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/** \author Jia Pan */


#ifndef HPP_FCL_BVH_UTILITY_H
#define HPP_FCL_BVH_UTILITY_H

#include <hpp/fcl/BVH/BVH_model.h>

namespace hpp
{
namespace fcl
{
/// @brief Extract the part of the BVHModel that is inside an AABB.
/// A triangle in collision with the AABB is considered inside.
template<typename BV>
HPP_FCL_DLLAPI
BVHModel<BV>* BVHExtract(const BVHModel<BV>& model, const Transform3f& pose, const AABB& aabb);

template<>
HPP_FCL_DLLAPI
BVHModel<OBB      >* BVHExtract(const BVHModel<OBB      >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<AABB     >* BVHExtract(const BVHModel<AABB     >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<RSS      >* BVHExtract(const BVHModel<RSS      >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<kIOS     >* BVHExtract(const BVHModel<kIOS     >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<OBBRSS   >* BVHExtract(const BVHModel<OBBRSS   >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<KDOP<16> >* BVHExtract(const BVHModel<KDOP<16> >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<KDOP<18> >* BVHExtract(const BVHModel<KDOP<18> >& model, const Transform3f& pose, const AABB& aabb);
template<>
HPP_FCL_DLLAPI
BVHModel<KDOP<24> >* BVHExtract(const BVHModel<KDOP<24> >& model, const Transform3f& pose, const AABB& aabb);

/// @brief Compute the covariance matrix for a set or subset of points. if ts = null, then indices refer to points directly; otherwise refer to triangles
HPP_FCL_DLLAPI void getCovariance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& M);

/// @brief Compute the RSS bounding volume parameters: radius, rectangle size and the origin, given the BV axises.
HPP_FCL_DLLAPI void getRadiusAndOriginAndRectangleSize(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Matrix3f& axes, Vec3f& origin, FCL_REAL l[2], FCL_REAL& r);

/// @brief Compute the bounding volume extent and center for a set or subset of points, given the BV axises.
HPP_FCL_DLLAPI void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, Matrix3f& axes, Vec3f& center, Vec3f& extent);

/// @brief Compute the center and radius for a triangle's circumcircle
HPP_FCL_DLLAPI void circumCircleComputation(const Vec3f& a, const Vec3f& b, const Vec3f& c, Vec3f& center, FCL_REAL& radius);

/// @brief Compute the maximum distance from a given center point to a point cloud
HPP_FCL_DLLAPI FCL_REAL maximumDistance(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indices, int n, const Vec3f& query);

}

} // namespace hpp

#endif
