/*************************************************************************

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

 *                                                                       *

 * This library is free software; you can redistribute it and/or         *

 * modify it under the terms of EITHER:                                  *

 *   (1) The GNU Lesser General Public License as published by the Free  *

 *       Software Foundation; either version 2.1 of the License, or (at  *

 *       your option) any later version. The text of the GNU Lesser      *

 *       General Public License is included with this library in the     *

 *       file LICENSE.TXT.                                               *

 *   (2) The BSD-style license that is included with this library in     *

 *       the file LICENSE-BSD.TXT.                                       *

 *                                                                       *

 * This library is distributed in the hope that it will be useful,       *

 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

 *                                                                       *

 *************************************************************************/

/*

the standard ODE geometry primitives.

*/

#ifndef _ODE_COLLISION_STD_H_

#define _ODE_COLLISION_STD_H_

//#include <set>

#include <ode/common.h>

#include "collision_kernel.h"

#include "set.h"

// primitive collision functions - these have the dColliderFn interface, i.e.

// the same interface as dCollide(). the first and second geom arguments must

// have the specified types.

int dCollideSphereSphere (dxGeom *o1, dxGeom *o2, int flags,

			  dContactGeom *contact, int skip);

int dCollideSphereBox (dxGeom *o1, dxGeom *o2, int flags,

		       dContactGeom *contact, int skip);

int dCollideSpherePlane (dxGeom *o1, dxGeom *o2, int flags,

			 dContactGeom *contact, int skip);

int dCollideBoxBox (dxGeom *o1, dxGeom *o2, int flags,

		    dContactGeom *contact, int skip);

int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,

		      int flags, dContactGeom *contact, int skip);

int dCollideCapsuleSphere (dxGeom *o1, dxGeom *o2, int flags,

			     dContactGeom *contact, int skip);

int dCollideCapsuleBox (dxGeom *o1, dxGeom *o2, int flags,

			  dContactGeom *contact, int skip);

int dCollideCapsuleCapsule (dxGeom *o1, dxGeom *o2,

				int flags, dContactGeom *contact, int skip);

int dCollideCapsulePlane (dxGeom *o1, dxGeom *o2, int flags,

			    dContactGeom *contact, int skip);

int dCollideRaySphere (dxGeom *o1, dxGeom *o2, int flags,

		       dContactGeom *contact, int skip);

int dCollideRayBox (dxGeom *o1, dxGeom *o2, int flags,

		    dContactGeom *contact, int skip);

int dCollideRayCapsule (dxGeom *o1, dxGeom *o2,

			  int flags, dContactGeom *contact, int skip);

int dCollideRayPlane (dxGeom *o1, dxGeom *o2, int flags,

		      dContactGeom *contact, int skip);

int dCollideRayCylinder (dxGeom *o1, dxGeom *o2, int flags,

		      dContactGeom *contact, int skip);

// Cylinder - Box/Sphere by (C) CroTeam

// Ported by Nguyen Binh

int dCollideCylinderBox(dxGeom *o1, dxGeom *o2, 

                        int flags, dContactGeom *contact, int skip);

int dCollideCylinderSphere(dxGeom *gCylinder, dxGeom *gSphere, 

                           int flags, dContactGeom *contact, int skip); 

int dCollideCylinderPlane(dxGeom *gCylinder, dxGeom *gPlane, 

                           int flags, dContactGeom *contact, int skip); 

//--> Convex Collision

int dCollideConvexPlane (dxGeom *o1, dxGeom *o2, int flags,

			 dContactGeom *contact, int skip);

int dCollideSphereConvex (dxGeom *o1, dxGeom *o2, int flags,

			  dContactGeom *contact, int skip);

int dCollideConvexBox (dxGeom *o1, dxGeom *o2, int flags,

		       dContactGeom *contact, int skip);

int dCollideConvexCapsule (dxGeom *o1, dxGeom *o2,

			   int flags, dContactGeom *contact, int skip);

int dCollideConvexConvex (dxGeom *o1, dxGeom *o2, int flags, 

			  dContactGeom *contact, int skip);

int dCollideRayConvex (dxGeom *o1, dxGeom *o2, int flags, 

		       dContactGeom *contact, int skip);

//<-- Convex Collision

// dHeightfield

int dCollideHeightfield( dxGeom *o1, dxGeom *o2, 

						 int flags, dContactGeom *contact, int skip );

//****************************************************************************

// the basic geometry objects

struct dxSphere : public dxGeom {

  dReal radius;		// sphere radius

  dxSphere (dSpaceID space, dReal _radius);

  void computeAABB();

};

struct dxBox : public dxGeom {

  dVector3 side;	// side lengths (x,y,z)

  dxBox (dSpaceID space, dReal lx, dReal ly, dReal lz);

  void computeAABB();

};

struct dxCapsule : public dxGeom {

  dReal radius,lz;	// radius, length along z axis

  dxCapsule (dSpaceID space, dReal _radius, dReal _length);

  void computeAABB();

};

struct dxCylinder : public dxGeom {

        dReal radius,lz;        // radius, length along z axis

        dxCylinder (dSpaceID space, dReal _radius, dReal _length);

        void computeAABB();

};

struct dxPlane : public dxGeom {

  dReal p[4];

  dxPlane (dSpaceID space, dReal a, dReal b, dReal c, dReal d);

  void computeAABB();

};

struct dxRay : public dxGeom {

  dReal length;

  dxRay (dSpaceID space, dReal _length);

  void computeAABB();

};

//typedef std::pair<unsigned int,unsigned int> edge; /*!< Used to descrive a convex hull edge, an edge is a pair or indices into the hull's points */

struct dxConvex : public dxGeom 

{

  dReal *planes; /*!< An array of planes in the form:

		   normal X, normal Y, normal Z,Distance

		 */

  dReal *points; /*!< An array of points X,Y,Z */  

  unsigned int *polygons; /*! An array of indices to the points of each polygon, it should be the number of vertices followed by that amount of indices to "points" in counter clockwise order*/

  unsigned int planecount; /*!< Amount of planes in planes */

  unsigned int pointcount;/*!< Amount of points in points */

  dReal saabb[6];/*!< AABB */

  //std::set<edge> edges;

  set* edges;

  dxConvex(dSpaceID space,

	   dReal *planes,

	   unsigned int planecount,

	   dReal *points,

	   unsigned int pointcount,

	   unsigned int *polygons);

  ~dxConvex()

  {

    //fprintf(stdout,"dxConvex Destroy\n");

  }

  void computeAABB();

  private:

  // For Internal Use Only

  void FillEdges();

};

#endif