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/** \author Jia Pan */


#ifndef FCL_GEOMETRIC_SHAPES_UTILITY_H
#define FCL_GEOMETRIC_SHAPES_UTILITY_H

#include <vector>
#include "fcl/shape/geometric_shapes.h"
#include "fcl/BV/BV.h"

namespace fcl
{

/// @cond IGNORE
namespace details
{
/// @brief get the vertices of some convex shape which can bound the given shape in a specific configuration
std::vector<Vec3f> getBoundVertices(const Box& box, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const Ellipsoid& ellipsoid, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const Cone& cone, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const Convex& convex, const Transform3f& tf);
std::vector<Vec3f> getBoundVertices(const TriangleP& triangle, const Transform3f& tf);
} 
/// @endcond


/// @brief calculate a bounding volume for a shape in a specific configuration
template<typename BV, typename S>
void computeBV(const S& s, const Transform3f& tf, BV& bv)
{
  std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
  fit(&convex_bound_vertices[0], (int)convex_bound_vertices.size(), bv);
}

template<>
void computeBV<AABB, Box>(const Box& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Sphere>(const Sphere& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Ellipsoid>(const Ellipsoid& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Capsule>(const Capsule& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Cylinder>(const Cylinder& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Convex>(const Convex& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, TriangleP>(const TriangleP& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Halfspace>(const Halfspace& s, const Transform3f& tf, AABB& bv);

template<>
void computeBV<AABB, Plane>(const Plane& s, const Transform3f& tf, AABB& bv);



template<>
void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Sphere>(const Sphere& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Ellipsoid>(const Ellipsoid& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Capsule>(const Capsule& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Cylinder>(const Cylinder& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Convex>(const Convex& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<OBB, Halfspace>(const Halfspace& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<RSS, Halfspace>(const Halfspace& s, const Transform3f& tf, RSS& bv);

template<>
void computeBV<OBBRSS, Halfspace>(const Halfspace& s, const Transform3f& tf, OBBRSS& bv);

template<>
void computeBV<kIOS, Halfspace>(const Halfspace& s, const Transform3f& tf, kIOS& bv);

template<>
void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<16>& bv);

template<>
void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<18>& bv);

template<>
void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<24>& bv);

template<>
void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf, OBB& bv);

template<>
void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf, RSS& bv);

template<>
void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3f& tf, OBBRSS& bv);

template<>
void computeBV<kIOS, Plane>(const Plane& s, const Transform3f& tf, kIOS& bv);

template<>
void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3f& tf, KDOP<16>& bv);

template<>
void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3f& tf, KDOP<18>& bv);

template<>
void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3f& tf, KDOP<24>& bv);


/// @brief construct a box shape (with a configuration) from a given bounding volume
void constructBox(const AABB& bv, Box& box, Transform3f& tf);

void constructBox(const OBB& bv, Box& box, Transform3f& tf);

void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);

void constructBox(const kIOS& bv, Box& box, Transform3f& tf);

void constructBox(const RSS& bv, Box& box, Transform3f& tf);

void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf);

void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf);

void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf);

void constructBox(const AABB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const OBB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const kIOS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const RSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);

Halfspace transform(const Halfspace& a, const Transform3f& tf);

Plane transform(const Plane& a, const Transform3f& tf);

}

#endif
