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 *   without modification, are permitted provided that the following
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 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
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#ifndef DART_MATH_DETAIL_MESH_IMPL_HPP_
#define DART_MATH_DETAIL_MESH_IMPL_HPP_

#include "dart/math/Mesh.hpp"

namespace dart {
namespace math {

//==============================================================================
template <typename S>
Mesh<S>::~Mesh()
{
  // Do nothing
}

//==============================================================================
template <typename S>
bool Mesh<S>::hasVertices() const
{
  return !mVertices.empty();
}

//==============================================================================
template <typename S>
bool Mesh<S>::hasVertexNormals() const
{
  return hasVertices() && mVertices.size() == mVertexNormals.size();
}

//==============================================================================
template <typename S>
const typename Mesh<S>::Vertices& Mesh<S>::getVertices() const
{
  return this->mVertices;
}

//==============================================================================
template <typename S>
const typename Mesh<S>::Normals& Mesh<S>::getVertexNormals() const
{
  return this->mVertexNormals;
}

//==============================================================================
template <typename S>
void Mesh<S>::clear()
{
  mVertices.clear();
  mVertexNormals.clear();
}

//==============================================================================
template <typename S>
bool Mesh<S>::isEmpty() const
{
  return !(this->hasVertices());
}

//==============================================================================
template <typename S>
void Mesh<S>::translate(const Vector3& translation)
{
  for (auto& vertex : mVertices)
  {
    vertex += translation;
  }
}

//==============================================================================
template <typename S>
Mesh<S> Mesh<S>::operator+(const Mesh& other) const
{
  return (Mesh(*this) += other);
}

//==============================================================================
template <typename S>
Mesh<S>& Mesh<S>::operator+=(const Mesh& other)
{
  if (other.isEmpty())
    return *this;

  // Insert vertex normals if both meshes have normals. Otherwise, clean the
  // vertex normals.
  if ((isEmpty() || hasVertexNormals()) && other.hasVertexNormals())
  {
    mVertexNormals.insert(
        mVertexNormals.end(),
        other.mVertexNormals.begin(),
        other.mVertexNormals.end());
  }
  else
  {
    mVertexNormals.clear();
  }

  // Insert vertices
  mVertices.insert(
      mVertices.end(), other.mVertices.begin(), other.mVertices.end());

  return *this;
}

//==============================================================================
template <typename S>
Mesh<S>::Mesh()
{
  // Do nothing
}

//==============================================================================
template <typename S>
void Mesh<S>::normalizeVertexNormals()
{
  for (auto& normal : mVertexNormals)
  {
    normal.normalize();
  }
}

} // namespace math
} // namespace dart

#endif // DART_MATH_DETAIL_MESH_IMPL_HPP_
