/*
 * 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
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 *   * 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
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#ifndef DART_COLLISION_COLLISIONRESULT_HPP_
#define DART_COLLISION_COLLISIONRESULT_HPP_

#include <unordered_set>
#include <vector>

#include "dart/collision/Contact.hpp"

namespace dart {

namespace dynamics {

class BodyNode;
class ShapeFrame;

} // namespace dynamics

namespace collision {

class CollisionResult
{
public:
  /// Add one contact
  void addContact(const Contact& contact);

  /// Return number of contacts
  std::size_t getNumContacts() const;

  /// Return the index-th contact
  Contact& getContact(std::size_t index);

  /// Return (const) the index-th contact
  const Contact& getContact(std::size_t index) const;

  /// Return contacts
  const std::vector<Contact>& getContacts() const;

  /// Return the set of BodyNodes that are in collision
  const std::unordered_set<const dynamics::BodyNode*>& getCollidingBodyNodes()
      const;

  /// Return the set of ShapeFrames that are in collision
  const std::unordered_set<const dynamics::ShapeFrame*>&
  getCollidingShapeFrames() const;

  /// Returns true if the given BodyNode is in collision
  bool inCollision(const dynamics::BodyNode* bn) const;

  /// Returns true if the given ShapeFrame is in collision
  bool inCollision(const dynamics::ShapeFrame* frame) const;

  /// Return binary collision result
  bool isCollision() const;

  /// Implicitly converts this CollisionResult to the value of isCollision()
  operator bool() const;

  /// Clear all the contacts
  void clear();

protected:
  void addObject(CollisionObject* object);

  /// List of contact information for each contact
  std::vector<Contact> mContacts;

  /// Set of BodyNodes that are colliding
  std::unordered_set<const dynamics::BodyNode*> mCollidingBodyNodes;

  /// Set of ShapeFrames that are colliding
  std::unordered_set<const dynamics::ShapeFrame*> mCollidingShapeFrames;
};

} // namespace collision
} // namespace dart

#endif // DART_COLLISION_COLLISIONRESULT_HPP_
