#include "GripperGraspExample.h"

#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../SharedMemory/SharedMemoryPublic.h"
#include <string>

#include "b3RobotSimAPI.h"
#include "../Utils/b3Clock.h"

static btScalar sGripperVerticalVelocity = -0.2f;
static btScalar sGripperClosingTargetVelocity = 0.5f;

class GripperGraspExample : public CommonExampleInterface
{
    CommonGraphicsApp* m_app;
	GUIHelperInterface* m_guiHelper;
	b3RobotSimAPI m_robotSim;
	int m_options;
	int m_r2d2Index;
    int m_gripperIndex;
    
    float m_x;
    float m_y;
    float m_z;
	b3AlignedObjectArray<int> m_movingInstances;
	enum
	{
		numCubesX = 20,
		numCubesY = 20
	};
public:
    
    GripperGraspExample(GUIHelperInterface* helper, int options)
    :m_app(helper->getAppInterface()),
	m_guiHelper(helper),
	m_options(options),
	m_r2d2Index(-1),
    m_gripperIndex(-1),
    m_x(0),
    m_y(0),
	m_z(0)
    {
		m_app->setUpAxis(2);
    }
    virtual ~GripperGraspExample()
    {
        m_app->m_renderer->enableBlend(false);
    }

    
    virtual void physicsDebugDraw(int debugDrawMode)
    {
		m_robotSim.debugDraw(debugDrawMode);
    }
    virtual void    initPhysics()
    {
	bool connected = m_robotSim.connect(m_guiHelper);
	b3Printf("robotSim connected = %d",connected);
	
        if ((m_options & eGRIPPER_GRASP)!=0)
        {
            
            {
                SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
                slider.m_minVal=-2;
                slider.m_maxVal=2;
                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
            }
            
            {
                SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
                                    );
                slider.m_minVal=-1;
                slider.m_maxVal=1;
                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
            }
			{
				b3RobotSimLoadFileArgs args("");
				b3RobotSimLoadFileResults results;
				args.m_fileName = "cube_small.urdf";
				args.m_startPosition.setValue(0, 0, .107);
				args.m_startOrientation.setEulerZYX(0, 0, 0);
				args.m_useMultiBody = true;
				m_robotSim.loadFile(args, results);
			}

            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf";
                args.m_fileType = B3_SDF_FILE;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                
                if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
                {
                    
                    m_gripperIndex = results.m_uniqueObjectIds[0];
                    int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
                    b3Printf("numJoints = %d",numJoints);
                    
                    for (int i=0;i<numJoints;i++)
                    {
                        b3JointInfo jointInfo;
                        m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
                        b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
                    }
                    
                    /*
                    int fingerJointIndices[2]={1,3};
                    double fingerTargetPositions[2]={-0.04,0.04};
                    for (int i=0;i<2;i++)
                    {
                        b3JointMotorArgs controlArgs(CONTROL_MODE_POSITION_VELOCITY_PD);
                        controlArgs.m_targetPosition = fingerTargetPositions[i];
                        controlArgs.m_kp = 5.0;
                        controlArgs.m_kd = 3.0;
                        controlArgs.m_maxTorqueValue = 1.0;
                        m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
                    }
                    */
                    int fingerJointIndices[3]={0,1,3};
                    double fingerTargetVelocities[3]={-0.2,.5,-.5};
                    double maxTorqueValues[3]={40.0,50.0,50.0};
                    for (int i=0;i<3;i++)
                    {
                        b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                        controlArgs.m_targetVelocity = fingerTargetVelocities[i];
                        controlArgs.m_maxTorqueValue = maxTorqueValues[i];
                        controlArgs.m_kd = 1.;
                        m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
                    }
                }
            }
           
            if (1)
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "plane.urdf";
                args.m_startPosition.setValue(0,0,0);
                args.m_startOrientation.setEulerZYX(0,0,0);
                args.m_forceOverrideFixedBase = true;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                m_robotSim.loadFile(args,results);
                
            }
            m_robotSim.setGravity(b3MakeVector3(0,0,-10));
            m_robotSim.setNumSimulationSubSteps(4);
        }

        if ((m_options & eTWO_POINT_GRASP)!=0)
        {
            {
                b3RobotSimLoadFileArgs args("");
                b3RobotSimLoadFileResults results;
                args.m_fileName = "cube_small.urdf";
                args.m_startPosition.setValue(0, 0, .107);
                args.m_startOrientation.setEulerZYX(0, 0, 0);
                args.m_useMultiBody = true;
                m_robotSim.loadFile(args, results);
            }
            
            {
                b3RobotSimLoadFileArgs args("");
                b3RobotSimLoadFileResults results;
                args.m_fileName = "cube_gripper_left.urdf";
                args.m_startPosition.setValue(0.068, 0.02, 0.11);
                args.m_useMultiBody = true;
                m_robotSim.loadFile(args, results);
                
                b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                controlArgs.m_targetVelocity = -0.1;
                controlArgs.m_maxTorqueValue = 10.0;
                controlArgs.m_kd = 1.;
                m_robotSim.setJointMotorControl(1,0,controlArgs);
            }
            
            {
                b3RobotSimLoadFileArgs args("");
                b3RobotSimLoadFileResults results;
                args.m_fileName = "cube_gripper_right.urdf";
                args.m_startPosition.setValue(-0.068, 0.02, 0.11);
                args.m_useMultiBody = true;
                m_robotSim.loadFile(args, results);
                
                b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                controlArgs.m_targetVelocity = 0.1;
                controlArgs.m_maxTorqueValue = 10.0;
                controlArgs.m_kd = 1.;
                m_robotSim.setJointMotorControl(2,0,controlArgs);
            }
            
            if (1)
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "plane.urdf";
                args.m_startPosition.setValue(0,0,0);
                args.m_startOrientation.setEulerZYX(0,0,0);
                args.m_forceOverrideFixedBase = true;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                m_robotSim.loadFile(args,results);
                
            }
            m_robotSim.setGravity(b3MakeVector3(0,0,-10));
            m_robotSim.setNumSimulationSubSteps(4);
        }
        
        if ((m_options & eONE_MOTOR_GRASP)!=0)
        {
            {
                SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
                slider.m_minVal=-2;
                slider.m_maxVal=2;
                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
            }
            
            {
                SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
                                    );
                slider.m_minVal=-1;
                slider.m_maxVal=1;
                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
            }
            {
                b3RobotSimLoadFileArgs args("");
                b3RobotSimLoadFileResults results;
                args.m_fileName = "sphere_small.urdf";
                args.m_startPosition.setValue(0, 0, .107);
                args.m_startOrientation.setEulerZYX(0, 0, 0);
                args.m_useMultiBody = true;
                m_robotSim.loadFile(args, results);
            }
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
                args.m_fileType = B3_SDF_FILE;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                
                if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
                {
                    
                    m_gripperIndex = results.m_uniqueObjectIds[0];
                    int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
                    b3Printf("numJoints = %d",numJoints);
                    
                    for (int i=0;i<numJoints;i++)
                    {
                        b3JointInfo jointInfo;
                        m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
                        b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
                    }
                    
                    for (int i=0;i<8;i++)
                    {
                        b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                        controlArgs.m_maxTorqueValue = 0.0;
                        m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
                    }

                }
            }
            
            if (1)
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "plane.urdf";
                args.m_startPosition.setValue(0,0,0);
                args.m_startOrientation.setEulerZYX(0,0,0);
                args.m_forceOverrideFixedBase = true;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                m_robotSim.loadFile(args,results);
                
            }
            m_robotSim.setGravity(b3MakeVector3(0,0,-10));
            
            b3JointInfo revoluteJoint1;
            revoluteJoint1.m_parentFrame[0] = -0.055;
            revoluteJoint1.m_parentFrame[1] = 0;
            revoluteJoint1.m_parentFrame[2] = 0.02;
            revoluteJoint1.m_parentFrame[3] = 0;
            revoluteJoint1.m_parentFrame[4] = 0;
            revoluteJoint1.m_parentFrame[5] = 0;
            revoluteJoint1.m_parentFrame[6] = 1.0;
            revoluteJoint1.m_childFrame[0] = 0;
            revoluteJoint1.m_childFrame[1] = 0;
            revoluteJoint1.m_childFrame[2] = 0;
            revoluteJoint1.m_childFrame[3] = 0;
            revoluteJoint1.m_childFrame[4] = 0;
            revoluteJoint1.m_childFrame[5] = 0;
            revoluteJoint1.m_childFrame[6] = 1.0;
            revoluteJoint1.m_jointAxis[0] = 1.0;
            revoluteJoint1.m_jointAxis[1] = 0.0;
            revoluteJoint1.m_jointAxis[2] = 0.0;
            revoluteJoint1.m_jointType = ePoint2PointType;
            b3JointInfo revoluteJoint2;
            revoluteJoint2.m_parentFrame[0] = 0.055;
            revoluteJoint2.m_parentFrame[1] = 0;
            revoluteJoint2.m_parentFrame[2] = 0.02;
            revoluteJoint2.m_parentFrame[3] = 0;
            revoluteJoint2.m_parentFrame[4] = 0;
            revoluteJoint2.m_parentFrame[5] = 0;
            revoluteJoint2.m_parentFrame[6] = 1.0;
            revoluteJoint2.m_childFrame[0] = 0;
            revoluteJoint2.m_childFrame[1] = 0;
            revoluteJoint2.m_childFrame[2] = 0;
            revoluteJoint2.m_childFrame[3] = 0;
            revoluteJoint2.m_childFrame[4] = 0;
            revoluteJoint2.m_childFrame[5] = 0;
            revoluteJoint2.m_childFrame[6] = 1.0;
            revoluteJoint2.m_jointAxis[0] = 1.0;
            revoluteJoint2.m_jointAxis[1] = 0.0;
            revoluteJoint2.m_jointAxis[2] = 0.0;
            revoluteJoint2.m_jointType = ePoint2PointType;
            m_robotSim.createJoint(1, 2, 1, 4, &revoluteJoint1);
            m_robotSim.createJoint(1, 3, 1, 6, &revoluteJoint2);
        }
		
        if ((m_options & eGRASP_SOFT_BODY)!=0)
        {
            {
                SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
                slider.m_minVal=-2;
                slider.m_maxVal=2;
                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
            }
            
            {
                SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
                                    );
                slider.m_minVal=-1;
                slider.m_maxVal=1;
                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
            }
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
                args.m_fileType = B3_SDF_FILE;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                
                if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1)
                {
                    
                    m_gripperIndex = results.m_uniqueObjectIds[0];
                    int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
                    b3Printf("numJoints = %d",numJoints);
                    
                    for (int i=0;i<numJoints;i++)
                    {
                        b3JointInfo jointInfo;
                        m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
                        b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
                    }
                    
                    for (int i=0;i<8;i++)
                    {
                        b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                        controlArgs.m_maxTorqueValue = 0.0;
                        m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
                    }
                    
                }
            }
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "plane.urdf";
                args.m_startPosition.setValue(0,0,-0.2);
                args.m_startOrientation.setEulerZYX(0,0,0);
                args.m_forceOverrideFixedBase = true;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                m_robotSim.loadFile(args,results);
                
            }
            m_robotSim.setGravity(b3MakeVector3(0,0,-10));
            m_robotSim.loadBunny(0.1,0.1,0.02);
            
            b3JointInfo revoluteJoint1;
            revoluteJoint1.m_parentFrame[0] = -0.055;
            revoluteJoint1.m_parentFrame[1] = 0;
            revoluteJoint1.m_parentFrame[2] = 0.02;
            revoluteJoint1.m_parentFrame[3] = 0;
            revoluteJoint1.m_parentFrame[4] = 0;
            revoluteJoint1.m_parentFrame[5] = 0;
            revoluteJoint1.m_parentFrame[6] = 1.0;
            revoluteJoint1.m_childFrame[0] = 0;
            revoluteJoint1.m_childFrame[1] = 0;
            revoluteJoint1.m_childFrame[2] = 0;
            revoluteJoint1.m_childFrame[3] = 0;
            revoluteJoint1.m_childFrame[4] = 0;
            revoluteJoint1.m_childFrame[5] = 0;
            revoluteJoint1.m_childFrame[6] = 1.0;
            revoluteJoint1.m_jointAxis[0] = 1.0;
            revoluteJoint1.m_jointAxis[1] = 0.0;
            revoluteJoint1.m_jointAxis[2] = 0.0;
            revoluteJoint1.m_jointType = ePoint2PointType;
            b3JointInfo revoluteJoint2;
            revoluteJoint2.m_parentFrame[0] = 0.055;
            revoluteJoint2.m_parentFrame[1] = 0;
            revoluteJoint2.m_parentFrame[2] = 0.02;
            revoluteJoint2.m_parentFrame[3] = 0;
            revoluteJoint2.m_parentFrame[4] = 0;
            revoluteJoint2.m_parentFrame[5] = 0;
            revoluteJoint2.m_parentFrame[6] = 1.0;
            revoluteJoint2.m_childFrame[0] = 0;
            revoluteJoint2.m_childFrame[1] = 0;
            revoluteJoint2.m_childFrame[2] = 0;
            revoluteJoint2.m_childFrame[3] = 0;
            revoluteJoint2.m_childFrame[4] = 0;
            revoluteJoint2.m_childFrame[5] = 0;
            revoluteJoint2.m_childFrame[6] = 1.0;
            revoluteJoint2.m_jointAxis[0] = 1.0;
            revoluteJoint2.m_jointAxis[1] = 0.0;
            revoluteJoint2.m_jointAxis[2] = 0.0;
            revoluteJoint2.m_jointType = ePoint2PointType;
            m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1);
            m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2);
        }
        
        if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0)
        {
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "kuka_iiwa/model_free_base.urdf";
                args.m_startPosition.setValue(0,1.0,2.0);
                args.m_startOrientation.setEulerZYX(0,0,1.57);
                args.m_forceOverrideFixedBase = false;
                args.m_useMultiBody = true;
                b3RobotSimLoadFileResults results;
                m_robotSim.loadFile(args,results);
                
                int kukaId = results.m_uniqueObjectIds[0];
                int numJoints = m_robotSim.getNumJoints(kukaId);
                b3Printf("numJoints = %d",numJoints);
                
                for (int i=0;i<numJoints;i++)
                {
                    b3JointInfo jointInfo;
                    m_robotSim.getJointInfo(kukaId,i,&jointInfo);
                    b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
                    b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                    controlArgs.m_maxTorqueValue = 0.0;
                    m_robotSim.setJointMotorControl(kukaId,i,controlArgs);
                }
            }
            {
                b3RobotSimLoadFileArgs args("");
                args.m_fileName = "plane.urdf";
                args.m_startPosition.setValue(0,0,0);
                args.m_startOrientation.setEulerZYX(0,0,0);
                args.m_forceOverrideFixedBase = true;
                args.m_useMultiBody = false;
                b3RobotSimLoadFileResults results;
                m_robotSim.loadFile(args,results);
            }
            m_robotSim.setGravity(b3MakeVector3(0,0,-10));
            m_robotSim.loadBunny(0.5,10.0,0.1);
        }
    }
    virtual void    exitPhysics()
    {
		m_robotSim.disconnect();
    }
    virtual void	stepSimulation(float deltaTime)
	{
        if ((m_options & eGRIPPER_GRASP)!=0)
        {
            if ((m_gripperIndex>=0))
            {
                int fingerJointIndices[3]={0,1,3};
                double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
                    ,-sGripperClosingTargetVelocity
                };
                double maxTorqueValues[3]={40.0,50.0,50.0};
                for (int i=0;i<3;i++)
                {
                    b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                    controlArgs.m_targetVelocity = fingerTargetVelocities[i];
                    controlArgs.m_maxTorqueValue = maxTorqueValues[i];
                    controlArgs.m_kd = 1.;
                    m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
                }
            }
        }
        
        if ((m_options & eONE_MOTOR_GRASP)!=0)
        {
            int fingerJointIndices[2]={0,1};
            double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
            };
            double maxTorqueValues[2]={50.0,50.0};
            for (int i=0;i<2;i++)
            {
                b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                controlArgs.m_targetVelocity = fingerTargetVelocities[i];
                controlArgs.m_maxTorqueValue = maxTorqueValues[i];
                controlArgs.m_kd = 1.;
                m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
            }
        }
        
        if ((m_options & eGRASP_SOFT_BODY)!=0)
        {
            int fingerJointIndices[2]={0,1};
            double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
            };
            double maxTorqueValues[2]={50.0,10.0};
            for (int i=0;i<2;i++)
            {
                b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
                controlArgs.m_targetVelocity = fingerTargetVelocities[i];
                controlArgs.m_maxTorqueValue = maxTorqueValues[i];
                controlArgs.m_kd = 1.;
                m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
            }
        }
        
		m_robotSim.stepSimulation();
    }
    virtual void	renderScene()
    {
		m_robotSim.renderScene();

		//m_app->m_renderer->renderScene();
		
    }

	
    virtual void	physicsDebugDraw()
    {
		
    }
    virtual bool	mouseMoveCallback(float x,float y)
    {
		return false;   
    }
    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
    {
        return false;   
    }
    virtual bool	keyboardCallback(int key, int state)
    {
        return false;   
    }
    
	virtual void resetCamera()
	{
		float dist = 1.5;
        float pitch = 12;
        float yaw = -10;
		float targetPos[3]={-0.2,0.8,0.3};
		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
		{
			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
		}
	}

};


class	CommonExampleInterface*    GripperGraspExampleCreateFunc(struct CommonExampleOptions& options)
{
	return new GripperGraspExample(options.m_guiHelper, options.m_option);
}