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/** \author Jia Pan */

#ifndef FCL_TRAVERSAL_NODE_BASE_H
#define FCL_TRAVERSAL_NODE_BASE_H

#include "fcl/data_types.h"
#include "fcl/math/transform.h"
#include "fcl/collision_data.h"

namespace fcl
{

/// @brief Node structure encoding the information required for traversal.
class TraversalNodeBase
{
public:
  virtual ~TraversalNodeBase();

  virtual void preprocess() {}
  
  virtual void postprocess() {}

  /// @brief Whether b is a leaf node in the first BVH tree 
  virtual bool isFirstNodeLeaf(int b) const;

  /// @brief Whether b is a leaf node in the second BVH tree
  virtual bool isSecondNodeLeaf(int b) const;

  /// @brief Traverse the subtree of the node in the first tree first
  virtual bool firstOverSecond(int b1, int b2) const;

  /// @brief Get the left child of the node b in the first tree
  virtual int getFirstLeftChild(int b) const;

  /// @brief Get the right child of the node b in the first tree
  virtual int getFirstRightChild(int b) const;

  /// @brief Get the left child of the node b in the second tree
  virtual int getSecondLeftChild(int b) const;

  /// @brief Get the right child of the node b in the second tree
  virtual int getSecondRightChild(int b) const;

  /// @brief Enable statistics (verbose mode)
  virtual void enableStatistics(bool enable) = 0;

  /// @brief configuation of first object
  Transform3f tf1;

  /// @brief configuration of second object
  Transform3f tf2;
};

/// @brief Node structure encoding the information required for collision traversal.
class CollisionTraversalNodeBase : public TraversalNodeBase
{
public:
  CollisionTraversalNodeBase() : result(NULL), enable_statistics(false) {}

  virtual ~CollisionTraversalNodeBase();

  /// @brief BV test between b1 and b2
  virtual bool BVTesting(int b1, int b2) const;

  /// @brief Leaf test between node b1 and b2, if they are both leafs
  virtual void leafTesting(int b1, int b2) const;

  /// @brief Check whether the traversal can stop
  virtual bool canStop() const;

  /// @brief Whether store some statistics information during traversal
  void enableStatistics(bool enable) { enable_statistics = enable; }

  /// @brief request setting for collision
  CollisionRequest request;

  /// @brief collision result kept during the traversal iteration
  CollisionResult* result;

  /// @brief Whether stores statistics 
  bool enable_statistics;
};

/// @brief Node structure encoding the information required for distance traversal.
class DistanceTraversalNodeBase : public TraversalNodeBase
{
public:
  DistanceTraversalNodeBase() : result(NULL), enable_statistics(false) {}

  virtual ~DistanceTraversalNodeBase();

  /// @brief BV test between b1 and b2
  virtual FCL_REAL BVTesting(int b1, int b2) const;

  /// @brief Leaf test between node b1 and b2, if they are both leafs
  virtual void leafTesting(int b1, int b2) const;

  /// @brief Check whether the traversal can stop
  virtual bool canStop(FCL_REAL c) const;

  /// @brief Whether store some statistics information during traversal
  void enableStatistics(bool enable) { enable_statistics = enable; }

  /// @brief request setting for distance
  DistanceRequest request;

  /// @brief distance result kept during the traversal iteration
  DistanceResult* result;

  /// @brief Whether stores statistics 
  bool enable_statistics;
};


struct ConservativeAdvancementStackData
{
  ConservativeAdvancementStackData(const Vec3f& P1_, const Vec3f& P2_, int c1_, int c2_, FCL_REAL d_)
    : P1(P1_), P2(P2_), c1(c1_), c2(c2_), d(d_) {}

  Vec3f P1;
  Vec3f P2;
  int c1;
  int c2;
  FCL_REAL d;
};


}

#endif
