/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

	  http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

   =========================================================================*/

#include "imstkSphereToCylinderCD.h"
#include "imstkCollisionData.h"
#include "imstkCollisionUtils.h"
#include "imstkCylinder.h"
#include "imstkSphere.h"

namespace imstk
{
SphereToCylinderCD::SphereToCylinderCD()
{
    setRequiredInputType<Sphere>(0);
    setRequiredInputType<Cylinder>(1);
}

void
SphereToCylinderCD::computeCollisionDataAB(
    std::shared_ptr<Geometry>          geomA,
    std::shared_ptr<Geometry>          geomB,
    CDElementVector<CollisionElement>& elementsA,
    CDElementVector<CollisionElement>& elementsB)
{
    std::shared_ptr<Sphere>   sphere   = std::dynamic_pointer_cast<Sphere>(geomA);
    std::shared_ptr<Cylinder> cylinder = std::dynamic_pointer_cast<Cylinder>(geomB);

    // Get geometry properties
    const Vec3d  spherePos = sphere->getPosition();
    const double rSphere   = sphere->getRadius();

    const Vec3d  cylinderPos  = cylinder->getPosition();
    const Vec3d  cylinderAxis = cylinder->getOrientation().toRotationMatrix().col(1);
    const double rCylinder    = cylinder->getRadius();
    const double cylLength    = cylinder->getLength();

    Vec3d  sphereContactPt, cylinderContactPt;
    Vec3d  sphereContactNormal, cylinderContactNormal;
    double depth;
    if (CollisionUtils::testSphereToCylinder(
                spherePos, rSphere,
                cylinderPos, cylinderAxis, rCylinder, cylLength,
                sphereContactPt, sphereContactNormal,
                cylinderContactPt, cylinderContactNormal,
                depth))
    {
        PointDirectionElement elemA;
        elemA.dir = sphereContactNormal;         // Direction to resolve sphere
        elemA.pt  = sphereContactPt;
        elemA.penetrationDepth = depth;

        PointDirectionElement elemB;
        elemB.dir = cylinderContactNormal;         // Direction to resolve cylinder
        elemB.pt  = cylinderContactPt;
        elemB.penetrationDepth = depth;

        elementsA.unsafeAppend(elemA);
        elementsB.unsafeAppend(elemB);
    }
}

void
SphereToCylinderCD::computeCollisionDataA(
    std::shared_ptr<Geometry>          geomA,
    std::shared_ptr<Geometry>          geomB,
    CDElementVector<CollisionElement>& elementsA)
{
    std::shared_ptr<Sphere>   sphere   = std::dynamic_pointer_cast<Sphere>(geomA);
    std::shared_ptr<Cylinder> cylinder = std::dynamic_pointer_cast<Cylinder>(geomB);

    // Get geometry properties
    const Vec3d  spherePos = sphere->getPosition();
    const double rSphere   = sphere->getRadius();

    const Vec3d  cylinderPos  = cylinder->getPosition();
    const Vec3d  cylinderAxis = cylinder->getOrientation().toRotationMatrix().col(1);
    const double rCylinder    = cylinder->getRadius();
    const double cylLength    = cylinder->getLength();

    Vec3d  sphereContactPt, cylinderContactPt;
    Vec3d  sphereContactNormal, cylinderContactNormal;
    double depth;
    if (CollisionUtils::testSphereToCylinder(
                spherePos, rSphere,
                cylinderPos, cylinderAxis, rCylinder, cylLength,
                sphereContactPt, sphereContactNormal,
                cylinderContactPt, cylinderContactNormal,
                depth))
    {
        PointDirectionElement elemA;
        elemA.dir = sphereContactNormal;         // Direction to resolve sphere
        elemA.pt  = sphereContactPt;
        elemA.penetrationDepth = depth;

        elementsA.unsafeAppend(elemA);
    }
}

void
SphereToCylinderCD::computeCollisionDataB(
    std::shared_ptr<Geometry>          geomA,
    std::shared_ptr<Geometry>          geomB,
    CDElementVector<CollisionElement>& elementsB)
{
    std::shared_ptr<Sphere>   sphere   = std::dynamic_pointer_cast<Sphere>(geomA);
    std::shared_ptr<Cylinder> cylinder = std::dynamic_pointer_cast<Cylinder>(geomB);

    // Get geometry properties
    const Vec3d  spherePos = sphere->getPosition();
    const double rSphere   = sphere->getRadius();

    const Vec3d  cylinderPos  = cylinder->getPosition();
    const Vec3d  cylinderAxis = cylinder->getOrientation().toRotationMatrix().col(1);
    const double rCylinder    = cylinder->getRadius();
    const double cylLength    = cylinder->getLength();

    Vec3d  sphereContactPt, cylinderContactPt;
    Vec3d  sphereContactNormal, cylinderContactNormal;
    double depth;
    if (CollisionUtils::testSphereToCylinder(
                spherePos, rSphere,
                cylinderPos, cylinderAxis, rCylinder, cylLength,
                sphereContactPt, sphereContactNormal,
                cylinderContactPt, cylinderContactNormal,
                depth))
    {
        PointDirectionElement elemB;
        elemB.dir = cylinderContactNormal;         // Direction to resolve cylinder
        elemB.pt  = cylinderContactPt;
        elemB.penetrationDepth = depth;

        elementsB.unsafeAppend(elemB);
    }
}
}