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 *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** @author Jia Pan */

#ifndef FCL_CONTACT_H
#define FCL_CONTACT_H

#include "fcl/narrowphase/collision_object.h"

namespace fcl
{

/// @brief Contact information returned by collision
template <typename S>
struct FCL_EXPORT Contact
{
  /// @brief collision object 1
  const CollisionGeometry<S>* o1;

  /// @brief collision object 2
  const CollisionGeometry<S>* o2;

  /// @brief contact primitive in object 1
  /// if object 1 is mesh or point cloud, it is the triangle or point id
  /// if object 1 is geometry shape, it is NONE (-1),
  /// if object 1 is octree, it is the id of the cell
  int b1;

  /// @brief contact primitive in object 2
  /// if object 2 is mesh or point cloud, it is the triangle or point id
  /// if object 2 is geometry shape, it is NONE (-1),
  /// if object 2 is octree, it is the id of the cell
  int b2;
 
  /// @brief contact normal, pointing from o1 to o2
  Vector3<S> normal;

  /// @brief contact position, in world space
  Vector3<S> pos;

  /// @brief penetration depth
  S penetration_depth;

 
  /// @brief invalid contact primitive information
  static const int NONE = -1;

  Contact();

  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_);

  Contact(const CollisionGeometry<S>* o1_, const CollisionGeometry<S>* o2_, int b1_, int b2_,
          const Vector3<S>& pos_, const Vector3<S>& normal_, S depth_);

  bool operator < (const Contact& other) const;
};

using Contactf = Contact<float>;
using Contactd = Contact<double>;

} // namespace fcl

#include "fcl/narrowphase/contact-inl.h"

#endif
