#include "MinitaurSetup.h"
#include "b3RobotSimulatorClientAPI_NoGUI.h"

#include "Bullet3Common/b3HashMap.h"

struct MinitaurSetupInternalData
{
	int m_quadrupedUniqueId;

	MinitaurSetupInternalData()
		:m_quadrupedUniqueId(-1)
	{
	}

	b3HashMap<b3HashString, int> m_jointNameToId;

};


MinitaurSetup::MinitaurSetup()
{
	m_data = new MinitaurSetupInternalData();
}

MinitaurSetup::~MinitaurSetup()
{
	delete m_data;
}

void MinitaurSetup::setDesiredMotorAngle(class b3RobotSimulatorClientAPI_NoGUI* sim, const char* motorName, double desiredAngle, double maxTorque, double kp, double kd)
{
	b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
	controlArgs.m_maxTorqueValue = maxTorque;
	controlArgs.m_kd = kd;
	controlArgs.m_kp = kp;
	controlArgs.m_targetPosition = desiredAngle;
	sim->setJointMotorControl(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorName],controlArgs);
}

//pick exactly 1 configuration of the following
#define MINITAUR_RAINBOWDASH_V1
//#define MINITAUR_RAINBOWDASH_V0
//#define MINITAUR_V0



#if defined(MINITAUR_RAINBOWDASH_V1)
#define MINITAUR_HAS_DEFORMABLE_BRACKETS
static const char* minitaurURDF="quadruped/minitaur_rainbow_dash_v1.urdf";

	static const char* kneeNames[]={
		"knee_front_leftL_joint",//1
		"knee_front_leftR_joint",//3
		"knee_back_leftL_joint",//5
		"knee_back_leftR_joint",//7
		"knee_front_rightL_joint",//9
		"knee_back_rightL_joint",//10
		"knee_back_rightR_joint",//13
		"knee_front_rightR_joint",//15
	};

	static const char* motorNames[]={
		"motor_front_leftL_joint",//0
		"knee_front_leftL_joint",//1
		"motor_front_leftR_joint",//2
		"knee_front_leftR_joint",//3
		"motor_back_leftL_joint",//4
		"knee_back_leftL_joint",//5
		"motor_back_leftR_joint",//6
		"knee_back_leftR_joint",//7
		"motor_front_rightL_joint",//8
		"knee_front_rightL_joint",//9
		"knee_back_rightL_joint",//10
		"motor_back_rightL_joint",//11
		"motor_back_rightR_joint",//12
		"knee_back_rightR_joint",//13
		"motor_front_rightR_joint",//14
		"knee_front_rightR_joint",//15
	};

	static const char* bracketNames[] = {
		"motor_front_rightR_bracket_joint",
		"motor_front_leftL_bracket_joint",
		"motor_back_rightR_bracket_joint",
		"motor_back_leftL_bracket_joint",
	};

	static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
	static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
#elif defined(MINITAUR_RAINBOWDASH_V0)
	static const char* minitaurURDF="quadruped/minitaur_rainbow_dash.urdf";

	static const char* kneeNames[]={
		"knee_front_leftL_joint",//1
		"knee_front_leftR_joint",//3
		"knee_back_leftL_joint",//5
		"knee_back_leftR_joint",//7
		"knee_front_rightL_joint",//9
		"knee_back_rightL_joint",//10
		"knee_back_rightR_joint",//13
		"knee_front_rightR_joint",//15
	};

	static const char* motorNames[]={
		"motor_front_leftL_joint",//0
		"knee_front_leftL_joint",//1
		"motor_front_leftR_joint",//2
		"knee_front_leftR_joint",//3
		"motor_back_leftL_joint",//4
		"knee_back_leftL_joint",//5
		"motor_back_leftR_joint",//6
		"knee_back_leftR_joint",//7
		"motor_front_rightL_joint",//8
		"knee_front_rightL_joint",//9
		"knee_back_rightL_joint",//10
		"motor_back_rightL_joint",//11
		"motor_back_rightR_joint",//12
		"knee_back_rightR_joint",//13
		"motor_front_rightR_joint",//14
		"knee_front_rightR_joint",//15
	};
	static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.0045, 0.088);
	static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.0045, 0.100);
#elif defined(MINITAUR_V0)
	static const char* minitaurURDF="quadruped/minitaur.urdf";

	static const char* kneeNames[]={
		"knee_front_leftL_link",
		"knee_front_leftR_link",
		"knee_back_leftL_link",
		"knee_back_leftR_link",
		"knee_front_rightL_link",
		"knee_back_rightL_link",
		"knee_back_rightR_link",
		"knee_front_rightR_link",
	};

	static const char* motorNames[]={
		"motor_front_leftL_joint",
		"knee_front_leftL_link",
		"motor_front_leftR_joint",
		"knee_front_leftR_link",
		"motor_back_leftL_joint",
		"knee_back_leftL_link",
		"motor_back_leftR_joint",
		"knee_back_leftR_link",
		"motor_front_rightL_joint",
		"knee_front_rightL_link",
		"knee_back_rightL_link",
		"motor_back_rightL_joint",
		"motor_back_rightR_joint",
		"knee_back_rightR_link",
		"motor_front_rightR_joint",
		"knee_front_rightR_link",
	};
	static btVector3 KNEE_CONSTRAINT_POINT_LONG = btVector3(0, 0.005, 0.2);
	static btVector3 KNEE_CONSTRAINT_POINT_SHORT= btVector3(0, 0.01, 0.2);
#endif


void MinitaurSetup::resetPose(class b3RobotSimulatorClientAPI_NoGUI* sim)
{
	//release all motors
	int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
	for (int i=0;i<numJoints;i++)
	{
		b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
		controlArgs.m_maxTorqueValue = 0;
		sim->setJointMotorControl(m_data->m_quadrupedUniqueId,i,controlArgs);
	}

	b3Scalar startAngle = B3_HALF_PI;
	b3Scalar upperLegLength = 11.5;
	b3Scalar lowerLegLength = 20;
	b3Scalar kneeAngle = B3_PI+b3Acos(upperLegLength/lowerLegLength);
		
	b3Scalar motorDirs[8] = {-1,-1,-1,-1,1,1,1,1};
	b3JointInfo jointInfo;
	jointInfo.m_jointType = ePoint2PointType;
		//left front leg
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[0]],motorDirs[0] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[0]],motorDirs[0]*kneeAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[2]],motorDirs[1] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[1]],motorDirs[1]*kneeAngle);

	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];

	//jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
	//jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[1]],
		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[0]],&jointInfo);
	setDesiredMotorAngle(sim,motorNames[0], motorDirs[0] * startAngle);
	setDesiredMotorAngle(sim,motorNames[2], motorDirs[1] * startAngle);
	
	//left back leg
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[4]],motorDirs[2] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[2]],motorDirs[2] * kneeAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[6]],motorDirs[3] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[3]],motorDirs[3] * kneeAngle);
	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];

	//jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
	//jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[3]],
		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[2]],&jointInfo);
	setDesiredMotorAngle(sim,motorNames[4], motorDirs[2] * startAngle);
	setDesiredMotorAngle(sim,motorNames[6], motorDirs[3] * startAngle);


	//right front leg
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[8]],motorDirs[4] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[4]],motorDirs[4] * kneeAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[14]],motorDirs[5]*startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[7]],motorDirs[5] * kneeAngle);

	
	
	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[7]],
		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[4]],&jointInfo);
	setDesiredMotorAngle(sim,motorNames[8],motorDirs[4] * startAngle);
	setDesiredMotorAngle(sim,motorNames[14],motorDirs[5] * startAngle);


	//right back leg
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[11]],motorDirs[6] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[5]],motorDirs[6] * kneeAngle);
  	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[motorNames[12]],motorDirs[7] * startAngle);
	sim->resetJointState(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[6]],motorDirs[7] * kneeAngle);

	jointInfo.m_parentFrame[0] = KNEE_CONSTRAINT_POINT_LONG[0];	jointInfo.m_parentFrame[1] = KNEE_CONSTRAINT_POINT_LONG[1];	jointInfo.m_parentFrame[2] = KNEE_CONSTRAINT_POINT_LONG[2];
	jointInfo.m_childFrame[0] = KNEE_CONSTRAINT_POINT_SHORT[0];	jointInfo.m_childFrame[1] = KNEE_CONSTRAINT_POINT_SHORT[1];	jointInfo.m_childFrame[2] = KNEE_CONSTRAINT_POINT_SHORT[2];
	sim->createConstraint(m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[6]],
		m_data->m_quadrupedUniqueId,*m_data->m_jointNameToId[kneeNames[5]],&jointInfo);
	setDesiredMotorAngle(sim,motorNames[11], motorDirs[6] * startAngle);
	setDesiredMotorAngle(sim,motorNames[12], motorDirs[7] * startAngle);

#ifdef MINITAUR_HAS_DEFORMABLE_BRACKETS
	b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
	controlArgs.m_maxTorqueValue = 6;
	controlArgs.m_kd = 1;
	controlArgs.m_kp = 0;
	controlArgs.m_targetPosition = 0;
	for (int i=0;i<4;i++)
	{
		const char* bracketName = bracketNames[i];
		int* bracketId =m_data->m_jointNameToId[bracketName];
		sim->setJointMotorControl(m_data->m_quadrupedUniqueId,*bracketId,controlArgs);
	}

#endif

}

int MinitaurSetup::setupMinitaur(class b3RobotSimulatorClientAPI_NoGUI* sim, const btVector3& startPos, const btQuaternion& startOrn)
{
	
	b3RobotSimulatorLoadUrdfFileArgs args;
	args.m_startPosition = startPos;
	args.m_startOrientation = startOrn;

	m_data->m_quadrupedUniqueId = sim->loadURDF(minitaurURDF,args);
	
	int numJoints = sim->getNumJoints(m_data->m_quadrupedUniqueId);
	for (int i=0;i<numJoints;i++)
	{
		b3JointInfo jointInfo;
		sim->getJointInfo(m_data->m_quadrupedUniqueId,i,&jointInfo);
		if (jointInfo.m_jointName[0])
		{
			m_data->m_jointNameToId.insert(jointInfo.m_jointName,i);
		}
	}

	resetPose(sim);

	return m_data->m_quadrupedUniqueId;
}