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/** @author Jia Pan */

#ifndef FCL_PENETRATIONDEPTHREQUEST_H
#define FCL_PENETRATIONDEPTHREQUEST_H

#include "fcl/common/types.h"
#include "fcl/narrowphase/gjk_solver.h"

namespace fcl
{

enum PenetrationDepthType {PDT_TRANSLATIONAL, PDT_GENERAL_EULER, PDT_GENERAL_QUAT, PDT_GENERAL_EULER_BALL, PDT_GENERAL_QUAT_BALL};

template <typename S>
struct PenetrationDepthRequest
{
  void* classifier;

  /// @brief PD algorithm type
  PenetrationDepthType pd_type;

  /// @brief gjk solver type
  GJKSolverType gjk_solver_type;

  Eigen::aligned_vector<Transform3<S>> contact_vectors;

  PenetrationDepthRequest(void* classifier_,
                          PenetrationDepthType pd_type_ = PDT_TRANSLATIONAL,
                          GJKSolverType gjk_solver_type_ = GST_LIBCCD);
};

//============================================================================//
//                                                                            //
//                              Implementations                               //
//                                                                            //
//============================================================================//

//==============================================================================
template <typename S>
PenetrationDepthRequest<S>::PenetrationDepthRequest(
    void* classifier_,
    PenetrationDepthType pd_type_,
    GJKSolverType gjk_solver_type_)
  : classifier(classifier_),
    pd_type(pd_type_),
    gjk_solver_type(gjk_solver_type_)
{
}

} // namespace fcl

#endif