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/** @author Jia Pan */

#ifndef FCL_TRAVERSAL_OCTREE_SHAPEOCTREECOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_OCTREE_SHAPEOCTREECOLLISIONTRAVERSALNODE_H

#include "fcl/config.h"
#if !(FCL_HAVE_OCTOMAP)
#error "This header requires fcl to be compiled with octomap support"
#endif

#include "fcl/geometry/octree/octree.h"
#include "fcl/geometry/bvh/BVH_model.h"
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
#include "fcl/narrowphase/detail/traversal/octree/octree_solver.h"

namespace fcl
{

namespace detail
{

/// @brief Traversal node for shape-octree collision
template <typename Shape, typename NarrowPhaseSolver>
class FCL_EXPORT ShapeOcTreeCollisionTraversalNode
    : public CollisionTraversalNodeBase<typename Shape::S>
{
public:

  using S = typename Shape::S;

  ShapeOcTreeCollisionTraversalNode();

  bool BVTesting(int, int) const;

  void leafTesting(int, int) const;

  const Shape* model1;
  const OcTree<S>* model2;

  Transform3<S> tf1;
  Transform3<S> tf2;

  const OcTreeSolver<NarrowPhaseSolver>* otsolver;

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

/// @brief Initialize traversal node for collision between one shape and one
/// octree, given current object transform
template <typename Shape, typename NarrowPhaseSolver>
bool initialize(
    ShapeOcTreeCollisionTraversalNode<Shape, NarrowPhaseSolver>& node,
    const Shape& model1,
    const Transform3<typename Shape::S>& tf1,
    const OcTree<typename Shape::S>& model2,
    const Transform3<typename Shape::S>& tf2,
    const OcTreeSolver<NarrowPhaseSolver>* otsolver,
    const CollisionRequest<typename Shape::S>& request,
    CollisionResult<typename Shape::S>& result);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/traversal/octree/collision/shape_octree_collision_traversal_node-inl.h"

#endif
