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#ifndef DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
#define DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_

#include "dart/collision/CollisionDetector.hpp"
#include "dart/constraint/ConstraintBase.hpp"
#include "dart/math/MathTypes.hpp"

namespace dart {

namespace dynamics {
class BodyNode;
class Skeleton;
} // namespace dynamics

namespace constraint {

/// ContactConstraint represents a contact constraint between two bodies
class ContactConstraint : public ConstraintBase
{
public:
  /// Constructor
  ContactConstraint(collision::Contact& contact, double timeStep);

  /// Destructor
  ~ContactConstraint() override = default;

  //----------------------------------------------------------------------------
  // Property settings
  //----------------------------------------------------------------------------

  /// Set global error reduction parameter
  static void setErrorAllowance(double allowance);

  /// Get global error reduction parameter
  static double getErrorAllowance();

  /// Set global error reduction parameter
  static void setErrorReductionParameter(double erp);

  /// Get global error reduction parameter
  static double getErrorReductionParameter();

  /// Set global error reduction parameter
  static void setMaxErrorReductionVelocity(double erv);

  /// Get global error reduction parameter
  static double getMaxErrorReductionVelocity();

  /// Set global constraint force mixing parameter
  static void setConstraintForceMixing(double cfm);

  /// Get global constraint force mixing parameter
  static double getConstraintForceMixing();

  /// Set first frictional direction
  void setFrictionDirection(const Eigen::Vector3d& dir);

  /// Get first frictional direction
  const Eigen::Vector3d& getFrictionDirection1() const;

  //----------------------------------------------------------------------------
  // Friendship
  //----------------------------------------------------------------------------

  friend class ConstraintSolver;
  friend class ConstrainedGroup;

protected:
  //----------------------------------------------------------------------------
  // Constraint virtual functions
  //----------------------------------------------------------------------------

  // Documentation inherited
  void update() override;

  // Documentation inherited
  void getInformation(ConstraintInfo* info) override;

  // Documentation inherited
  void applyUnitImpulse(std::size_t index) override;

  // Documentation inherited
  void getVelocityChange(double* vel, bool withCfm) override;

  // Documentation inherited
  void excite() override;

  // Documentation inherited
  void unexcite() override;

  // Documentation inherited
  void applyImpulse(double* lambda) override;

  // Documentation inherited
  dynamics::SkeletonPtr getRootSkeleton() const override;

  // Documentation inherited
  void uniteSkeletons() override;

  // Documentation inherited
  bool isActive() const override;

  static double computeFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computeSecondaryFrictionCoefficient(
      const dynamics::ShapeNode* shapeNode);
  static double computeSlipCompliance(
      const dynamics::ShapeNode* shapeNode);
  static double computeSecondarySlipCompliance(
      const dynamics::ShapeNode* shapeNode);
  static Eigen::Vector3d computeWorldFirstFrictionDir(
      const dynamics::ShapeNode* shapenode);
  static double computeRestitutionCoefficient(
      const dynamics::ShapeNode* shapeNode);

private:
  using TangentBasisMatrix = Eigen::Matrix<double, 3, 2>;

  /// Get change in relative velocity at contact point due to external impulse
  /// \param[out] relVel Change in relative velocity at contact point of the
  /// two colliding bodies.
  void getRelVelocity(double* relVel);

  ///
  void updateFirstFrictionalDirection();

  ///
  TangentBasisMatrix getTangentBasisMatrixODE(const Eigen::Vector3d& n);

private:
  /// Time step
  double mTimeStep;

  /// Fircst body node
  dynamics::BodyNode* mBodyNodeA;

  /// Second body node
  dynamics::BodyNode* mBodyNodeB;

  /// Contact between mBodyNode1 and mBodyNode2
  collision::Contact& mContact;

  /// First frictional direction
  Eigen::Vector3d mFirstFrictionalDirection;

  /// Primary Coefficient of Friction
  double mFrictionCoeff;

  /// Primary Coefficient of Friction
  double mSecondaryFrictionCoeff;

  /// Primary Coefficient of Slip Compliance
  double mSlipCompliance;

  /// Secondary Coefficient of Slip Compliance
  double mSecondarySlipCompliance;

  /// Coefficient of restitution
  double mRestitutionCoeff;

  /// Whether this contact is self-collision.
  bool mIsSelfCollision;

  /// Local body jacobians for mBodyNode1
  Eigen::Matrix<double, 6, Eigen::Dynamic> mSpatialNormalA;

  /// Local body jacobians for mBodyNode2
  Eigen::Matrix<double, 6, Eigen::Dynamic> mSpatialNormalB;

  ///
  bool mIsFrictionOn;

  /// Index of applied impulse
  std::size_t mAppliedImpulseIndex;

  ///
  bool mIsBounceOn;

  ///
  bool mActive;

  /// Global constraint error allowance
  static double mErrorAllowance;

  /// Global constraint error redection parameter in the range of [0, 1]. The
  /// default is 0.01.
  static double mErrorReductionParameter;

  /// Maximum error reduction velocity
  static double mMaxErrorReductionVelocity;

  /// Global constraint force mixing parameter in the range of [1e-9, 1]. The
  /// default is 1e-5
  /// \sa http://www.ode.org/ode-latest-userguide.html#sec_3_8_0
  static double mConstraintForceMixing;
};
// TODO(JS): Create SelfContactConstraint.

} // namespace constraint
} // namespace dart

#endif // DART_CONSTRAINT_CONTACTCONSTRAINT_HPP_
