Importer->SetFactorDeEscala(this->fRadius);
	TempCollection = Importer->GetActorCollection();
		this->Pinza1 =static_cast <vtkActor *> ( TempCollection->GetItemAsObject(1));
		this->Pinza2 = static_cast <vtkActor *> (TempCollection->GetItemAsObject(2));
		this->Estaticas->AddPart(static_cast <vtkActor *> (TempCollection->GetItemAsObject(0)));
		this->Estaticas->AddPart(static_cast <vtkActor *> (TempCollection->GetItemAsObject(3)));
	Importer->Delete();

	Importer = vtk3DSImporterEsqui::New();
	Importer->SetFileName(this->PathToStick);
	Importer->ComputeNormalsOn();
	Importer->SetFactorDeEscala(this->fRadius);
	Importer->SetRenderWindow(this->RenderWindow);
		this->Estaticas->AddPart(static_cast<vtkActor*>(Importer->GetActorCollection()->GetItemAsObject(0)));
		Importer->GetActorCollection()->Delete();
		Importer->Delete();

	this->ColeccionDeModelos->AddItem((vtkActor*) this->Estaticas);
	this->ColeccionDeModelos->AddItem((vtkActor*) this->Pinza2);
	this->ColeccionDeModelos->AddItem((vtkActor*) this->Pinza1);
	

	_pToolCModel = vtkModeloHerramienta::New();

	/// Crear los objetos para el cálculo de colisiones...

	//////////////////////////////////////////////////////
	_cajaPinza1 = vtkOBB::New();
	_cajaPinza2 = vtkOBB::New();
	_cajaPalo = vtkOBB::New();
	
	double Bounds[6];
	this->Pinza1->GetBounds(Bounds);
	this->_cajaPinza1->abajoDetrasIzquierda[0]  = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza1->abajoDetrasIzquierda[1]  = Bounds[2];//0.0f*fRadius;
	this->_cajaPinza1->abajoDetrasIzquierda[2]  = Bounds[4];//-16.0f*fRadius;

	this->_cajaPinza1->abajoDetrasDerecha[0]    = Bounds[2];//100.0f*fRadius;
	this->_cajaPinza1->abajoDetrasDerecha[1]    = Bounds[4];//0.0f*fRadius;
	this->_cajaPinza1->abajoDetrasDerecha[2]    = Bounds[5];//-16.0f*fRadius;

	this->_cajaPinza1->abajoFrenteIzquierda[0]  = Bounds[0];//-100.0f*fRadius;
	this->_cajaPinza1->abajoFrenteIzquierda[1]  = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza1->abajoFrenteIzquierda[2]  = Bounds[5];//-16.0f*fRadius;

	this->_cajaPinza1->abajoFrenteDerecha[0]    = Bounds[1];//100.0f*fRadius;
	this->_cajaPinza1->abajoFrenteDerecha[1]    = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza1->abajoFrenteDerecha[2]    = Bounds[5];//-16.0f*fRadius;;
	
	this->_cajaPinza1->arribaDetrasIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza1->arribaDetrasIzquierda[1] = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza1->arribaDetrasIzquierda[2] = Bounds[4];//90.0f*fRadius;
	
	this->_cajaPinza1->arribaDetrasDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza1->arribaDetrasDerecha[1]   = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza1->arribaDetrasDerecha[2]   = Bounds[4];//90.0f*fRadius;

	this->_cajaPinza1->arribaFrenteIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza1->arribaFrenteIzquierda[1] = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza1->arribaFrenteIzquierda[2] = Bounds[5];//90.0f*fRadius;
	
	this->_cajaPinza1->arribaFrenteDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza1->arribaFrenteDerecha[1]   = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza1->arribaFrenteDerecha[2]   = Bounds[5];//90.0f*fRadius;
	this->_cajaPinza1->id = _HOJA1;

	this->Pinza2->GetBounds(Bounds);
	////
	this->_cajaPinza2->abajoDetrasIzquierda[0]  = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->abajoDetrasIzquierda[1]  = Bounds[2];//0.0f*fRadius;
	this->_cajaPinza2->abajoDetrasIzquierda[2]  = Bounds[4];//-90.0f*fRadius;
												            
	this->_cajaPinza2->abajoDetrasDerecha[0]    = Bounds[2];//100.0f*fRadius;
	this->_cajaPinza2->abajoDetrasDerecha[1]    = Bounds[4];//0.0f*fRadius;
	this->_cajaPinza2->abajoDetrasDerecha[2]    = Bounds[5];//-90.0f*fRadius;
												            
	this->_cajaPinza2->abajoFrenteIzquierda[0]  = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->abajoFrenteIzquierda[1]  = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza2->abajoFrenteIzquierda[2]  = Bounds[5];//-90.0f*fRadius;
												            
	this->_cajaPinza2->abajoFrenteDerecha[0]    = Bounds[1];//100.0f*fRadius;
	this->_cajaPinza2->abajoFrenteDerecha[1]    = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza2->abajoFrenteDerecha[2]    = Bounds[5];//-90.0f*fRadius;;
												            
	this->_cajaPinza2->arribaDetrasIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->arribaDetrasIzquierda[1] = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza2->arribaDetrasIzquierda[2] = Bounds[4];//16.0f*fRadius;
												            
	this->_cajaPinza2->arribaDetrasDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza2->arribaDetrasDerecha[1]   = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza2->arribaDetrasDerecha[2]   = Bounds[4];//16.0f*fRadius;
												            
	this->_cajaPinza2->arribaFrenteIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->arribaFrenteIzquierda[1] = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza2->arribaFrenteIzquierda[2] = Bounds[5];//16.0f*fRadius;
												            
	this->_cajaPinza2->arribaFrenteDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza2->arribaFrenteDerecha[1]   = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza2->arribaFrenteDerecha[2]   = Bounds[5];//16.0f*fRadius;
	this->_cajaPinza2->id = _HOJA2;
	

	this->Estaticas->GetBounds(Bounds);
	////
	this->_cajaPalo->abajoDetrasIzquierda[0]    = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->abajoDetrasIzquierda[1]    = Bounds[2];//-4800.0f*fRadius;
	this->_cajaPalo->abajoDetrasIzquierda[2]    = Bounds[4];//-100.0f*fRadius;
												            
	this->_cajaPalo->abajoDetrasDerecha[0]      = Bounds[2];//100.0f*fRadius;
	this->_cajaPalo->abajoDetrasDerecha[1]      = Bounds[4];//-4800.0f*fRadius;
	this->_cajaPalo->abajoDetrasDerecha[2]      = Bounds[5];//-100.0f*fRadius;
												            
	this->_cajaPalo->abajoFrenteIzquierda[0]    = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->abajoFrenteIzquierda[1]    = Bounds[2];//0.0f*fRadius;
	this->_cajaPalo->abajoFrenteIzquierda[2]    = Bounds[5];//-100.0f*fRadius;
												            
	this->_cajaPalo->abajoFrenteDerecha[0]      = Bounds[1];//100.0f*fRadius;
	this->_cajaPalo->abajoFrenteDerecha[1]      = Bounds[2];//0.0f*fRadius;
	this->_cajaPalo->abajoFrenteDerecha[2]      = Bounds[5];//-100.0f*fRadius;
												            
	this->_cajaPalo->arribaDetrasIzquierda[0]   = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->arribaDetrasIzquierda[1]   = Bounds[3];//-4800.0f*fRadius;
	this->_cajaPalo->arribaDetrasIzquierda[2]   = Bounds[4];//100.0f*fRadius;
												            
	this->_cajaPalo->arribaDetrasDerecha[0]     = Bounds[1];//100.0f*fRadius ;
	this->_cajaPalo->arribaDetrasDerecha[1]     = Bounds[3];//-4800.0f*fRadius;
	this->_cajaPalo->arribaDetrasDerecha[2]     = Bounds[4];//100.0f*fRadius;
												            
	this->_cajaPalo->arribaFrenteIzquierda[0]   = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->arribaFrenteIzquierda[1]   = Bounds[3];//0.0f*fRadius;
	this->_cajaPalo->arribaFrenteIzquierda[2]   = Bounds[5];//100.0f*fRadius;
												            
	this->_cajaPalo->arribaFrenteDerecha[0]     = Bounds[1];//100.0f*fRadius ;
	this->_cajaPalo->arribaFrenteDerecha[1]     = Bounds[3];//0.0f*fRadius;
	this->_cajaPalo->arribaFrenteDerecha[2]     = Bounds[5];//100.0f*fRadius;
	this->_cajaPalo->id = 0;

	this->InitialTransform3DS();
	
	this->MatrizTx(this->Pinza1->GetMatrix(),this->_cajaPinza1->matriz);
	this->MatrizTx(this->Pinza2->GetMatrix(),this->_cajaPinza2->matriz);
	this->MatrizTx(this->Estaticas->GetMatrix(),this->_cajaPalo->matriz);


	_pToolCModel->VectorDeCajas.reserve(3);
	_pToolCModel->VectorDeCajas.push_back(*_cajaPinza1);
	_pToolCModel->VectorDeCajas.push_back(*_cajaPinza2);
	_pToolCModel->VectorDeCajas.push_back(*_cajaPalo);
	
}

void vtkToolScissors::InitializeToolVTKFile(){
	
	vtkPolyDataReader *Reader;

	// Lectura de los archivos .vtk
	Reader = vtkPolyDataReader::New();
	Reader->SetFileName(this->PathToPinza1);
	Reader->SetOutput(this->PolyPinza1);
	Reader->Delete();
	
	Reader = vtkPolyDataReader::New();
	Reader->SetFileName(this->PathToPinza2);
	Reader->SetOutput(this->PolyPinza2);
	Reader->Delete();

	Reader = vtkPolyDataReader ::New();
	Reader->SetFileName(this->PathToStick);
	Reader->SetOutput(this->PolyStatic);
	Reader->Delete();


	//////////////////////////////////////////////////
	// Filtro para las transformaciones de los polydata
	// de las piezas dinámicas de la herramienta (pinzas)
	// y de la parte estática de las herramientas.

	this->TransformPinza1->Translate(0, 0, -5.5);
	this->TransformPinza2->Translate(0, 0, -5.5);

	this->TransformStatic->Translate(0, 0, -5.5);


	vtkTransformPolyDataFilter *Filter1;
	vtkTransformPolyDataFilter *Filter2;

	Filter1 = vtkTransformPolyDataFilter::New();
	Filter2 = vtkTransformPolyDataFilter::New();

	Filter1->SetInput(this->PolyPinza1);
	Filter1->SetTransform(this->TransformPinza1);

	Filter2->SetInput(this->PolyPinza2);
	Filter2->SetTransform(this->TransformPinza2);


	this->MapperPinza1->SetInput(Filter1->GetOutput());
	this->MapperPinza2->SetInput(Filter2->GetOutput());


	this->Pinza1->SetMapper(this->MapperPinza1);
	this->Pinza2->SetMapper(this->MapperPinza2);



	vtkTransformPolyDataFilter *FilterStatic = vtkTransformPolyDataFilter::New(); 
	FilterStatic->SetInput(this->PolyStatic);
	FilterStatic->SetTransform(this->TransformStatic);
	this->MapperStatic->SetInput(FilterStatic->GetOutput());
	this->ActorStatic->SetMapper(this->MapperStatic);

	this->Estaticas->AddPart(this->ActorStatic);



	
	this->ColeccionDeModelos->AddItem((vtkActor*) this->ActorStatic);
	this->ColeccionDeModelos->AddItem((vtkActor*) this->Pinza2);
	this->ColeccionDeModelos->AddItem((vtkActor*) this->Pinza1);
	
	this->ToolTransform->AddItem(this->TransformPinza1);
	this->ToolTransform->AddItem(this->TransformPinza2);
	this->ToolTransform->AddItem(this->TransformStatic);


	/// Crear los objetos para el cálculo de colisiones...
	//////////////////////////////////////////////////////
	this->_pToolCModel = vtkModeloHerramienta::New();

	this->_cajaPinza1 = vtkOBB::New();
	this->_cajaPinza2 = vtkOBB::New();
	this->_cajaPalo = vtkOBB::New();
	double Bounds[6];
	this->Pinza1->GetBounds(Bounds);


	this->_cajaPinza1->abajoDetrasIzquierda[0]  = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza1->abajoDetrasIzquierda[1]  = Bounds[2];//0.0f*fRadius;
	this->_cajaPinza1->abajoDetrasIzquierda[2]  = Bounds[4];//-16.0f*fRadius;

	this->_cajaPinza1->abajoDetrasDerecha[0]    = Bounds[2];//100.0f*fRadius;
	this->_cajaPinza1->abajoDetrasDerecha[1]    = Bounds[4];//0.0f*fRadius;
	this->_cajaPinza1->abajoDetrasDerecha[2]    = Bounds[5];//-16.0f*fRadius;

	this->_cajaPinza1->abajoFrenteIzquierda[0]  = Bounds[0];//-100.0f*fRadius;
	this->_cajaPinza1->abajoFrenteIzquierda[1]  = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza1->abajoFrenteIzquierda[2]  = Bounds[5];//-16.0f*fRadius;

	this->_cajaPinza1->abajoFrenteDerecha[0]    = Bounds[1];//100.0f*fRadius;
	this->_cajaPinza1->abajoFrenteDerecha[1]    = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza1->abajoFrenteDerecha[2]    = Bounds[5];//-16.0f*fRadius;;
	
	this->_cajaPinza1->arribaDetrasIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza1->arribaDetrasIzquierda[1] = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza1->arribaDetrasIzquierda[2] = Bounds[4];//90.0f*fRadius;
	
	this->_cajaPinza1->arribaDetrasDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza1->arribaDetrasDerecha[1]   = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza1->arribaDetrasDerecha[2]   = Bounds[4];//90.0f*fRadius;

	this->_cajaPinza1->arribaFrenteIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza1->arribaFrenteIzquierda[1] = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza1->arribaFrenteIzquierda[2] = Bounds[5];//90.0f*fRadius;
	
	this->_cajaPinza1->arribaFrenteDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza1->arribaFrenteDerecha[1]   = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza1->arribaFrenteDerecha[2]   = Bounds[5];//90.0f*fRadius;
	this->_cajaPinza1->id = _HOJA1;

	this->Pinza2->GetBounds(Bounds);
	////
	this->_cajaPinza2->abajoDetrasIzquierda[0]  = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->abajoDetrasIzquierda[1]  = Bounds[2];//0.0f*fRadius;
	this->_cajaPinza2->abajoDetrasIzquierda[2]  = Bounds[4];//-90.0f*fRadius;
												            
	this->_cajaPinza2->abajoDetrasDerecha[0]    = Bounds[2];//100.0f*fRadius;
	this->_cajaPinza2->abajoDetrasDerecha[1]    = Bounds[4];//0.0f*fRadius;
	this->_cajaPinza2->abajoDetrasDerecha[2]    = Bounds[5];//-90.0f*fRadius;
												            
	this->_cajaPinza2->abajoFrenteIzquierda[0]  = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->abajoFrenteIzquierda[1]  = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza2->abajoFrenteIzquierda[2]  = Bounds[5];//-90.0f*fRadius;
												            
	this->_cajaPinza2->abajoFrenteDerecha[0]    = Bounds[1];//100.0f*fRadius;
	this->_cajaPinza2->abajoFrenteDerecha[1]    = Bounds[2];//900.0f*fRadius;
	this->_cajaPinza2->abajoFrenteDerecha[2]    = Bounds[5];//-90.0f*fRadius;;
												            
	this->_cajaPinza2->arribaDetrasIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->arribaDetrasIzquierda[1] = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza2->arribaDetrasIzquierda[2] = Bounds[4];//16.0f*fRadius;
												            
	this->_cajaPinza2->arribaDetrasDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza2->arribaDetrasDerecha[1]   = Bounds[3];//0.0f*fRadius;
	this->_cajaPinza2->arribaDetrasDerecha[2]   = Bounds[4];//16.0f*fRadius;
												            
	this->_cajaPinza2->arribaFrenteIzquierda[0] = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPinza2->arribaFrenteIzquierda[1] = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza2->arribaFrenteIzquierda[2] = Bounds[5];//16.0f*fRadius;
												            
	this->_cajaPinza2->arribaFrenteDerecha[0]   = Bounds[1];//100.0f*fRadius ;
	this->_cajaPinza2->arribaFrenteDerecha[1]   = Bounds[3];//900.0f*fRadius;
	this->_cajaPinza2->arribaFrenteDerecha[2]   = Bounds[5];//16.0f*fRadius;
	this->_cajaPinza2->id = _HOJA2;
	

	this->Estaticas->GetBounds(Bounds);
	////
	this->_cajaPalo->abajoDetrasIzquierda[0]    = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->abajoDetrasIzquierda[1]    = Bounds[2];//-4800.0f*fRadius;
	this->_cajaPalo->abajoDetrasIzquierda[2]    = Bounds[4];//-100.0f*fRadius;
												            
	this->_cajaPalo->abajoDetrasDerecha[0]      = Bounds[2];//100.0f*fRadius;
	this->_cajaPalo->abajoDetrasDerecha[1]      = Bounds[4];//-4800.0f*fRadius;
	this->_cajaPalo->abajoDetrasDerecha[2]      = Bounds[5];//-100.0f*fRadius;
												            
	this->_cajaPalo->abajoFrenteIzquierda[0]    = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->abajoFrenteIzquierda[1]    = Bounds[2];//0.0f*fRadius;
	this->_cajaPalo->abajoFrenteIzquierda[2]    = Bounds[5];//-100.0f*fRadius;
												            
	this->_cajaPalo->abajoFrenteDerecha[0]      = Bounds[1];//100.0f*fRadius;
	this->_cajaPalo->abajoFrenteDerecha[1]      = Bounds[2];//0.0f*fRadius;
	this->_cajaPalo->abajoFrenteDerecha[2]      = Bounds[5];//-100.0f*fRadius;
												            
	this->_cajaPalo->arribaDetrasIzquierda[0]   = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->arribaDetrasIzquierda[1]   = Bounds[3];//-4800.0f*fRadius;
	this->_cajaPalo->arribaDetrasIzquierda[2]   = Bounds[4];//100.0f*fRadius;
												            
	this->_cajaPalo->arribaDetrasDerecha[0]     = Bounds[1];//100.0f*fRadius ;
	this->_cajaPalo->arribaDetrasDerecha[1]     = Bounds[3];//-4800.0f*fRadius;
	this->_cajaPalo->arribaDetrasDerecha[2]     = Bounds[4];//100.0f*fRadius;
												            
	this->_cajaPalo->arribaFrenteIzquierda[0]   = Bounds[0];//-100.0f*fRadius ;
	this->_cajaPalo->arribaFrenteIzquierda[1]   = Bounds[3];//0.0f*fRadius;
	this->_cajaPalo->arribaFrenteIzquierda[2]   = Bounds[5];//100.0f*fRadius;
												            
	this->_cajaPalo->arribaFrenteDerecha[0]     = Bounds[1];//100.0f*fRadius ;
	this->_cajaPalo->arribaFrenteDerecha[1]     = Bounds[3];//0.0f*fRadius;
	this->_cajaPalo->arribaFrenteDerecha[2]     = Bounds[5];//100.0f*fRadius;
	this->_cajaPalo->id = 0;
	

// INDICAMOS LAS CARAS DE LAS CAJAS A LAS QUE NO PODEMOS LLEVAR UN VERTICE (SON CARAS RESTRINGIDAS)
    _cajaPinza1->bCaraRestringida[CaraFrontal] = false;
	_cajaPinza1->bCaraRestringida[CaraTrasera] = true;
	_cajaPinza1->bCaraRestringida[CaraDerecha] = false;
	_cajaPinza1->bCaraRestringida[CaraIzquierda] = false;
	_cajaPinza1->bCaraRestringida[CaraSuperior] = false;
	_cajaPinza1->bCaraRestringida[CaraInferior] = false;

	_cajaPinza2->bCaraRestringida[CaraFrontal] = false;
	_cajaPinza2->bCaraRestringida[CaraTrasera] = true;
	_cajaPinza2->bCaraRestringida[CaraDerecha] = false;
	_cajaPinza2->bCaraRestringida[CaraIzquierda] = false;
	_cajaPinza2->bCaraRestringida[CaraSuperior] = false;
	_cajaPinza2->bCaraRestringida[CaraInferior] = false;

	_cajaPalo->bCaraRestringida[CaraFrontal] = true;
	_cajaPalo->bCaraRestringida[CaraTrasera] = true;
	_cajaPalo->bCaraRestringida[CaraDerecha] = false;
	_cajaPalo->bCaraRestringida[CaraIzquierda] = false;
	_cajaPalo->bCaraRestringida[CaraSuperior] = false;
	_cajaPalo->bCaraRestringida[CaraInferior] = false;
///*******************************_________*****************************
	this->InitialTransformVTK();
	
	this->MatrizTx(this->Pinza1->GetMatrix(),this->_cajaPinza1->matriz);
	this->MatrizTx(this->Pinza2->GetMatrix(),this->_cajaPinza2->matriz);
	this->MatrizTx(this->Estaticas->GetMatrix(),this->_cajaPalo->matriz);

	this->_pToolCModel->VectorDeCajas.reserve(3);
	this->_pToolCModel->VectorDeCajas.push_back(*_cajaPinza1);
	this->_pToolCModel->VectorDeCajas.push_back(*_cajaPinza2);
	this->_pToolCModel->VectorDeCajas.push_back(*_cajaPalo);

	
}
//
//
//
void vtkToolScissors::updateCollisionModel(){

	float vector[3];
	/// Actualizamos el vector desplazamiento para saber como se ha movido la herramienta con la matriz anterior

	MG::multPM(_cajaPinza1->arribaFrenteIzquierda,_cajaPinza1->matriz,vector);
	
	this->MatrizTx(this->Pinza1->GetMatrix(),this->_cajaPinza1->matriz);


	MG::multPM(_cajaPinza1->arribaFrenteIzquierda,_cajaPinza1->matriz,vector);

	this->_pToolCModel->VectorDeCajas[0]=(*_cajaPinza1); //Quito Sam :S


	if ((this->Apertura<0.1f))	
		/// La pinza está cerrada, no deben enviarse los vértices a las caras internas
		_cajaPinza2->bCaraRestringida[CaraSuperior] = true;
	else
		_cajaPinza2->bCaraRestringida[CaraSuperior] = false;

	this->MatrizTx(this->Pinza2->GetMatrix(),this->_cajaPinza2->matriz);

	this->_pToolCModel->VectorDeCajas[1]=(*_cajaPinza2);

	this->MatrizTx(this->Estaticas->GetMatrix(),this->_cajaPalo->matriz);
	_pToolCModel->VectorDeCajas[2]=(*_cajaPalo);
	}

bool vtkToolScissors::possibleCut(){
	return _bPossCut;
}
void vtkToolScissors::PrintSelf(ostream& os,vtkIndent indent) {

this->Superclass::PrintSelf(os,indent);
  
}