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#ifndef DART_COLLISION_COLLISIONDETECTOR_HPP_
#define DART_COLLISION_COLLISIONDETECTOR_HPP_

#include <map>
#include <vector>

#include <Eigen/Dense>

#include "dart/collision/CollisionOption.hpp"
#include "dart/collision/CollisionResult.hpp"
#include "dart/collision/Contact.hpp"
#include "dart/collision/DistanceOption.hpp"
#include "dart/collision/DistanceResult.hpp"
#include "dart/collision/RaycastOption.hpp"
#include "dart/collision/RaycastResult.hpp"
#include "dart/collision/SmartPointer.hpp"
#include "dart/common/Factory.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace collision {

class CollisionObject;

class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
{
public:
  friend class CollisionObject;
  friend class CollisionGroup;

  using Factory = common::Factory<
      std::string,
      CollisionDetector,
      std::shared_ptr<CollisionDetector>>;

  using SingletonFactory = common::Singleton<Factory>;

  template <typename Derived>
  using Registrar = common::FactoryRegistrar<
      std::string,
      CollisionDetector,
      Derived,
      std::shared_ptr<CollisionDetector>>;

  /// Returns the singleton factory.
  static Factory* getFactory();

  /// Destructor
  virtual ~CollisionDetector() = default;

  /// \brief Create a clone of this CollisionDetector. All the properties will
  /// be copied over, but not collision objects.
  virtual std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
      const = 0;

  /// Return collision detection engine type as a std::string
  virtual const std::string& getType() const = 0;

  /// Create a collision group
  virtual std::unique_ptr<CollisionGroup> createCollisionGroup() = 0;

  /// Helper function that creates and returns CollisionGroup as a shared_ptr.
  ///
  /// Internally, this function creates a shared_ptr from unique_ptr returned
  /// from createCollisionGroup() so the performance would be slighly worse than
  /// using std::make_unique.
  std::shared_ptr<CollisionGroup> createCollisionGroupAsSharedPtr();

  /// Create a collision group from any objects that are supported by
  /// CollisionGroup::addShapeFramesOf().
  ///
  /// The objects can be any of ShapeFrame, std::vector<ShapeFrame>,
  /// CollisionGroup, BodyNode, and Skeleton.
  ///
  /// Note that this function adds only the ShapeFrames of each object at the
  /// moment that this function is called. Any later addition to or removal of
  /// the ShapeFrames that are attached to these objects will NOT be noticed.
  template <typename... Args>
  std::unique_ptr<CollisionGroup> createCollisionGroup(const Args&... args);

  /// Helper function that creates and returns CollisionGroup as shared_ptr.
  template <typename... Args>
  std::shared_ptr<CollisionGroup> createCollisionGroupAsSharedPtr(
      const Args&... args);

  /// Perform collision check for a single group. If nullptr is passed to
  /// result, then the this returns only simple information whether there is a
  /// collision of not.
  virtual bool collide(
      CollisionGroup* group,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr)
      = 0;

  /// Perform collision check for two groups. If nullptr is passed to
  /// result, then the this returns only simple information whether there is a
  /// collision of not.
  virtual bool collide(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr)
      = 0;

  /// Get the minimum signed distance between the Shape pairs in the given
  /// CollisionGroup.
  ///
  /// The detailed results are stored in the given DistanceResult if provided.
  ///
  /// The results can be different by DistanceOption. By default, non-negative
  /// minimum distance (distance >= 0) is returned for all the shape pairs
  /// without computing nearest points.
  virtual double distance(
      CollisionGroup* group,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr)
      = 0;

  /// Get the minimum signed distance between the Shape pairs where a pair
  /// consist of two shapes from each groups (one from group1 and one from
  /// group2).
  ///
  /// Note that the distance between shapes within the same CollisionGroup
  /// are not accounted.
  ///
  /// The detailed results are stored in the given DistanceResult if provided.
  ///
  /// The results can be different by DistanceOption. By default, non-negative
  /// minimum distance (distance >= 0) is returned for all the shape pairs
  /// without computing nearest points.
  virtual double distance(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr)
      = 0;

  /// Performs raycast to a collision group.
  ///
  /// \param[in] group The collision group the ray will be casted onto.
  /// \param[in] from The start point of the ray in world coordinates.
  /// \param[in] to The end point of the ray in world coordinates.
  /// \param[in] option The raycast option.
  /// \param[in] result The raycast result.
  /// \return True if the ray hit an collision object.
  virtual bool raycast(
      CollisionGroup* group,
      const Eigen::Vector3d& from,
      const Eigen::Vector3d& to,
      const RaycastOption& option = RaycastOption(),
      RaycastResult* result = nullptr);

protected:
  class CollisionObjectManager;
  class ManagerForUnsharableCollisionObjects;
  class ManagerForSharableCollisionObjects;

  /// Constructor
  CollisionDetector() = default;

  /// Claim CollisionObject associated with shapeFrame. New CollisionObject
  /// will be created if it hasn't created yet for shapeFrame.
  std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame);

  /// Create CollisionObject
  virtual std::unique_ptr<CollisionObject> createCollisionObject(
      const dynamics::ShapeFrame* shapeFrame)
      = 0;

  /// Update the collision geometry of a ShapeFrame
  virtual void refreshCollisionObject(CollisionObject* object) = 0;

  /// Notify that a CollisionObject is destroying. Do nothing by default.
  virtual void notifyCollisionObjectDestroying(CollisionObject* object);

protected:
  std::unique_ptr<CollisionObjectManager> mCollisionObjectManager;
};

//==============================================================================
class CollisionDetector::CollisionObjectManager
{
public:
  /// Constructor
  CollisionObjectManager(CollisionDetector* cd);

  /// Claim CollisionObject associated with shapeFrame. New CollisionObject
  /// will be created if it hasn't created yet for shapeFrame.
  virtual std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame)
      = 0;

  /// Returns collision detector
  CollisionDetector* getCollisionDetector();

  /// Virtual destructor
  virtual ~CollisionObjectManager() = default;

protected:
  CollisionDetector* mCollisionDetector;
};

//==============================================================================
class CollisionDetector::ManagerForUnsharableCollisionObjects final
  : public CollisionDetector::CollisionObjectManager
{
public:
  /// Constructor
  ManagerForUnsharableCollisionObjects(CollisionDetector* cd);

  // Documentation inherited
  std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame);

private:
  /// This deleter is responsible for deleting CollisionObject and removing it
  /// from mCollisionObjectMap when it is not shared by any CollisionGroups.
  struct CollisionObjectDeleter final
  {
    ManagerForUnsharableCollisionObjects* mCollisionObjectManager;

    CollisionObjectDeleter(ManagerForUnsharableCollisionObjects* mgr);

    void operator()(CollisionObject* object) const;
  };

  const CollisionObjectDeleter mCollisionObjectDeleter;
};

//==============================================================================
class CollisionDetector::ManagerForSharableCollisionObjects final
  : public CollisionDetector::CollisionObjectManager
{
public:
  /// Constructor
  ManagerForSharableCollisionObjects(CollisionDetector* cd);

  /// Destructor
  virtual ~ManagerForSharableCollisionObjects();

  // Documentation inherited
  std::shared_ptr<CollisionObject> claimCollisionObject(
      const dynamics::ShapeFrame* shapeFrame);

private:
  /// This deleter is responsible for deleting CollisionObject and removing it
  /// from mCollisionObjectMap when it is not shared by any CollisionGroups.
  struct CollisionObjectDeleter final
  {
    ManagerForSharableCollisionObjects* mCollisionObjectManager;

    CollisionObjectDeleter(ManagerForSharableCollisionObjects* mgr);

    void operator()(CollisionObject* object) const;
  };

  const CollisionObjectDeleter mCollisionObjectDeleter;

  using CollisionObjectMap
      = std::map<const dynamics::ShapeFrame*, std::weak_ptr<CollisionObject>>;

  CollisionObjectMap mCollisionObjectMap;
};

} // namespace collision
} // namespace dart

#include "dart/collision/detail/CollisionDetector.hpp"

#endif // DART_COLLISION_COLLISIONDETECTOR_HPP_
