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/* Author: Ioan Sucan */

#ifndef OMPL_EXTENSION_OPENDE_ENVIRONMENT_
#define OMPL_EXTENSION_OPENDE_ENVIRONMENT_

#include "ompl/config.h"
#if OMPL_EXTENSION_OPENDE == 0
#error OpenDE extension not built
#endif

#include "ompl/util/ClassForward.h"

#include <ode/ode.h>
#include <vector>
#include <string>
#include <map>
#include <mutex>

namespace ompl
{
    namespace control
    {
        /// @cond IGNORE
        /** \brief Forward declaration of ompl::control::OpenDEEnvironment */
        OMPL_CLASS_FORWARD(OpenDEEnvironment);
        /// @endcond

        /** \class ompl::control::OpenDEEnvironmentPtr
            \brief A shared pointer wrapper for ompl::control::OpenDEEnvironment */

        /** \brief This class contains the OpenDE constructs OMPL needs to know about when planning. */
        class OpenDEEnvironment
        {
        public:
            /** \brief The OpenDE world where the simulation is performed */
            dWorldID world_;

            /** \brief The set of spaces where contacts need to be evaluated before simulation takes place */
            std::vector<dSpaceID> collisionSpaces_;

            /** \brief The set of bodies that need to be considered
                part of the state when planning. This is not
                necessarily all the bodies in the environment.*/
            std::vector<dBodyID> stateBodies_;

            /** \brief Optional map of names given to geoms. This is useful when collision checking is verbose */
            std::map<dGeomID, std::string> geomNames_;

            /** \brief Issue debug messages when contacts are found. Default is false. This should only be used for
             * debugging */
            bool verboseContacts_;

            /** \brief The group of joints where contacts are created */
            dJointGroupID contactGroup_;

            /** \brief The maximum number of contacts to create between two bodies when a collision occurs */
            unsigned int maxContacts_;

            /** \brief The simulation step size */
            double stepSize_;

            /** \brief The maximum number of times a control is applies in sequence */
            unsigned int maxControlSteps_;

            /** \brief The minimum number of times a control is applies in sequence */
            unsigned int minControlSteps_;

            /** \brief Lock to use when performing simulations in the world. (OpenDE simulations are NOT thread safe) */
            mutable std::mutex mutex_;

            OpenDEEnvironment()
              : world_(nullptr)
              , verboseContacts_(false)
              , maxContacts_(3)
              , stepSize_(0.05)
              , maxControlSteps_(100)
              , minControlSteps_(5)
            {
                contactGroup_ = dJointGroupCreate(0);
            }

            virtual ~OpenDEEnvironment()
            {
                if (contactGroup_)
                    dJointGroupDestroy(contactGroup_);
            }

            /** \brief Number of parameters (double values) needed to specify a control input */
            virtual unsigned int getControlDimension() const = 0;

            /** \brief Get the control bounds -- the bounding box in which to sample controls */
            virtual void getControlBounds(std::vector<double> &lower, std::vector<double> &upper) const = 0;

            /** \brief Application of a control. This function sets
                the forces/torques/velocities for bodies in the
                simulation based on control inputs.*/
            virtual void applyControl(const double *control) const = 0;

            /** \brief Decide whether a collision is a valid one or
                not. In some cases, collisions between some bodies can
                be allowed. By default, this function always returns
                false, making all collisions invalid */
            virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const;

            /** \brief Get the maximum number of contacts to set up
                between two colliding geoms. By default, this just
                returns the member variable maxContacts */
            virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const;

            /** \brief Parameters to set when contacts are created between \e geom1 and \e geom2. */
            virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const;

            /** \brief Get the name of a body */
            std::string getGeomName(dGeomID geom) const;

            /** \brief Set the name of a body */
            void setGeomName(dGeomID geom, const std::string &name);
        };
    }
}

#endif
