/*
 * 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
 *
 * This file is provided under the following "BSD-style" 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,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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 */

#include "dart/collision/DistanceResult.hpp"

#define DART_DEFAULT_MIN_DISTANCE (0.0)
#define DART_DEFAULT_UNCLAMPED_MIN_DISTANCE (0.0)

namespace dart {
namespace collision {

//==============================================================================
DistanceResult::DistanceResult()
  : minDistance(DART_DEFAULT_MIN_DISTANCE),
    unclampedMinDistance(0.0),
    shapeFrame1(nullptr),
    shapeFrame2(nullptr),
    nearestPoint1(Eigen::Vector3d::Zero()),
    nearestPoint2(Eigen::Vector3d::Zero())
{
  // Do nothing
}

//==============================================================================
void DistanceResult::clear()
{
  minDistance = DART_DEFAULT_MIN_DISTANCE;
  unclampedMinDistance = DART_DEFAULT_UNCLAMPED_MIN_DISTANCE;

  nearestPoint1.setZero();
  nearestPoint2.setZero();

  shapeFrame1 = nullptr;
  shapeFrame2 = nullptr;
}

//==============================================================================
bool DistanceResult::found() const
{
  if (!shapeFrame1 || !shapeFrame2)
    return false;

  return true;
}

//==============================================================================
bool DistanceResult::isMinDistanceClamped() const
{
  return found() && (minDistance == unclampedMinDistance);
}

} // namespace collision
} // namespace dart
