using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Drawing;

using bbiwarg.Utility;

using Emgu.CV;
using Emgu.CV.Structure;

namespace bbiwarg.Detectors.Palm
{
    class PalmRect
    {
        private Vector2D origin;
        private Matrix<float> transformationMatrix;
        bool valid = true;

        public PalmRect(Quad2D palmRect)
        {
            if (palmRect == null)
            {
                valid = false;
                return;
            }

            //TODO
            origin = palmRect.Origin;
            PointF v0 = palmRect.Origin + palmRect.DirWidth;
            PointF v2 = palmRect.Origin + palmRect.DirLength;

            Matrix<float> tmp = new Matrix<float>(new float[,] { { v0.X - origin.X, v2.X - origin.X }, { v0.Y - origin.Y, v2.Y - origin.Y } });
            transformationMatrix = new Matrix<float>(2, 2);
            CvInvoke.cvInvert(tmp.Ptr, transformationMatrix.Ptr, Emgu.CV.CvEnum.SOLVE_METHOD.CV_LU);
        }

        public bool isWithinMargin(Vector2D position)
        {
            if (!valid)
                return false;
            
            Vector2D relativePosition = getRelativePosition(position);
            return (relativePosition.X >= -0.1 && relativePosition.X <= 1.1 && relativePosition.Y >= -0.1 && relativePosition.Y <= 1.1);
        }
        public Vector2D getRelativePosition(Vector2D absolutePosition)
        {
            if (!valid)
                return null;
            
            Vector2D v = absolutePosition - origin;
            Matrix<float> coordsMatrix = transformationMatrix.Mul(new Matrix<float>(new float[,] { { v.X }, { v.Y } }));
            return new Vector2D(coordsMatrix.Data[0, 0], coordsMatrix.Data[1, 0]);
        }
    }
}