/*
 * 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
 *
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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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 */

#include "dart/dynamics/BoxShape.hpp"
#include <cmath>

namespace dart {
namespace dynamics {

//==============================================================================
BoxShape::BoxShape(const Eigen::Vector3d& _size) : Shape(BOX), mSize(_size)
{
  assert(_size[0] > 0.0);
  assert(_size[1] > 0.0);
  assert(_size[2] > 0.0);
}

//==============================================================================
BoxShape::~BoxShape()
{
  // Do nothing
}

//==============================================================================
const std::string& BoxShape::getType() const
{
  return getStaticType();
}

//==============================================================================
const std::string& BoxShape::getStaticType()
{
  static const std::string type("BoxShape");
  return type;
}

//==============================================================================
double BoxShape::computeVolume(const Eigen::Vector3d& size)
{
  return size[0] * size[1] * size[2];
}

//==============================================================================
Eigen::Matrix3d BoxShape::computeInertia(
    const Eigen::Vector3d& size, double mass)
{
  Eigen::Matrix3d inertia = Eigen::Matrix3d::Identity();

  inertia(0, 0) = mass / 12.0 * (std::pow(size[1], 2) + std::pow(size[2], 2));
  inertia(1, 1) = mass / 12.0 * (std::pow(size[0], 2) + std::pow(size[2], 2));
  inertia(2, 2) = mass / 12.0 * (std::pow(size[0], 2) + std::pow(size[1], 2));

  return inertia;
}

//==============================================================================
void BoxShape::setSize(const Eigen::Vector3d& _size)
{
  assert(_size[0] > 0.0);
  assert(_size[1] > 0.0);
  assert(_size[2] > 0.0);
  mSize = _size;
  mIsBoundingBoxDirty = true;
  mIsVolumeDirty = true;

  incrementVersion();
}

//==============================================================================
const Eigen::Vector3d& BoxShape::getSize() const
{
  return mSize;
}

//==============================================================================
Eigen::Matrix3d BoxShape::computeInertia(double mass) const
{
  return computeInertia(mSize, mass);
}

//==============================================================================
void BoxShape::updateBoundingBox() const
{
  mBoundingBox.setMin(-mSize * 0.5);
  mBoundingBox.setMax(mSize * 0.5);
  mIsBoundingBoxDirty = false;
}

//==============================================================================
void BoxShape::updateVolume() const
{
  mVolume = computeVolume(mSize);
  mIsVolumeDirty = false;
}

} // namespace dynamics
} // namespace dart
