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/** \author Joseph Mirabel */

#include "coal/shape/geometric_shapes.h"

#include "coal/internal/shape_shape_func.h"
#include "../narrowphase/details.h"

#include "coal/tracy.hh"

namespace coal {

namespace internal {

#define ConvexHalfspaceShapeShapeDistance(ConvexBaseType)                    \
  template <>                                                                \
  Scalar ShapeShapeDistance<ConvexBaseType, Halfspace>(                      \
      const CollisionGeometry* o1, const Transform3s& tf1,                   \
      const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*, \
      const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {                     \
    COAL_TRACY_ZONE_SCOPED_N(                                                \
        "coal::internal::ShapeShapeDistance<ConvexBase, Halfspace>");        \
    const ConvexBaseType& s1 = static_cast<const ConvexBaseType&>(*o1);      \
    const Halfspace& s2 = static_cast<const Halfspace&>(*o2);                \
    const Scalar distance =                                                  \
        details::halfspaceDistance(s2, tf2, s1, tf1, p2, p1, normal);        \
    normal = -normal;                                                        \
    return distance;                                                         \
  }                                                                          \
                                                                             \
  template <>                                                                \
  Scalar ShapeShapeDistance<Halfspace, ConvexBaseType>(                      \
      const CollisionGeometry* o1, const Transform3s& tf1,                   \
      const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*, \
      const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {                     \
    COAL_TRACY_ZONE_SCOPED_N(                                                \
        "coal::internal::ShapeShapeDistance<Halfspace, ConvexBase>");        \
    const Halfspace& s1 = static_cast<const Halfspace&>(*o1);                \
    const ConvexBaseType& s2 = static_cast<const ConvexBaseType&>(*o2);      \
    return details::halfspaceDistance(s1, tf1, s2, tf2, p1, p2, normal);     \
  }

ConvexHalfspaceShapeShapeDistance(ConvexBase16);
ConvexHalfspaceShapeShapeDistance(ConvexBase32);

}  // namespace internal

}  // namespace coal
