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/** \author Florent Lamiraux */

#include "coal/math/transform.h"
#include "coal/shape/geometric_shapes.h"

#include "coal/internal/shape_shape_func.h"
#include "../narrowphase/details.h"

#include "coal/tracy.hh"

namespace coal {
struct GJKSolver;

namespace internal {
template <>
Scalar ShapeShapeDistance<Cone, Halfspace>(
    const CollisionGeometry* o1, const Transform3s& tf1,
    const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*,
    const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {
  COAL_TRACY_ZONE_SCOPED_N(
      "coal::internal::ShapeShapeDistance<Cone, Halfspace>");
  const Cone& s1 = static_cast<const Cone&>(*o1);
  const Halfspace& s2 = static_cast<const Halfspace&>(*o2);
  const Scalar distance =
      details::halfspaceDistance(s2, tf2, s1, tf1, p2, p1, normal);
  normal = -normal;
  return distance;
}

template <>
Scalar ShapeShapeDistance<Halfspace, Cone>(
    const CollisionGeometry* o1, const Transform3s& tf1,
    const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*,
    const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {
  COAL_TRACY_ZONE_SCOPED_N(
      "coal::internal::ShapeShapeDistance<Halfspace, Cone>");
  const Halfspace& s1 = static_cast<const Halfspace&>(*o1);
  const Cone& s2 = static_cast<const Cone&>(*o2);
  return details::halfspaceDistance(s1, tf1, s2, tf2, p1, p2, normal);
}
}  // namespace internal

}  // namespace coal
