/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
  #include <Winsock2.h>
#endif

#include "gazebo/math/Vector3.hh"
#include "gazebo/physics/BoxShape.hh"

using namespace gazebo;
using namespace physics;

//////////////////////////////////////////////////
BoxShape::BoxShape(CollisionPtr _parent) : Shape(_parent)
{
  this->AddType(Base::BOX_SHAPE);
}

//////////////////////////////////////////////////
BoxShape::~BoxShape()
{
}

//////////////////////////////////////////////////
void BoxShape::Init()
{
  this->SetSize(this->sdf->Get<math::Vector3>("size"));
}

//////////////////////////////////////////////////
void BoxShape::SetSize(const math::Vector3 &_size)
{
  this->sdf->GetElement("size")->Set(_size);
}

//////////////////////////////////////////////////
math::Vector3 BoxShape::GetSize() const
{
  return this->sdf->Get<math::Vector3>("size");
}

//////////////////////////////////////////////////
void BoxShape::SetScale(const math::Vector3 &_scale)
{
  if (_scale.x < 0 || _scale.y < 0 || _scale.z < 0)
    return;

  if (_scale == this->scale)
    return;

  this->SetSize((_scale/this->scale)*this->GetSize());

  this->scale = _scale;
}

//////////////////////////////////////////////////
void BoxShape::FillMsg(msgs::Geometry &_msg)
{
  _msg.set_type(msgs::Geometry::BOX);
  msgs::Set(_msg.mutable_box()->mutable_size(), this->GetSize().Ign());
}

//////////////////////////////////////////////////
void BoxShape::ProcessMsg(const msgs::Geometry &_msg)
{
  this->SetSize(msgs::ConvertIgn(_msg.box().size()));
}

//////////////////////////////////////////////////
double BoxShape::ComputeVolume() const
{
  math::Vector3 size = this->GetSize();
  return size.x * size.y * size.z;
}