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/** @author Jia Pan */

#ifndef FCL_SHAPE_SPHERE_H
#define FCL_SHAPE_SPHERE_H

#include "fcl/geometry/shape/shape_base.h"

#include <iostream>

namespace fcl
{

/// @brief Center at zero point sphere
template <typename S_>
class FCL_EXPORT Sphere : public ShapeBase<S_>
{
public:

  using S = S_;

  Sphere(S radius);

  /// @brief Radius of the sphere
  S radius;

  /// @brief Compute AABB<S>
  void computeLocalAABB() override;

  /// @brief Get node type: a sphere
  NODE_TYPE getNodeType() const override;

  Matrix3<S> computeMomentofInertia() const override;

  S computeVolume() const override;

  /// @brief get the vertices of some convex shape which can bound this shape in
  /// a specific configuration
  std::vector<Vector3<S>> getBoundVertices(const Transform3<S>& tf) const;

  friend
  std::ostream& operator<<(std::ostream& out, const Sphere& sphere) {
    out << "Sphere(" << sphere.radius << ")";
    return out;
  }
};

using Spheref = Sphere<float>;
using Sphered = Sphere<double>;

} // namespace fcl

#include "fcl/geometry/shape/sphere-inl.h"

#endif
