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/** \author Jia Pan */


#ifndef HPP_FCL_SHAPE_CONVEX_H
#define HPP_FCL_SHAPE_CONVEX_H

#include <hpp/fcl/shape/geometric_shapes.h>

namespace hpp
{
namespace fcl
{

/// @brief Convex polytope
/// @tparam PolygonT the polygon class. It must have method \c size() and
///         \c operator[](int i)
template <typename PolygonT>
class Convex : public ConvexBase
{
public:
  /// @brief Construct an uninitialized convex object
  Convex () : ConvexBase(), polygons(NULL), num_polygons(0) {}

  /// @brief Constructing a convex, providing normal and offset of each polytype surface, and the points and shape topology information
  /// \param ownStorage whether this class owns the pointers of points and
  ///                    polygons. If owned, they are deleted upon destruction.
  /// \param points_ list of 3D points
  /// \param num_points_ number of 3D points
  /// \param polygons_ \copydoc Convex::polygons
  /// \param num_polygons_ the number of polygons.
  /// \note num_polygons_ is not the allocated size of polygons_.
  Convex(bool ownStorage,
         Vec3f* points_, int num_points_,
         PolygonT* polygons_, int num_polygons_);

  /// @brief Copy constructor 
  /// Only the list of neighbors is copied.
  Convex(const Convex& other);

  ~Convex();

  /// @brief An array of PolygonT object.
  /// PolygonT should contains a list of vertices for each polygon,
  /// in counter clockwise order.
  PolygonT* polygons;
  int num_polygons;

  /// based on http://number-none.com/blow/inertia/bb_inertia.doc
  Matrix3f computeMomentofInertia() const;

  Vec3f computeCOM() const;

  FCL_REAL computeVolume() const;

protected:
  void fillNeighbors();
};

}

} // namespace hpp

#include <hpp/fcl/shape/details/convex.hxx>

#endif
