/*

 * Software License Agreement (BSD License)

 *

 *  Copyright (c) 2011-2014, Willow Garage, Inc.

 *  Copyright (c) 2014-2015, Open Source Robotics Foundation

 *  Copyright (c) 2021, INRIA

 *  All rights reserved.

 *

 *  Redistribution and use in source and binary forms, with or without

 *  modification, are permitted provided that the following conditions

 *  are met:

 *

 *   * Redistributions of source code must retain the above copyright

 *     notice, this list of conditions and the following disclaimer.

 *   * Redistributions in binary form must reproduce the above

 *     copyright notice, this list of conditions and the following

 *     disclaimer in the documentation and/or other materials provided

 *     with the distribution.

 *   * Neither the name of Open Source Robotics Foundation nor the names of its

 *     contributors may be used to endorse or promote products derived

 *     from this software without specific prior written permission.

 *

 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 *  POSSIBILITY OF SUCH DAMAGE.

 */

/** \author Jia Pan */

#ifndef HPP_FCL_COLLISION_H

#define HPP_FCL_COLLISION_H

#include <hpp/fcl/data_types.h>

#include <hpp/fcl/collision_object.h>

#include <hpp/fcl/collision_data.h>

#include <hpp/fcl/collision_func_matrix.h>

#include <hpp/fcl/timings.h>

namespace hpp {

namespace fcl {

/// @brief Main collision interface: given two collision objects, and the

/// requirements for contacts, including num of max contacts, whether perform

/// exhaustive collision (i.e., returning returning all the contact points),

/// whether return detailed contact information (i.e., normal, contact point,

/// depth; otherwise only contact primitive id is returned), this function

/// performs the collision between them.

/// Return value is the number of contacts generated between the two objects.

HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1,

                                   const CollisionObject* o2,

                                   const CollisionRequest& request,

                                   CollisionResult& result);

/// @copydoc collide(const CollisionObject*, const CollisionObject*, const

/// CollisionRequest&, CollisionResult&)

HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1,

                                   const Transform3f& tf1,

                                   const CollisionGeometry* o2,

                                   const Transform3f& tf2,

                                   const CollisionRequest& request,

                                   CollisionResult& result);

/// @copydoc collide(const CollisionObject*, const CollisionObject*, const

/// CollisionRequest&, CollisionResult&) \note this function update the initial

/// guess of \c request if requested.

///       See QueryRequest::updateGuess

                           CollisionRequest& request, CollisionResult& result) {

}

/// @copydoc collide(const CollisionObject*, const CollisionObject*, const

/// CollisionRequest&, CollisionResult&) \note this function update the initial

/// guess of \c request if requested.

///       See QueryRequest::updateGuess

                           const CollisionGeometry* o2, const Transform3f& tf2,

                           CollisionRequest& request, CollisionResult& result) {

  std::size_t res =

}

/// @brief This class reduces the cost of identifying the geometry pair.

/// This is mostly useful for repeated shape-shape queries.

///

/// \code

///   ComputeCollision calc_collision (o1, o2);

///   std::size_t ncontacts = calc_collision(tf1, tf2, request, result);

/// \endcode

class HPP_FCL_DLLAPI ComputeCollision {

 public:

  /// @brief Default constructor from two Collision Geometries.

  ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);

  std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,

                         const CollisionRequest& request,

                         CollisionResult& result) const;

                                CollisionRequest& request,

                                CollisionResult& result) const {

                                 result);

  }

  bool operator==(const ComputeCollision& other) const {

    return o1 == other.o1 && o2 == other.o2 && solver == other.solver;

  }

  bool operator!=(const ComputeCollision& other) const {

    return !(*this == other);

  }

 protected:

  // These pointers are made mutable to let the derived classes to update

  // their values when updating the collision geometry (e.g. creating a new

  // one). This feature should be used carefully to avoid any mis usage (e.g,

  // changing the type of the collision geometry should be avoided).

  mutable const CollisionGeometry* o1;

  mutable const CollisionGeometry* o2;

  mutable GJKSolver solver;

  CollisionFunctionMatrix::CollisionFunc func;

  bool swap_geoms;

  virtual std::size_t run(const Transform3f& tf1, const Transform3f& tf2,

                          const CollisionRequest& request,

                          CollisionResult& result) const;

 public:

};

}  // namespace fcl

}  // namespace hpp

#endif