/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
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 *   https://github.com/dartsim/dart/blob/master/LICENSE
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 *   without modification, are permitted provided that the following
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 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
#define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_

// Must be included before any Bullet headers.
#include "dart/config.hpp"

#include <vector>
#include <assimp/scene.h>
#include <btBulletCollisionCommon.h>
#include "dart/collision/CollisionDetector.hpp"
#include "dart/collision/bullet/BulletCollisionGroup.hpp"
#include "dart/collision/bullet/BulletCollisionShape.hpp"

namespace dart {
namespace collision {

class BulletCollisionDetector : public CollisionDetector
{
public:
  using CollisionDetector::createCollisionGroup;

  friend class CollisionDetector;

  static std::shared_ptr<BulletCollisionDetector> create();

  /// Constructor
  ~BulletCollisionDetector() override;

  // Documentation inherited
  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
      const override;

  // Documentation inherited
  const std::string& getType() const override;

  /// Get collision detector type for this class
  static const std::string& getStaticType();

  // Documentation inherited
  std::unique_ptr<CollisionGroup> createCollisionGroup() override;

  // Documentation inherited
  bool collide(
      CollisionGroup* group,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr) override;

  // Documentation inherited
  bool collide(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr) override;

  // Documentation inherited
  double distance(
      CollisionGroup* group,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;

  // Documentation inherited
  double distance(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;

  // Documentation inherited
  bool raycast(
      CollisionGroup* group,
      const Eigen::Vector3d& from,
      const Eigen::Vector3d& to,
      const RaycastOption& option = RaycastOption(),
      RaycastResult* result = nullptr) override;

protected:
  /// Constructor
  BulletCollisionDetector();

  // Documentation inherited
  std::unique_ptr<CollisionObject> createCollisionObject(
      const dynamics::ShapeFrame* shapeFrame) override;

  // Documentation inherited
  void refreshCollisionObject(CollisionObject* object) override;

  // Documentation inherited
  void notifyCollisionObjectDestroying(CollisionObject* object) override;

private:
  std::shared_ptr<BulletCollisionShape> claimBulletCollisionShape(
      const dynamics::ConstShapePtr& shape);

  void reclaimBulletCollisionShape(const dynamics::ConstShapePtr& shape);

  std::unique_ptr<BulletCollisionShape> createBulletCollisionShape(
      const dynamics::ConstShapePtr& shape);

  /// This deleter is responsible for deleting BulletCollsionShape objects and
  /// removing them from mShapeMap when they are not shared by any
  /// CollisionObjects.
  class BulletCollisionShapeDeleter final
  {
  public:
    BulletCollisionShapeDeleter(
        BulletCollisionDetector* cd, const dynamics::ConstShapePtr& shape);

    void operator()(BulletCollisionShape* shape) const;

  private:
    BulletCollisionDetector* mBulletCollisionDetector;

    dynamics::ConstShapePtr mShape;
  };

  /// Information for a shape that was generated by this collision detector
  struct ShapeInfo final
  {
    /// A weak reference to the shape
    std::weak_ptr<BulletCollisionShape> mShape;

    /// The last version of the shape, as known by this collision detector
    std::size_t mLastKnownVersion;
  };

private:
  std::map<dynamics::ConstShapePtr, ShapeInfo> mShapeMap;

  std::unique_ptr<BulletCollisionGroup> mGroupForFiltering;

  static Registrar<BulletCollisionDetector> mRegistrar;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
