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/** \author Jia Pan */

#ifndef COAL_SHAPE_CONVEX_H
#define COAL_SHAPE_CONVEX_H

#include "coal/shape/geometric_shapes.h"
#include <iostream>

namespace coal {

/// @brief Convex polytope
/// @tparam PolygonT the polygon class. It must have method \c size() and
///         \c operator[](int i)
template <typename PolygonT>
class ConvexTpl : public ConvexBaseTpl<typename PolygonT::IndexType> {
 public:
  typedef typename PolygonT::IndexType IndexType;
  typedef ConvexBaseTpl<IndexType> Base;
  typedef typename Base::Neighbors Neighbors;

  using Base::neighbors;
  using Base::num_points;
  using Base::points;

  /// @brief Construct an uninitialized convex object
  ConvexTpl() : Base(), num_polygons(0) {}

  ~ConvexTpl() {}

  /// @brief Constructing a convex, providing normal and offset of each polytype
  /// surface, and the points and shape topology information
  /// \param points_ list of 3D points
  /// \param num_points_ number of 3D points
  /// \param polygons_ \copydoc Convex::polygons
  /// \param num_polygons_ the number of polygons.
  /// \note num_polygons_ is not the allocated size of polygons_.
  ConvexTpl(std::shared_ptr<std::vector<Vec3s>> points_,
            unsigned int num_points_,
            std::shared_ptr<std::vector<PolygonT>> polygons_,
            unsigned int num_polygons_);

  /// @brief Cast Convex to ConvexBaseTpl.
  /// This method should never be marked as virtual
  Base& base() { return static_cast<Base&>(*this); }

  /// @brief Const cast Convex to ConvexBaseTpl.
  /// This method should never be marked as virtual
  const Base& base() const { return static_cast<const Base&>(*this); }

  /// @brief Copy constructor.
  /// The copy constructor only shallow copies the data (it copies the shared
  /// pointers but does not deep clones the data).
  ConvexTpl(const ConvexTpl& other) { *this = other; }

  /// @brief Copy operator.
  /// The copy operator only shallow copies the data (it copies the shared
  /// pointers but does not deep clones the data).
  ConvexTpl& operator=(const ConvexTpl& other);

  // Clone (deep copy).
  COAL_DEPRECATED_MESSAGE(Use deepcopy instead.)
  ConvexTpl* clone() const override { return this->deepcopy(); };

  // Deep copy of a Convex.
  // This method deep copies every field of the class.
  ConvexTpl* deepcopy() const override {
    ConvexTpl* copy = new ConvexTpl();
    deepcopy(this, copy);
    return copy;
  }

  /// @brief Cast this Convex vertex indices to OtherIndexType.
  /// This effectively deep copies this Convex into a new one.
  template <typename OtherPolygonT>
  ConvexTpl<OtherPolygonT> cast() const {
    ConvexTpl<OtherPolygonT> res;
    deepcopy(this, &res);
    return res;
  }

  /// based on http://number-none.com/blow/inertia/bb_inertia.doc
  virtual Matrix3s computeMomentofInertia() const override;

  virtual Vec3s computeCOM() const override;

  virtual Scalar computeVolume() const override;

  ///
  /// @brief Set the current Convex from a list of points and polygons.
  ///
  /// \param points list of 3D points
  /// \param num_points number of 3D points
  /// \param polygons \copydoc Convex::polygons
  /// \param num_polygons the number of polygons.
  /// \note num_polygons is not the allocated size of polygons.
  ///
  void set(std::shared_ptr<std::vector<Vec3s>> points, unsigned int num_points,
           std::shared_ptr<std::vector<PolygonT>> polygons,
           unsigned int num_polygons);

  /// @brief An array of PolygonT object.
  /// PolygonT should contains a list of vertices for each polygon,
  /// in counter clockwise order.
  std::shared_ptr<std::vector<PolygonT>> polygons;
  unsigned int num_polygons;

 protected:
  void fillNeighbors();

  // Deep copy of a Convex.
  // This method deep copies every field of the class.
  template <typename OtherPolygonT>
  static void deepcopy(const ConvexTpl<PolygonT>* source,
                       ConvexTpl<OtherPolygonT>* copy);

  using Base::nneighbors_;

 private:
  virtual bool isEqual(const CollisionGeometry& _other) const override {
    const ConvexTpl* other_ptr = dynamic_cast<const ConvexTpl*>(&_other);
    if (other_ptr == nullptr) return false;
    COAL_EQUAL_OPERATOR_CHECK(Base::isEqual(_other));
    COAL_EQUAL_OPERATOR_CHECK(
        shared_ptrs_are_equal(polygons, other_ptr->polygons));
    return true;
  }
};

template <typename PolygonT>
using Convex = ConvexTpl<PolygonT>;

}  // namespace coal

#include "coal/shape/convex.hxx"

#endif
