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/** \author Jia Pan */

#ifndef HPP_FCL_RSS_H
#define HPP_FCL_RSS_H

#include <stdexcept>
#include <hpp/fcl/data_types.h>
#include <boost/math/constants/constants.hpp>

namespace hpp
{
namespace fcl
{

  class CollisionRequest;
/// @brief A class for rectangle sphere-swept bounding volume
class RSS
{
public:
  /// @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.
  Matrix3f axes;

  /// @brief Origin of the rectangle in RSS
  Vec3f Tr;

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

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


  /// @brief Check whether the RSS contains a point
  inline bool contain(const Vec3f& p) const;

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

  /// Not implemented
  bool overlap(const RSS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const
  {
    sqrDistLowerBound = sqrt (-1);
    return overlap (other);
  }

  /// @brief the distance between two RSS; P and Q, if not NULL, return the nearest points
  FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* 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 Vec3f& 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 FCL_REAL size() const
  {
    return (std::sqrt(length[0] * length[0] + length[1] * length[1]) + 2 * radius);
  }

  /// @brief The RSS center
  inline const Vec3f& center() const
  {
    return Tr;
  }

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

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

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

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

/// @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)
FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);


/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.
bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2);

/// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and b2 is in identity.
bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2,
             const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound);

}


} // namespace hpp

#endif