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 * Copyright (c) 2011-2019, The DART development contributors
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 *     notice, this list of conditions and the following disclaimer.
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#ifndef DART_COLLISION_COLLISIONFILTER_HPP_
#define DART_COLLISION_COLLISIONFILTER_HPP_

#include "dart/collision/detail/UnorderedPairs.hpp"
#include "dart/common/Deprecated.hpp"

namespace dart {

namespace dynamics {
class BodyNode;
} // namespace dynamics

namespace collision {

class CollisionObject;

class CollisionFilter
{
public:
  /// Returns true if the given two CollisionObjects should be checked by the
  /// collision detector, false otherwise.
  /// \deprecated Deprecated in 6.3.0. Please use ignoreCollision instead. Note
  /// that ignoreCollision returns logically opposite to what needCollision
  /// returns.
  DART_DEPRECATED(6.3)
  bool needCollision(
      const CollisionObject* object1, const CollisionObject* object2) const;

  /// Returns true if the given two CollisionObjects should be checked by the
  /// collision detector, false otherwise.
  virtual bool ignoresCollision(
      const CollisionObject* object1, const CollisionObject* object2) const = 0;
};

class CompositeCollisionFilter : public CollisionFilter
{
public:
  /// Adds a collision filter to this CompositeCollisionFilter.
  void addCollisionFilter(const CollisionFilter* filter);

  /// Removes a collision filter from this CompositeCollisionFilter.
  void removeCollisionFilter(const CollisionFilter* filter);

  /// Removes all the collision filters from this CompositeCollisionFilter.
  void removeAllCollisionFilters();

  // Documentation inherited
  bool ignoresCollision(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;

protected:
  /// Collision filters
  std::unordered_set<const CollisionFilter*> mFilters;
};

class BodyNodeCollisionFilter : public CollisionFilter
{
public:
  /// Add a BodyNode pair to the blacklist.
  void addBodyNodePairToBlackList(
      const dynamics::BodyNode* bodyNode1, const dynamics::BodyNode* bodyNode2);

  /// Remove a BodyNode pair from the blacklist.
  void removeBodyNodePairFromBlackList(
      const dynamics::BodyNode* bodyNode1, const dynamics::BodyNode* bodyNode2);

  /// Remove all the BodyNode pairs from the blacklist.
  void removeAllBodyNodePairsFromBlackList();

  // Documentation inherited
  bool ignoresCollision(
      const CollisionObject* object1,
      const CollisionObject* object2) const override;

private:
  /// Returns true if the two BodyNodes are adjacent BodyNodes (i.e., the two
  /// BodyNodes are connected by a Joint).
  bool areAdjacentBodies(
      const dynamics::BodyNode* bodyNode1,
      const dynamics::BodyNode* bodyNode2) const;

  /// List of pairs to be ignored in the collision detection.
  detail::UnorderedPairs<dynamics::BodyNode> mBodyNodeBlackList;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_COLLISIONFILTER_HPP_
