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#ifndef DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
#define DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_

#include <vector>

#include "dart/dynamics/Shape.hpp"

namespace dart {
namespace dynamics {

/// MultiSphereConvexHullShape represents the convex hull of a collection of
/// spheres.
class MultiSphereConvexHullShape : public Shape
{
public:
  using Sphere = std::pair<double, Eigen::Vector3d>;
  using Spheres = std::vector<Sphere>;

  /// Constructor.
  explicit MultiSphereConvexHullShape(const Spheres& spheres);

  /// Destructor.
  virtual ~MultiSphereConvexHullShape();

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

  /// Returns shape type for this class
  static const std::string& getStaticType();

  /// Add a list of spheres
  void addSpheres(const Spheres& spheres);

  /// Add a sphere
  void addSphere(const Sphere& sphere);

  /// Add a sphere
  void addSphere(double radius, const Eigen::Vector3d& position);

  /// Remove all spheres
  void removeAllSpheres();

  /// Get the number of spheres
  std::size_t getNumSpheres() const;

  /// Get the set of spheres
  const Spheres& getSpheres() const;

  /// Compute the inertia of this MultiSphereConvexHullShape.
  ///
  /// \note The return value is an approximated inertia that is the inertia of
  /// the axis-alinged bounding box of this MultiSphereConvexHullShape.
  Eigen::Matrix3d computeInertia(double mass) const override;

protected:
  // Documentation inherited.
  void updateBoundingBox() const override;

  /// Update the volume of this MultiSphereConvexHullShape.
  ///
  /// \note The result volume is an approximated volumen that is the volume of
  /// the axis-alinged bounding box of this MultiSphereConvexHullShape.
  void updateVolume() const override;

private:
  /// Spheres
  Spheres mSpheres;
};

DART_DEPRECATED(6.2)
typedef MultiSphereConvexHullShape MultiSphereShape;

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_MULTISPHERECONVEXHULLSHAPE_HPP_
