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/** \author Jia Pan */

#ifndef COAL_RSS_H
#define COAL_RSS_H

#include "coal/fwd.hh"
#include "coal/data_types.h"

#include <boost/math/constants/constants.hpp>

namespace coal {

struct CollisionRequest;

/// @addtogroup Bounding_Volume
/// @{

/// @brief A class for rectangle sphere-swept bounding volume
struct COAL_DLLAPI RSS {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  /// @brief Orientation of RSS. axis[i] is the ith column of the orientation
  /// matrix for the RSS; it is also the i-th principle direction of the RSS. We
  /// assume that axis[0] corresponds to the axis with the longest length,
  /// axis[1] corresponds to the shorter one and axis[2] corresponds to the
  /// shortest one.
  Matrix3s axes;

  /// @brief Origin of the rectangle in RSS
  Vec3s Tr;

  /// @brief Side lengths of rectangle
  Scalar length[2];

  /// @brief Radius of sphere summed with rectangle to form RSS
  Scalar radius;

  ///  @brief Default constructor with default values
  RSS() : axes(Matrix3s::Zero()), Tr(Vec3s::Zero()), radius(-1) {
    length[0] = 0;
    length[1] = 0;
  }

  /// @brief Equality operator
  bool operator==(const RSS& other) const {
    COAL_EQUAL_OPERATOR_CHECK(axes == other.axes);
    COAL_EQUAL_OPERATOR_CHECK(Tr == other.Tr);
    COAL_EQUAL_OPERATOR_CHECK(length[0] == other.length[0]);
    COAL_EQUAL_OPERATOR_CHECK(length[1] == other.length[1]);
    COAL_EQUAL_OPERATOR_CHECK(radius == other.radius);
    return true;
  }

  /// @brief Difference operator
  bool operator!=(const RSS& other) const { return !(*this == other); }

  /// @brief Check whether the RSS contains a point
  bool contain(const Vec3s& p) const;

  /// @brief Check collision between two RSS
  bool overlap(const RSS& other) const;

  /// Not implemented
  bool overlap(const RSS& other, const CollisionRequest&,
               Scalar& sqrDistLowerBound) const {
    sqrDistLowerBound = std::numeric_limits<Scalar>::quiet_NaN();
    return overlap(other);
  }

  /// @brief the distance between two RSS; P and Q, if not NULL, return the
  /// nearest points
  Scalar distance(const RSS& other, Vec3s* P = NULL, Vec3s* Q = NULL) const;

  /// @brief A simple way to merge the RSS and a point, not compact.
  /// @todo This function may have some bug.
  RSS& operator+=(const Vec3s& p);

  /// @brief Merge the RSS and another RSS
  inline RSS& operator+=(const RSS& other) {
    *this = *this + other;
    return *this;
  }

  /// @brief Return the merged RSS of current RSS and the other one
  RSS operator+(const RSS& other) const;

  /// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
  inline Scalar size() const {
    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) +
            2 * radius);
  }

  /// @brief The RSS center
  inline const Vec3s& center() const { return Tr; }

  /// @brief Width of the RSS
  inline Scalar width() const { return length[0] + 2 * radius; }

  /// @brief Height of the RSS
  inline Scalar height() const { return length[1] + 2 * radius; }

  /// @brief Depth of the RSS
  inline Scalar depth() const { return 2 * radius; }

  /// @brief Volume of the RSS
  inline Scalar volume() const {
    return (length[0] * length[1] * 2 * radius +
            4 * boost::math::constants::pi<Scalar>() * radius * radius *
                radius);
  }

  /// @brief Check collision between two RSS and return the overlap part.
  /// For RSS, we return nothing, as the overlap part of two RSSs usually is not
  /// a RSS.
  bool overlap(const RSS& other, RSS& /*overlap_part*/) const {
    return overlap(other);
  }
};

/** @} */  // end of Bounding_Volume

/// @brief distance between two RSS bounding volumes
/// P and Q (optional return values) are the closest points in the rectangles,
/// not the RSS. But the direction P - Q is the correct direction for cloest
/// points Notice that P and Q are both in the local frame of the first RSS (not
/// global frame and not even the local frame of object 1)
COAL_DLLAPI Scalar distance(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                            const RSS& b2, Vec3s* P = NULL, Vec3s* Q = NULL);

/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and
/// b2 is in identity.
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                         const RSS& b2);

/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and
/// b2 is in identity.
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const RSS& b1,
                         const RSS& b2, const CollisionRequest& request,
                         Scalar& sqrDistLowerBound);

}  // namespace coal

#endif
