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/** @author Jia Pan */

#ifndef FCL_SHAPE_HALFSPACE_H
#define FCL_SHAPE_HALFSPACE_H

#include <iostream>

#include "fcl/geometry/shape/shape_base.h"
#include "fcl/math/bv/OBB.h"
#include "fcl/math/bv/RSS.h"
#include "fcl/math/bv/OBBRSS.h"
#include "fcl/math/bv/kDOP.h"
#include "fcl/math/bv/kIOS.h"

namespace fcl
{

/// @brief Half Space: this is equivalent to the Planed in ODE. The separation plane is defined as n * x = d;
/// Points in the negative side of the separation plane (i.e. {x | n * x < d}) are inside the half space and points
/// in the positive side of the separation plane (i.e. {x | n * x > d}) are outside the half space
template <typename S_>
class FCL_EXPORT Halfspace : public ShapeBase<S_>
{
public:

  using S = S_;

  /// @brief Construct a half space with normal direction and offset
  Halfspace(const Vector3<S>& n, S d);

  /// @brief Construct a plane with normal direction and offset
  Halfspace(S a, S b, S c, S d_);

  Halfspace();

  S signedDistance(const Vector3<S>& p) const;

  S distance(const Vector3<S>& p) const;

  /// @brief Compute AABB
  void computeLocalAABB() override;

  /// @brief Get node type: a half space
  NODE_TYPE getNodeType() const override;
  
  /// @brief Planed normal
  Vector3<S> n;
  
  /// @brief Planed offset
  S d;

  friend
  std::ostream& operator<<(std::ostream& out, const Halfspace& halfspace) {
    out << "Halfspace(n: " << halfspace.n.transpose() << ", d: "
        << halfspace.d << ")";
    return out;
  }

protected:

  /// @brief Turn non-unit normal into unit
  void unitNormalTest();
};

using Halfspacef = Halfspace<float>;
using Halfspaced = Halfspace<double>;

template <typename S>
FCL_EXPORT
Halfspace<S> transform(const Halfspace<S>& a, const Transform3<S>& tf);

} // namespace fcl

#include "fcl/geometry/shape/halfspace-inl.h"

#endif
