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   *  Copyright (c) 2014-2015, Open Source Robotics Foundation
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  /** \author Jia Pan */
  
  
  #ifndef HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
  #define HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
  
  #include <vector>
  #include <hpp/fcl/shape/geometric_shapes.h>
  #include <hpp/fcl/BV/BV.h>
  #include <hpp/fcl/internal/BV_fitter.h>
  
  namespace hpp
  {
  namespace fcl
  {
  
  /// @cond IGNORE
  namespace details
  {
  /// @brief get the vertices of some convex shape which can bound the given shape in a specific configuration
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Box& box, const Transform3f& tf);
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const Transform3f& tf);
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const Transform3f& tf);
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cone& cone, const Transform3f& tf);
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const Transform3f& tf);
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const ConvexBase& convex, const Transform3f& tf);
  HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const TriangleP& triangle, const Transform3f& tf);
  } 
  /// @endcond
  
  
  /// @brief calculate a bounding volume for a shape in a specific configuration
  template<typename BV, typename S>
  inline void computeBV(const S& s, const Transform3f& tf, BV& bv)
  {
    std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
    fit(&convex_bound_vertices[0], (int)convex_bound_vertices.size(), bv);
  }
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s, const Transform3f& tf, AABB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<AABB, Plane>(const Plane& s, const Transform3f& tf, AABB& bv);
  
  
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s, const Transform3f& tf, RSS& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s, const Transform3f& tf, OBBRSS& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s, const Transform3f& tf, kIOS& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<16>& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<18>& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<24>& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3f& tf, OBB& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3f& tf, RSS& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3f& tf, OBBRSS& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s, const Transform3f& tf, kIOS& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3f& tf, KDOP<16>& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3f& tf, KDOP<18>& bv);
  
  template<>
  HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3f& tf, KDOP<24>& bv);
  
  
  /// @brief construct a box shape (with a configuration) from a given bounding volume
  HPP_FCL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const AABB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const OBB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const kIOS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const RSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
  
  HPP_FCL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3f& tf);
  
  HPP_FCL_DLLAPI Plane transform(const Plane& a, const Transform3f& tf);
  
  }
  
  } // namespace hpp
  
  #endif
  