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#ifndef DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
#define DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_

#include <string>

#include "dart/dynamics/GenericJoint.hpp"

namespace dart {
namespace dynamics {

class PlanarJoint;

namespace detail {

//==============================================================================
/// Plane type
enum class PlaneType : int
{
  XY,
  YZ,
  ZX,
  ARBITRARY
};

//==============================================================================
/// Properties that are unique to PlanarJoints. Note that the mPlaneType
/// member has greater authority than the mTransAxis1 and mTransAxis2 members.
/// When copying properties into a PlanarJoint, it will first defer to
/// mPlaneType. If mPlaneType is PlaneType::ARBITRARY, then and only then will
/// it use mTransAxis1 and mTransAxis2. mRotAxis has no authority; it will
/// always be recomputed from mTransAxis1 and mTransAxis2 when copying it into a
/// PlanarJoint
struct PlanarJointUniqueProperties
{
  /// Plane type
  PlaneType mPlaneType;

  /// First translational axis
  Eigen::Vector3d mTransAxis1;

  /// Second translational axis
  Eigen::Vector3d mTransAxis2;

  /// Rotational axis
  Eigen::Vector3d mRotAxis;

  /// Constructor for pre-defined plane types. Defaults to the XY plane if
  /// PlaneType::ARBITRARY is specified.
  PlanarJointUniqueProperties(PlaneType _planeType = PlaneType::XY);

  /// Constructor for arbitrary plane types. mPlaneType will be set to
  /// PlaneType::ARBITRARY
  PlanarJointUniqueProperties(
      const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2);

  /// Copy-constructor, customized for robustness
  PlanarJointUniqueProperties(const PlanarJointUniqueProperties& other);

  virtual ~PlanarJointUniqueProperties() = default;

  /// Assignment operator
  PlanarJointUniqueProperties& operator=(
      const PlanarJointUniqueProperties& other);

  /// Set plane type as XY-plane
  void setXYPlane();

  /// Set plane type as YZ-plane
  void setYZPlane();

  /// Set plane type as ZX-plane
  void setZXPlane();

  /// Set plane type as arbitrary plane with two orthogonal translational axes
  void setArbitraryPlane(
      const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2);
};

//==============================================================================
struct PlanarJointProperties : GenericJoint<math::R3Space>::Properties,
                               PlanarJointUniqueProperties
{
  DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(PlanarJointProperties)

  PlanarJointProperties(
      const GenericJoint<math::R3Space>::Properties& genericJointProperties
      = GenericJoint<math::R3Space>::Properties(),
      const PlanarJointUniqueProperties& planarProperties
      = PlanarJointUniqueProperties());

  virtual ~PlanarJointProperties() = default;
};

//==============================================================================
using PlanarJointBase = common::EmbedPropertiesOnTopOf<
    PlanarJoint,
    PlanarJointUniqueProperties,
    GenericJoint<math::R3Space> >;

} // namespace detail
} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_DETAIL_PLANARJOINTASPECT_HPP_
