#include "ImportURDFSetup.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
//#define TEST_MULTIBODY_SERIALIZATION 1

#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "Bullet3Common/b3FileUtils.h"

#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../../Utils/b3ResourcePath.h"


#include "BulletUrdfImporter.h"


#include "URDF2Bullet.h"


//#include "urdf_samples.h"





#include "../CommonInterfaces/CommonMultiBodyBase.h"

#include "MyMultiBodyCreator.h"


class ImportUrdfSetup : public CommonMultiBodyBase
{
    char m_fileName[1024];

    struct ImportUrdfInternalData* m_data;
	bool m_useMultiBody;
	btAlignedObjectArray<std::string* > m_nameMemory;
	btScalar m_grav;
	int m_upAxis;
public:
    ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
    virtual ~ImportUrdfSetup();

	virtual void initPhysics();
	virtual void stepSimulation(float deltaTime);

    void setFileName(const char* urdfFileName);

	virtual void resetCamera()
	{
		float dist = 3.5;
		float pitch = -136;
		float yaw = 28;
		float targetPos[3]={0.47,0,-0.64};
		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
	}
};


btAlignedObjectArray<std::string> gFileNameArray;


#define MAX_NUM_MOTORS 1024

struct ImportUrdfInternalData
{
    ImportUrdfInternalData()
    :m_numMotors(0),
    m_mb(0)
    {
		for (int i=0;i<MAX_NUM_MOTORS;i++)
		{
			m_jointMotors[i] = 0;
			m_generic6DofJointMotors[i] = 0;
		}
    }

    
    btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
    btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
	btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
    int m_numMotors;
    btMultiBody* m_mb;
    btRigidBody* m_rb;

};


ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
	:CommonMultiBodyBase(helper),
	m_grav(-10),
	m_upAxis(2)
{
	m_data = new ImportUrdfInternalData;

	if (option==1)
	{
		m_useMultiBody = true;
	} else
	{
		m_useMultiBody = false;
	}

	static int count = 0;
	if (fileName)
	{
		setFileName(fileName);
	} else
	{
		gFileNameArray.clear();
		


		//load additional urdf file names from file

		FILE* f = fopen("urdf_files.txt","r");
		if (f)
		{
			int result;
			//warning: we don't avoid string buffer overflow in this basic example in fscanf
			char fileName[1024];
			do
			{
				result = fscanf(f,"%s",fileName);
                b3Printf("urdf_files.txt entry %s",fileName);
				if (result==1)
				{
					gFileNameArray.push_back(fileName);
				}
			} while (result==1);

			fclose(f);
		}
		
		if (gFileNameArray.size()==0)
		{
			gFileNameArray.push_back("r2d2.urdf");

		}

		int numFileNames = gFileNameArray.size();

		if (count>=numFileNames)
		{
			count=0;
		}
		sprintf(m_fileName,"%s",gFileNameArray[count++].c_str());
	}
}

ImportUrdfSetup::~ImportUrdfSetup()
{
	for (int i=0;i<m_nameMemory.size();i++)
	{
		delete m_nameMemory[i];
	}
	m_nameMemory.clear();
    delete m_data;
}

static btVector4 colors[4] =
{
	btVector4(1,0,0,1),
	btVector4(0,1,0,1),
	btVector4(0,1,1,1),
	btVector4(1,1,0,1),
};


static btVector3 selectColor()
{

	static int curColor = 0;
	btVector4 color = colors[curColor];
	curColor++;
	curColor&=3;
	return color;
}

void ImportUrdfSetup::setFileName(const char* urdfFileName)
{
    memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
}




void ImportUrdfSetup::initPhysics()
{

	
	m_guiHelper->setUpAxis(m_upAxis);
	
	this->createEmptyDynamicsWorld();
	//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
    m_dynamicsWorld->getDebugDrawer()->setDebugMode(
    btIDebugDraw::DBG_DrawConstraints
    +btIDebugDraw::DBG_DrawContactPoints
    +btIDebugDraw::DBG_DrawAabb
        );//+btIDebugDraw::DBG_DrawConstraintLimits);


	if (m_guiHelper->getParameterInterface())
	{
		SliderParams slider("Gravity", &m_grav);
		slider.m_minVal = -10;
		slider.m_maxVal = 10;
		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
	}
	

	BulletURDFImporter u2b(m_guiHelper, 0);
	
	
	bool loadOk = u2b.loadURDF(m_fileName);

#ifdef TEST_MULTIBODY_SERIALIZATION	
	//test to serialize a multibody to disk or shared memory, with base, link and joint names
	btSerializer* s = new btDefaultSerializer;
#endif //TEST_MULTIBODY_SERIALIZATION

	if (loadOk)
	{
		//printTree(u2b,u2b.getRootLinkIndex());

		//u2b.printTree();

		btTransform identityTrans;
		identityTrans.setIdentity();


		{




			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
			int rootLinkIndex = u2b.getRootLinkIndex();
			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
			MyMultiBodyCreator creation(m_guiHelper);

			ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
			m_data->m_rb = creation.getRigidBody();
			m_data->m_mb = creation.getBulletMultiBody();
			btMultiBody* mb = m_data->m_mb;
			for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
			{
				m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
			}

			if (m_useMultiBody && mb )
			{
				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
				m_nameMemory.push_back(name);
#ifdef TEST_MULTIBODY_SERIALIZATION
				s->registerNameForPointer(name->c_str(),name->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
				mb->setBaseName(name->c_str());
				//create motors for each btMultiBody joint
				int numLinks = mb->getNumLinks();
				for (int i=0;i<numLinks;i++)
				{
					int mbLinkIndex = i;
					int urdfLinkIndex = creation.m_mb2urdfLink[mbLinkIndex];

					std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex));
					std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
#ifdef TEST_MULTIBODY_SERIALIZATION					
					s->registerNameForPointer(jointName->c_str(),jointName->c_str());
					s->registerNameForPointer(linkName->c_str(),linkName->c_str());
#endif//TEST_MULTIBODY_SERIALIZATION
					m_nameMemory.push_back(jointName);
					m_nameMemory.push_back(linkName);

					mb->getLink(i).m_linkName = linkName->c_str();
					mb->getLink(i).m_jointName = jointName->c_str();
							
					if (mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::eRevolute
					    ||mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::ePrismatic
					)
					{
						if (m_data->m_numMotors<MAX_NUM_MOTORS)
						{
							
							char motorName[1024];
							sprintf(motorName,"%s q'", jointName->c_str());
							btScalar* motorVel = &m_data->m_motorTargetVelocities[m_data->m_numMotors];
							*motorVel = 0.f;
							SliderParams slider(motorName,motorVel);
							slider.m_minVal=-4;
							slider.m_maxVal=4;
							m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
							float maxMotorImpulse = 10.1f;
							btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,0,0,maxMotorImpulse);
							//motor->setMaxAppliedImpulse(0);
							m_data->m_jointMotors[m_data->m_numMotors]=motor;
							m_dynamicsWorld->addMultiBodyConstraint(motor);
							m_data->m_numMotors++;
						}
					}

				}
			} else
			{
				if (1)
				{
					//create motors for each generic joint
					int num6Dof = creation.getNum6DofConstraints();
					for (int i=0;i<num6Dof;i++)
					{
						btGeneric6DofSpring2Constraint* c = creation.get6DofConstraint(i);
						if (c->getUserConstraintPtr())
						{
							GenericConstraintUserInfo* jointInfo = (GenericConstraintUserInfo*)c->getUserConstraintPtr();
							if ((jointInfo->m_urdfJointType ==URDFRevoluteJoint) || 
								(jointInfo->m_urdfJointType ==URDFPrismaticJoint) ||
								(jointInfo->m_urdfJointType ==URDFContinuousJoint))
							{
								int urdfLinkIndex = jointInfo->m_urdfIndex;
								std::string jointName = u2b.getJointName(urdfLinkIndex);
								char motorName[1024];
								sprintf(motorName,"%s q'", jointName.c_str());
								btScalar* motorVel = &m_data->m_motorTargetVelocities[m_data->m_numMotors];

								*motorVel = 0.f;
								SliderParams slider(motorName,motorVel);
								slider.m_minVal=-4;
								slider.m_maxVal=4;
								m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
								m_data->m_generic6DofJointMotors[m_data->m_numMotors]=c;
								bool motorOn = true;
								c->enableMotor(jointInfo->m_jointAxisIndex,motorOn);
								c->setMaxMotorForce(jointInfo->m_jointAxisIndex,10000);
								c->setTargetVelocity(jointInfo->m_jointAxisIndex,0);
								
								m_data->m_numMotors++;
							}
						}
					}
				}
				
			}
		}

		//the btMultiBody support is work-in-progress :-)

        for (int i=0;i<m_dynamicsWorld->getNumMultiBodyConstraints();i++)
        {
            m_dynamicsWorld->getMultiBodyConstraint(i)->finalizeMultiDof();
        }



		bool createGround=true;
		if (createGround)
		{
			btVector3 groundHalfExtents(20,20,20);
			groundHalfExtents[m_upAxis]=1.f;
			btBoxShape* box = new btBoxShape(groundHalfExtents);
			m_collisionShapes.push_back(box);
			box->initializePolyhedralFeatures();

			m_guiHelper->createCollisionShapeGraphicsObject(box);
			btTransform start; start.setIdentity();
			btVector3 groundOrigin(0,0,0);
			groundOrigin[m_upAxis]=-2.5;
			start.setOrigin(groundOrigin);
			btRigidBody* body =  createRigidBody(0,start,box);
			//m_dynamicsWorld->removeRigidBody(body);
		   // m_dynamicsWorld->addRigidBody(body,2,1);
			btVector3 color(0.5,0.5,0.5);
			m_guiHelper->createRigidBodyGraphicsObject(body,color);
		}

		
	}


#ifdef TEST_MULTIBODY_SERIALIZATION
	m_dynamicsWorld->serialize(s);
	b3ResourcePath p;
	char resourcePath[1024];
	if (p.findResourcePath("r2d2_multibody.bullet",resourcePath,1024))
	{
		FILE* f = fopen(resourcePath,"wb");
		fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);
		fclose(f);
	}
#endif//TEST_MULTIBODY_SERIALIZATION

}

void ImportUrdfSetup::stepSimulation(float deltaTime)
{
	if (m_dynamicsWorld)
	{
		btVector3 gravity(0, 0, 0);
		gravity[m_upAxis] = m_grav;
		m_dynamicsWorld->setGravity(gravity);

        for (int i=0;i<m_data->m_numMotors;i++)
        {
			if (m_data->m_jointMotors[i])
			{
				m_data->m_jointMotors[i]->setVelocityTarget(m_data->m_motorTargetVelocities[i]);
			}
			if (m_data->m_generic6DofJointMotors[i])
			{
				GenericConstraintUserInfo* jointInfo = (GenericConstraintUserInfo*)m_data->m_generic6DofJointMotors[i]->getUserConstraintPtr();
				m_data->m_generic6DofJointMotors[i]->setTargetVelocity(jointInfo->m_jointAxisIndex,m_data->m_motorTargetVelocities[i]);
				//jointInfo->
			}
        }

		//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
		m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
	}
}

class CommonExampleInterface*    ImportURDFCreateFunc(struct CommonExampleOptions& options)
{

	return new ImportUrdfSetup(options.m_guiHelper, options.m_option,options.m_fileName);
}