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/** \author Jia Pan */

#ifndef HPP_FCL_DATA_TYPES_H

#define HPP_FCL_DATA_TYPES_H

#include <Eigen/Core>

#include <Eigen/Geometry>

#include <hpp/fcl/config.hh>

namespace hpp {

#ifdef HPP_FCL_HAS_OCTOMAP

#define OCTOMAP_VERSION_AT_LEAST(x, y, z) \

  (OCTOMAP_MAJOR_VERSION > x ||           \

   (OCTOMAP_MAJOR_VERSION >= x &&         \

    (OCTOMAP_MINOR_VERSION > y ||         \

     (OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z))))

#define OCTOMAP_VERSION_AT_MOST(x, y, z) \

  (OCTOMAP_MAJOR_VERSION < x ||          \

   (OCTOMAP_MAJOR_VERSION <= x &&        \

    (OCTOMAP_MINOR_VERSION < y ||        \

     (OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z))))

#endif  // HPP_FCL_HAS_OCTOMAP

}  // namespace hpp

namespace hpp {

namespace fcl {

typedef double FCL_REAL;

typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> VecXf;

typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3> Matrixx3f;

typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3> Matrixx3i;

typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;

typedef Eigen::Vector2i support_func_guess_t;

/// @brief Initial guess to use for the GJK algorithm

/// DefaultGuess: Vec3f(1, 0, 0)

/// CachedGuess: previous vector found by GJK or guess cached by the user

/// BoundingVolumeGuess: guess using the centers of the shapes' AABB

/// WARNING: to use BoundingVolumeGuess, computeLocalAABB must have been called

/// on the two shapes.

enum GJKInitialGuess { DefaultGuess, CachedGuess, BoundingVolumeGuess };

/// @brief Variant to use for the GJK algorithm

enum GJKVariant { DefaultGJK, NesterovAcceleration };

/// @brief Which convergence criterion is used to stop the algorithm (when the

/// shapes are not in collision). (default) VDB: Van den Bergen (A Fast and

/// Robust GJK Implementation, 1999) DG: duality-gap, as used in the Frank-Wolfe

/// and the vanilla 1988 GJK algorithms Hybrid: a mix between VDB and DG.

enum GJKConvergenceCriterion { VDB, DualityGap, Hybrid };

/// @brief Wether the convergence criterion is scaled on the norm of the

/// solution or not

enum GJKConvergenceCriterionType { Relative, Absolute };

/// @brief Triangle with 3 indices for points

class HPP_FCL_DLLAPI Triangle {

 public:

  typedef std::size_t index_type;

  typedef int size_type;

  /// @brief Default constructor

  /// @brief Create a triangle with given vertex indices

  /// @brief Set the vertex indices of the triangle

  /// @brief Access the triangle index

  }

 private:

  /// @brief indices for each vertex of triangle

  index_type vids[3];

};

/// @brief Quadrilateral with 4 indices for points

struct HPP_FCL_DLLAPI Quadrilateral {

  typedef std::size_t index_type;

  typedef int size_type;

  Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3) {

    set(p0, p1, p2, p3);

  }

  /// @brief Set the vertex indices of the quadrilateral

  /// @access the quadrilateral index

  inline index_type& operator[](index_type i) { return vids[i]; }

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

    return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&

           vids[2] == other.vids[2] && vids[3] == other.vids[3];

  }

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

    return !(*this == other);

  }

 private:

  index_type vids[4];

};

}  // namespace fcl

}  // namespace hpp

#endif