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/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * All rights reserved.
 *
 * Author: Pete Vieira <pete.vieira@gatech.edu>
 * Date: Feb 2014
 *
 * Humanoid Robotics Lab      Georgia Institute of Technology
 * Director: Mike Stilman     http://www.golems.org
 *
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   * Neither the name of the Humanoid Robotics Lab nor the names of
 *     its contributors may be used to endorse or promote products
 *     derived from this software without specific prior written
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 *
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 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
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 */

#ifndef AXES_H
#define AXES_H

// OpenSceneGraph includes
#include <osg/Geode>
#include <osg/PositionAttitudeTransform>
#include <osgViewer/Viewer>
#include <osg/LineWidth>
#include <osg/Matrix>
#include <osg/MatrixTransform>

namespace osgGolems {

class Axes : public osg::Geometry
{
public:

    inline Axes(float scale = 0.1)
    {
        _verts = new osg::Vec3Array(4);
        _colors = new osg::Vec4Array;
        _lineWidth = new osg::LineWidth;

        this->_createAxes();
        this->setScale(scale);
        this->setLineWidth(1.0f);
    }
    
    inline void setScale(float newScale)
    {
        (*_verts)[0].set(0,0,0);        // origin
        (*_verts)[1].set(newScale,0,0); // x-axis endpoint
        (*_verts)[2].set(0,newScale,0); // y-axis endpoint
        (*_verts)[3].set(0,0,newScale); // z-axis endpoint
        
        // Move vertices to VertexBuffer
        this->setVertexArray(_verts);
    }

    inline void setColors(const osg::Vec4& xAxis, const osg::Vec4& yAxis, const osg::Vec4& zAxis)
    {
        (*_colors)[0] = xAxis;
        (*_colors)[1] = yAxis;
        (*_colors)[2] = zAxis;
        this->setColorArray(_colors);
    }

    inline void setLineWidth(float newLineWidth)
    {
        _lineWidth->setWidth(newLineWidth);
        this->getOrCreateStateSet()->setAttribute(_lineWidth);
    }

protected:
    
    inline void _createAxes()
    {
        osg::DrawElementsUShort* x_elem =
                new osg::DrawElementsUShort(osg::PrimitiveSet::LINES, 0);
        x_elem->push_back(0); x_elem->push_back(1);
        this->addPrimitiveSet(x_elem);
        _colors->push_back(osg::Vec4(1.0f,0.0f,0.0f,1.0f));
        
        osg::DrawElementsUShort* y_elem =
                new osg::DrawElementsUShort(osg::PrimitiveSet::LINES, 0);
        y_elem->push_back(0); y_elem->push_back(2);
        this->addPrimitiveSet(y_elem);
        _colors->push_back(osg::Vec4(0.0f,1.0f,0.0f,1.0f));
        
        osg::DrawElementsUShort* z_elem =
                new osg::DrawElementsUShort(osg::PrimitiveSet::LINES, 0);
        z_elem->push_back(0); z_elem->push_back(3);
        this->addPrimitiveSet(z_elem);
        _colors->push_back(osg::Vec4(0.0f,0.0f,1.0f,1.0f));
        
        this->setColorArray(_colors);
        this->setColorBinding(osg::Geometry::BIND_PER_PRIMITIVE_SET);
    }
    
    osg::Vec3Array* _verts;

    osg::Vec4Array* _colors;

    osg::LineWidth* _lineWidth;
    
}; // end class Axes

} // end namespace osgGolems

#endif // AXES_H