// Copyright 2018-2019 The MathWorks, Inc.

/**
 * @file
 * @brief This file defines the exported APIs of the collisioncodegen (kernel collision checking
 * functions)
 */

#ifndef COLLISIONCODEGEN_CHECKCOLLISION_API_HPP
#define COLLISIONCODEGEN_CHECKCOLLISION_API_HPP

#include "collisioncodegen_CollisionGeometry.hpp"
#include "collisioncodegen_ccdExtensions.hpp"

namespace shared_robotics
{

/**
 * @brief Create a full-mesh primitive with faces (the caller is responsible for freeing
 * the memory pointed by the returned pointer)
 * @param vertices The vertices of the mesh
 * @param faces The faces of the mesh
 * @param numVertices The number of vertices of the mesh
 * @param isColumnMajor The boolean indicating if vertices are input in column major
 * format
 * @return An void pointer to an instance of CollisionGeometry
 */
EXTERN_C COLLISIONCODEGEN_API void *makeMeshFull(ccd_real_t *vertices,
                                                 int *faces,
                                                 int numVertices,
                                                 int numFaces,
                                                 bool isColumnMajor);/**

 * @brief Check collision between @p obj1 and @p obj2 if they are not in collision, also computes
 * the minimal distance and witness points if requested.
 * @param[in] obj1 Pointer to @c CollisionGeometry object 1
 * @param[in] obj2 Pointer to @c CollisionGeometry object 2
 * @param[in] computeDistance An integer indicating whether to compute minimal distance when
 * checking collision. 1 - yes, 0 - no
 * @param[out] p1Vec Pointer to witness point on @p obj1
 * @param[out] p2Vec Pointer to witness point on @p obj2
 * @param[out] distance Minimal distance between @p obj1 and @p obj2, if they are not in collision
 * @return The minimal distance between @p obj1 and @p obj2
 */
EXTERN_C COLLISIONCODEGEN_API int intersect(const void *obj1,
                                            const void *obj2,
                                            int computeDistance,
                                            ccd_real_t *p1Vec,
                                            ccd_real_t *p2Vec,
                                            ccd_real_t &distance);

/**
 * @brief Updates the pose of the geometry with the given position and orientation
 * @param geom The collision geometry to be updated
 * @param position The new position of the collision geometry
 * @param orientation The new orientation of the collision geometry
 */
EXTERN_C COLLISIONCODEGEN_API void updatePose(void *geom,
                                              const ccd_real_t *position,
                                              const ccd_real_t *orientation);
} // namespace shared_robotics

#endif /* COLLISIONCODEGEN_CHECKCOLLISION_API_HPP */