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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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/** @author Jia Pan */

#ifndef FCL_SHAPE_CONE_INL_H
#define FCL_SHAPE_CONE_INL_H

#include "fcl/geometry/shape/cone.h"

namespace fcl
{

//==============================================================================
extern template
class FCL_EXPORT Cone<double>;

//==============================================================================
template <typename S>
Cone<S>::Cone(S radius, S lz)
  : ShapeBase<S>(), radius(radius), lz(lz)
{
  // Do nothing
}

//==============================================================================
template <typename S>
void Cone<S>::computeLocalAABB()
{
  const Vector3<S> v_delta(radius, radius, 0.5 * lz);
  this->aabb_local.max_ = v_delta;
  this->aabb_local.min_ = -v_delta;

  this->aabb_center = this->aabb_local.center();
  this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm();
}

//==============================================================================
template <typename S>
NODE_TYPE Cone<S>::getNodeType() const
{
  return GEOM_CONE;
}

//==============================================================================
template <typename S>
S Cone<S>::computeVolume() const
{
  return constants<S>::pi() * radius * radius * lz / 3;
}

//==============================================================================
template <typename S>
Matrix3<S> Cone<S>::computeMomentofInertia() const
{
  S V = computeVolume();
  S ix = V * (0.1 * lz * lz + 3 * radius * radius / 20);
  S iz = 0.3 * V * radius * radius;

  return Vector3<S>(ix, ix, iz).asDiagonal();
}

//==============================================================================
template <typename S>
Vector3<S> Cone<S>::computeCOM() const
{
  return Vector3<S>(0, 0, -0.25 * lz);
}

//==============================================================================
template <typename S>
std::vector<Vector3<S>> Cone<S>::getBoundVertices(
    const Transform3<S>& tf) const
{
  std::vector<Vector3<S>> result(7);

  auto hl = lz * 0.5;
  auto r2 = radius * 2 / std::sqrt(3.0);
  auto a = 0.5 * r2;
  auto b = radius;

  result[0] = tf * Vector3<S>(r2, 0, -hl);
  result[1] = tf * Vector3<S>(a, b, -hl);
  result[2] = tf * Vector3<S>(-a, b, -hl);
  result[3] = tf * Vector3<S>(-r2, 0, -hl);
  result[4] = tf * Vector3<S>(-a, -b, -hl);
  result[5] = tf * Vector3<S>(a, -b, -hl);

  result[6] = tf * Vector3<S>(0, 0, hl);

  return result;
}

} // namespace fcl

#endif
