// Include own header
#include "MeshTools.hpp"

// Include modules
#include "MainWindow.hpp"

// Include dependencies
#include <math.h>
#include <osg/ComputeBoundsVisitor>

void MeshTools::calculateNormals(const std::vector<Lib3MF::sPosition> verticesBuffer, const std::vector<Lib3MF::sTriangle> triangleBuffer, osg::ref_ptr<osg::Vec3Array> vertices, osg::ref_ptr<osg::Vec3Array> normals) {
  for (const Lib3MF::sTriangle triangle: triangleBuffer) {
    // Create osg vectors
    osg::Vec3 vertex[3] = {};
    for (char i = 0; i < 3; i++) {
      vertex[i] = osg::Vec3(verticesBuffer[triangle.m_Indices[i]].m_Coordinates[0], verticesBuffer[triangle.m_Indices[i]].m_Coordinates[1], verticesBuffer[triangle.m_Indices[i]].m_Coordinates[2]);
    }
    // Calculate normal
    osg::Vec3 edgeOne = vertex[1].operator-(vertex[0]);
    osg::Vec3 edgeTwo = vertex[2].operator-(vertex[0]);
    osg::Vec3 normal = edgeOne.operator^(edgeTwo);
    normal.normalize();
    // Store them
    for (int i = 0; i < 3; i++) {
      vertices->push_back(vertex[i]);
      normals->push_back(normal);
    }
  }
}

float MeshTools::angleBetween(osg::Vec3 a, osg::Vec3 b) {
  float normA = a.length();
  float normB = b.length();
  float dotProduct = a.operator*(b);
  return acos(dotProduct / (normA * normB));
}

float MeshTools::compensationLength(osg::Vec3 a, osg::Vec3 b, float length) {
  osg::Matrix modifierRotation = osg::Matrix::rotate(b.x() * M_PI / 180, osg::Vec3(1.0f, 0.0f, 0.0f), b.y() * M_PI / 180, osg::Vec3(0.0f, 1.0f, 0.0f), b.z() * M_PI / 180, osg::Vec3(0.0f, 0.0f, 1.0f));
  osg::Vec3 newNormal = modifierRotation.preMult(a);
  newNormal.normalize();
  float angle = MeshTools::angleBetween(a, newNormal);
  return isnan(tan(angle) * length) ? 0.0f : tan(angle) * length;
}

bool MeshTools::optiTrackSanityCheck(const std::vector<OptiTrackPoint*> points, const bool showSuccessMessage) {
  if (!MainWindow::getInstance()->getEditWiget()->getOptiTrackSanityCheckStatus()) {
    return false;
  }
  // Check for three on a line
  bool foundLineProblem = false;
  if (points.size() >= 3) {
    for (int i = 0; i < (points.size() - 1); i++) {
      for (int j = i + 1; j < points.size(); j++) {
        for (int k = 0; k < points.size(); k++) {
          if (k != i && k != j) {
            osg::Vec3 a = points[i]->getTrackPoint();
            osg::Vec3 b = points[j]->getTrackPoint().operator-(a);
            osg::Vec3 point = points[k]->getTrackPoint();
            osg::Vec3 pMinusA = point.operator-(a);
            osg::Vec3 crossProduct = pMinusA.operator^(b);
            float distance = crossProduct.length() / b.length();
            if (distance < OPTITRACK_SANITY_DISTANCE_THRESHOLD) {
              foundLineProblem = true;
            }
          }
        }
      }
    }
  }
  // Check for four on a plane
  bool foundPlaneProblem = false;
  if (points.size() >= 4) {
    for (int i = 0; i < (points.size() - 2); i++) {
      for (int j = i + 1; j < (points.size() - 1); j++) {
        for (int k = j + 1; k < points.size(); k++) {
          for (int l = 0; l < points.size(); l++) {
            if (l != i && l != j && l != k) {
              osg::Vec3 a = points[i]->getTrackPoint();
              osg::Vec3 b = points[j]->getTrackPoint();
              osg::Vec3 c = points[k]->getTrackPoint();
              osg::Vec3 point = points[l]->getTrackPoint();
              osg::Plane* plane = new osg::Plane(a, b, c);
              float distance = std::abs(plane->distance(point));
              delete plane;
              if (distance < OPTITRACK_SANITY_DISTANCE_THRESHOLD) {
                foundPlaneProblem = true;
              }
            }
          }
        }
      }
    }
  }
  if (foundLineProblem) {
    MainWindow::getInstance()->showOptiTrackSanityLineError();
  }
  if (foundPlaneProblem) {
    MainWindow::getInstance()->showOptiTrackSanityPlaneError();
  }
  if (!foundLineProblem && !foundPlaneProblem && showSuccessMessage) {
    MainWindow::getInstance()->showOptiTrackSanitySuccess();
  }
  return foundLineProblem || foundPlaneProblem;
}

bool MeshTools::steamVrTrackCollisionCheck(std::vector<SteamVRTrackPoint*> points, const bool showSuccessMessage, osg::ref_ptr<osg::Group> verifyGroup) {
  if (!MainWindow::getInstance()->getEditWiget()->getSteamVRTrackCollisionCheckStatus()) {
    return false;
  }
  MainWindow::getInstance()->getOsgWidget()->loadSteamvrCollision();
  bool foundProblem = false;
  for (SteamVRTrackPoint* point: points) {
    osg::ref_ptr<osg::MatrixTransform> move = new osg::MatrixTransform;
    osg::Vec3f movementVector = osg::Vec3f(0.0f, 0.0f, 1.0f).operator*(point->getLength());
    move->setMatrix(osg::Matrix::translate(movementVector));

    osg::ref_ptr<osg::MatrixTransform> rotate = new osg::MatrixTransform;
    rotate->addChild(move.get());
    osg::Vec3f normalModifier = point->getNormalModifier();
    osg::Vec3f normal = point->getNormal();
    float normalRotation = point->getNormalRotation();
    osg::Matrix modifierRotation = osg::Matrix::rotate(normalModifier.x() * M_PI / 180, osg::Vec3(1.0f, 0.0f, 0.0f), normalModifier.y() * M_PI / 180, osg::Vec3(0.0f, 1.0f, 0.0f), normalModifier.z() * M_PI / 180, osg::Vec3(0.0f, 0.0f, 1.0f));
    normal = modifierRotation.preMult(normal);
    normal.normalize();
    osg::Matrix matrix = osg::Matrix::rotate(osg::Vec3f(0.0f, 0.0f, 1.0f), normal);
    matrix = matrix.operator*(osg::Matrix::rotate(normalRotation * M_PI / 180, normal));
    rotate->setMatrix(matrix);

    osg::ref_ptr<osg::MatrixTransform> translate = new osg::MatrixTransform;
    translate->addChild(rotate.get());
    translate->setMatrix(osg::Matrix::translate(point->getTranslation()));
    verifyGroup->addChild(translate.get());

    osg::ref_ptr<osg::Geode> tracker = new osg::Geode;
    tracker->addDrawable(MainWindow::getInstance()->getOsgWidget()->_steamvrTrackerMesh.get());
    move->addChild(tracker.get());

    osg::ComputeBoundsVisitor computeBoundsVisitor;
    verifyGroup->accept(computeBoundsVisitor);
    osg::BoundingBox trackerBox = computeBoundsVisitor.getBoundingBox();

    if (trackerBox.intersects(MainWindow::getInstance()->getOsgWidget()->getMesh()->getBoundingBox())) {
      foundProblem = true;
    }

    verifyGroup->removeChild(translate.get());
  }
  if (foundProblem) {
    MainWindow::getInstance()->showSteamVRTrackCollisionCheckError();
  }
  if (!foundProblem && showSuccessMessage) {
    MainWindow::getInstance()->showSteamVRTrackCollisionCheckSuccess();
  }
  return foundProblem;
}