/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * 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.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 */

#ifndef DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
#define DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_

#include <vector>
#include "dart/collision/CollisionDetector.hpp"

namespace dart {
namespace collision {

class DARTCollisionObject;

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

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

  // 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;

protected:
  /// Constructor
  DARTCollisionDetector();

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

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

private:
  static Registrar<DARTCollisionDetector> mRegistrar;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_DART_DARTCOLLISIONDETECTOR_HPP_
