/*
 * Copyright (c) 2011-2022, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 */

#include "dart/dynamics/PlaneShape.hpp"

namespace dart {
namespace dynamics {

//==============================================================================
PlaneShape::PlaneShape(const Eigen::Vector3d& _normal, double _offset)
  : Shape(PLANE), mNormal(_normal.normalized()), mOffset(_offset)
{
}

//==============================================================================
PlaneShape::PlaneShape(
    const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point)
  : Shape(), mNormal(_normal.normalized()), mOffset(mNormal.dot(_point))
{
}

//==============================================================================
const std::string& PlaneShape::getType() const
{
  return getStaticType();
}

//==============================================================================
const std::string& PlaneShape::getStaticType()
{
  static const std::string type("PlaneShape");
  return type;
}

//==============================================================================
Eigen::Matrix3d PlaneShape::computeInertia(double /*mass*/) const
{
  return Eigen::Matrix3d::Zero();
}

//==============================================================================
void PlaneShape::setNormal(const Eigen::Vector3d& _normal)
{
  mNormal = _normal.normalized();

  incrementVersion();
}

//==============================================================================
const Eigen::Vector3d& PlaneShape::getNormal() const
{
  return mNormal;
}

//==============================================================================
void PlaneShape::setOffset(double _offset)
{
  mOffset = _offset;

  incrementVersion();
}

//==============================================================================
double PlaneShape::getOffset() const
{
  return mOffset;
}

//==============================================================================
void PlaneShape::setNormalAndOffset(
    const Eigen::Vector3d& _normal, double _offset)
{
  setNormal(_normal);
  setOffset(_offset);
}

//==============================================================================
void PlaneShape::setNormalAndPoint(
    const Eigen::Vector3d& _normal, const Eigen::Vector3d& _point)
{
  setNormal(_normal);
  setOffset(mNormal.dot(_point));
}

//==============================================================================
double PlaneShape::computeDistance(const Eigen::Vector3d& _point) const
{
  return std::abs(computeSignedDistance(_point));
}

//==============================================================================
double PlaneShape::computeSignedDistance(const Eigen::Vector3d& _point) const
{
  return mNormal.dot(_point) - mOffset;
}

//==============================================================================
ShapePtr PlaneShape::clone() const
{
  return std::make_shared<PlaneShape>(mNormal, mOffset);
}

//==============================================================================
void PlaneShape::updateBoundingBox() const
{
  mBoundingBox.setMin(
      Eigen::Vector3d::Constant(-std::numeric_limits<double>::infinity()));
  mBoundingBox.setMax(
      Eigen::Vector3d::Constant(std::numeric_limits<double>::infinity()));

  mIsBoundingBoxDirty = false;
}

//==============================================================================
void PlaneShape::updateVolume() const
{
  mVolume = 0.0;
  mIsVolumeDirty = false;
}

} // namespace dynamics
} // namespace dart
