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 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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/** \author Jia Pan */


#include "fcl/collision_node.h"
#include "fcl/traversal/traversal_recurse.h"

namespace fcl
{

void collide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
{
  if(front_list && front_list->size() > 0)
  {
    propagateBVHFrontListCollisionRecurse(node, front_list);
  }
  else
  {
    collisionRecurse(node, 0, 0, front_list);
  }
}

void collide2(MeshCollisionTraversalNodeOBB* node, BVHFrontList* front_list)
{
  if(front_list && front_list->size() > 0)
  {
    propagateBVHFrontListCollisionRecurse(node, front_list);
  }
  else
  {
    Matrix3f Rtemp, R;
    Vec3f Ttemp, T;
    Rtemp = node->R * node->model2->getBV(0).getOrientation();
    R = node->model1->getBV(0).getOrientation().transposeTimes(Rtemp);
    Ttemp = node->R * node->model2->getBV(0).getCenter() + node->T;
    Ttemp -= node->model1->getBV(0).getCenter();
    T = node->model1->getBV(0).getOrientation().transposeTimes(Ttemp);

    collisionRecurse(node, 0, 0, R, T, front_list);
  }
}

void collide2(MeshCollisionTraversalNodeRSS* node, BVHFrontList* front_list)
{
  if(front_list && front_list->size() > 0)
  {
    propagateBVHFrontListCollisionRecurse(node, front_list);
  }
  else
  {
    collisionRecurse(node, 0, 0, node->R, node->T, front_list);
  }
}



void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
{

  if(front_list && front_list->size() > 0)
  {
    propagateBVHFrontListCollisionRecurse(node, front_list);
  }
  else
  {
    selfCollisionRecurse(node, 0, front_list);
  }
}

void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list, int qsize)
{
  node->preprocess();
  
  if(qsize <= 2)
    distanceRecurse(node, 0, 0, front_list);
  else
    distanceQueueRecurse(node, 0, 0, front_list, qsize);

  node->postprocess();
}

}
