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/** \author Jia Pan */

#ifndef COAL_DISTANCE_FUNC_MATRIX_H
#define COAL_DISTANCE_FUNC_MATRIX_H

#include "coal/collision_object.h"
#include "coal/collision_data.h"
#include "coal/narrowphase/narrowphase.h"

namespace coal {

/// @brief distance matrix stores the functions for distance between different
/// types of objects and provides a uniform call interface
struct COAL_DLLAPI DistanceFunctionMatrix {
  /// @brief the uniform call interface for distance: for distance, we need know
  /// 1. two objects o1 and o2 and their configuration in world coordinate tf1
  /// and tf2;
  /// 2. the solver for narrow phase collision, this is for distance computation
  /// between geometric shapes;
  /// 3. the request setting for distance (e.g., whether need to return nearest
  /// points);
  typedef Scalar (*DistanceFunc)(const CollisionGeometry* o1,
                                 const Transform3s& tf1,
                                 const CollisionGeometry* o2,
                                 const Transform3s& tf2,
                                 const GJKSolver* nsolver,
                                 const DistanceRequest& request,
                                 DistanceResult& result);

  /// @brief each item in the distance matrix is a function to handle distance
  /// between objects of type1 and type2
  DistanceFunc distance_matrix[NODE_COUNT][NODE_COUNT];

  DistanceFunctionMatrix();
};

}  // namespace coal

#endif
