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/** @author Jia Pan */

#ifndef FCL_COSTSOURCE_H
#define FCL_COSTSOURCE_H

#include "fcl/common/types.h"
#include "fcl/math/bv/AABB.h"

namespace fcl
{

/// @brief Cost source describes an area with a cost. The area is described by an AABB<S> region.
template <typename S>
struct CostSource
{
  /// @brief aabb lower bound
  Vector3<S> aabb_min;

  /// @brief aabb upper bound
  Vector3<S> aabb_max;

  /// @brief cost density in the AABB<S> region
  S cost_density;

  S total_cost;

  CostSource(const Vector3<S>& aabb_min_, const Vector3<S>& aabb_max_, S cost_density_);

  CostSource(const AABB<S>& aabb, S cost_density_);

  CostSource();

  bool operator < (const CostSource& other) const;
};

using CostSourcef = CostSource<float>;
using CostSourced = CostSource<double>;

} // namespace fcl

#include "fcl/narrowphase/cost_source-inl.h"

#endif
