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/** \author Jia Pan */

#ifndef HPP_FCL_DISTANCE_FUNC_MATRIX_H
#define HPP_FCL_DISTANCE_FUNC_MATRIX_H

#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/narrowphase/narrowphase.h>

namespace hpp
{
namespace fcl
{

/// @brief distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
struct HPP_FCL_DLLAPI DistanceFunctionMatrix
{
  /// @brief the uniform call interface for distance: for distance, we need know
  /// 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;
  /// 2. the solver for narrow phase collision, this is for distance computation between geometric shapes;
  /// 3. the request setting for distance (e.g., whether need to return nearest points);
  typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1, const Transform3f& tf1,
                                   const CollisionGeometry* o2, const Transform3f& tf2,
                                   const GJKSolver* nsolver,
                                   const DistanceRequest& request, DistanceResult& result);
  
  /// @brief each item in the distance matrix is a function to handle distance between objects of type1 and type2
  DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];

  DistanceFunctionMatrix();
};

}

} // namespace hpp

#endif
