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/** \author Jia Pan */

#include "fcl/distance.h"
#include "fcl/distance_func_matrix.h"
#include "fcl/narrowphase/narrowphase.h"

#include <iostream>

namespace fcl
{

template<typename GJKSolver>
DistanceFunctionMatrix<GJKSolver>& getDistanceFunctionLookTable()
{
  static DistanceFunctionMatrix<GJKSolver> table;
  return table;
}

template<typename NarrowPhaseSolver>
FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const NarrowPhaseSolver* nsolver,
                  const DistanceRequest& request, DistanceResult& result)
{
  return distance<NarrowPhaseSolver>(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver,
                                     request, result);
}

template<typename NarrowPhaseSolver>
FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, 
                  const CollisionGeometry* o2, const Transform3f& tf2,
                  const NarrowPhaseSolver* nsolver_,
                  const DistanceRequest& request, DistanceResult& result)
{
  const NarrowPhaseSolver* nsolver = nsolver_;
  if(!nsolver_) 
    nsolver = new NarrowPhaseSolver();

  const DistanceFunctionMatrix<NarrowPhaseSolver>& looktable = getDistanceFunctionLookTable<NarrowPhaseSolver>();

  OBJECT_TYPE object_type1 = o1->getObjectType();
  NODE_TYPE node_type1 = o1->getNodeType();
  OBJECT_TYPE object_type2 = o2->getObjectType();
  NODE_TYPE node_type2 = o2->getNodeType();

  FCL_REAL res = std::numeric_limits<FCL_REAL>::max();

  if(object_type1 == OT_GEOM && object_type2 == OT_BVH)
  {
    if(!looktable.distance_matrix[node_type2][node_type1])
    {
      std::cerr << "Warning: distance function between node type " << node_type1 << " and node type " << node_type2 << " is not supported" << std::endl;
    }
    else
    {
      res = looktable.distance_matrix[node_type2][node_type1](o2, tf2, o1, tf1, nsolver, request, result);
    }
  }
  else
  {
    if(!looktable.distance_matrix[node_type1][node_type2])
    {
      std::cerr << "Warning: distance function between node type " << node_type1 << " and node type " << node_type2 << " is not supported" << std::endl;
    }
    else
    {
      res = looktable.distance_matrix[node_type1][node_type2](o1, tf1, o2, tf2, nsolver, request, result);    
    }
  }

  if(!nsolver_)
    delete nsolver;

  return res;
}


FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const DistanceRequest& request, DistanceResult& result)
{
  switch(request.gjk_solver_type)
  {
  case GST_LIBCCD:
    {
      GJKSolver_libccd solver;
      return distance<GJKSolver_libccd>(o1, o2, &solver, request, result);
    }
  case GST_INDEP:
    {
      GJKSolver_indep solver;
      return distance<GJKSolver_indep>(o1, o2, &solver, request, result);
    }
  default:
    return -1; // error
  }
}

FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
                  const CollisionGeometry* o2, const Transform3f& tf2,
                  const DistanceRequest& request, DistanceResult& result)
{
  switch(request.gjk_solver_type)
  {
  case GST_LIBCCD:
    {
      GJKSolver_libccd solver;
      return distance<GJKSolver_libccd>(o1, tf1, o2, tf2, &solver, request, result);
    }
  case GST_INDEP:
    {
      GJKSolver_indep solver;
      return distance<GJKSolver_indep>(o1, tf1, o2, tf2, &solver, request, result);
    }
  default:
    return -1;
  }
}


}
