using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using MathNet.Numerics.LinearAlgebra.Single;
using bbiwarg.InputProviders;
using bbiwarg.VideoHandles;
using bbiwarg.Helpers;

namespace bbiwarg.Detectors
{
    class PalmDetection
    {
        private IInputProvider input;
        private VideoHandle videoHandle;
        private ForeFingerDetection foreFingerDetection;

        public PalmDetection(IInputProvider input, VideoHandle videoHandle)
        {
            this.input = input;
            this.videoHandle = videoHandle;
            this.foreFingerDetection = new ForeFingerDetection(input, videoHandle);
        }

        public Palm getPalm(uint handIndex)
        {
            DenseVector palmMiddle = (DenseVector) input.getPalmPosition3D(handIndex);
            DenseVector tipPosition = (DenseVector)input.getTipPosition3D(handIndex);
            DenseVector palmNormal = (DenseVector)input.getPalmNormal3D(handIndex);
            //DenseVector thumbPosition = (DenseVector) input.getFingerTipPositions3D(handIndex)[0];

            //DenseVector palmToThumb_2 = (thumbPosition - palmMiddle) / 2.0f;
            DenseVector tipToForeFinger = tipPosition - palmMiddle;
            DenseVector palmToThumb_2 = (DenseVector) tipToForeFinger.Cross(palmNormal) / 3.0f;
           

            return new Palm(palmMiddle + palmToThumb_2 + tipToForeFinger,
                            palmMiddle - palmToThumb_2 + tipToForeFinger,
                            palmMiddle - palmToThumb_2 - tipToForeFinger / 2.0f,
                            palmMiddle + palmToThumb_2 - tipToForeFinger / 2.0f);
        }
    }
}