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/** @author Jia Pan */

#ifndef FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_H
#define FCL_TRAVERSAL_BVHCOLLISIONTRAVERSALNODE_H

#include "fcl/geometry/bvh/BVH_model.h"
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"

namespace fcl
{

namespace detail
{

/// @brief Traversal node for collision between BVH models
template <typename BV>
class BVHCollisionTraversalNode
    : public CollisionTraversalNodeBase<typename BV::S>
{
public:

  using S = typename BV::S;

  BVHCollisionTraversalNode();

  /// @brief Whether the BV node in the first BVH tree is leaf
  bool isFirstNodeLeaf(int b) const;

  /// @brief Whether the BV node in the second BVH tree is leaf
  bool isSecondNodeLeaf(int b) const;

  /// @brief Determine the traversal order, is the first BVTT subtree better
  bool firstOverSecond(int b1, int b2) const;

  /// @brief Obtain the left child of BV node in the first BVH
  int getFirstLeftChild(int b) const;

  /// @brief Obtain the right child of BV node in the first BVH
  int getFirstRightChild(int b) const;

  /// @brief Obtain the left child of BV node in the second BVH
  int getSecondLeftChild(int b) const;

  /// @brief Obtain the right child of BV node in the second BVH
  int getSecondRightChild(int b) const;

  /// @brief BV culling test in one BVTT node
  bool BVTesting(int b1, int b2) const;
  
  /// @brief The first BVH model
  const BVHModel<BV>* model1;

  /// @brief The second BVH model
  const BVHModel<BV>* model2;

  /// @brief statistical information
  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable S query_time_seconds;
};

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node-inl.h"

#endif
