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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
 *     permission
 *
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 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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 */

#ifndef SKELETONNODE_H
#define SKELETONNODE_H

// Grip includes
#include "../osgGolems/Axes.h"
#include "BodyNodeVisuals.h"
#include "SkeletonVisuals.h"

// Dart includes
#include <dart/dynamics/Skeleton.h>
#include <dart/dynamics/BodyNode.h>
#include <dart/dynamics/Joint.h>

// OpenSceneGraph includes
#include <osg/Geode>
#include <osg/Matrix>
#include <osg/MatrixTransform>
#include <osg/CullFace>

namespace osgDart {

typedef std::map<const dart::dynamics::BodyNode*, osg::ref_ptr<osg::MatrixTransform> > BodyNodeMatrixMap;

typedef std::map<const dart::dynamics::BodyNode*, osg::ref_ptr<osg::Group> > BodyNodeGroupMap;

typedef std::map<const dart::dynamics::BodyNode*, osg::ref_ptr<osgDart::BodyNodeVisuals> > BodyNodeVisualsMap;

typedef enum {
    RENDER_VISUAL_MESH,    
    RENDER_COLLISION_MESH, 
    RENDER_WIREFRAME_ON,   
    RENDER_WIREFRAME_OFF   
} renderMode_t;

class SkeletonNode : public osg::Group
{
public:

    //---------------------------------------------------------------
    //                       PUBLIC FUNCTIONS
    //---------------------------------------------------------------

    SkeletonNode(const dart::dynamics::Skeleton& skeleton, bool debug=false);

    ~SkeletonNode();

    void update();

    void setJointAxesVisible(bool makeVisible=false);

    void setBodyNodeAxesVisible(bool makeVisible=false);

    void setBodyNodeCoMVisible(bool makeVisible=false);

    void setSkeletonCoMVisible(bool makeVisible=false);

    void setSkeletonCoMProjectedVisible(bool makeVisible=false);

    void setSkeletonRenderMode(renderMode_t renderMode);

    void setBodyNodeTransparency(const dart::dynamics::BodyNode& node, float transparencyValue);

    const dart::dynamics::BodyNode& getRootBodyNode();

protected:

    //---------------------------------------------------------------
    //                     PROTECTED FUNCTIONS
    //---------------------------------------------------------------
    void _createSkeleton();

    void _addSkeletonVisuals();

    void _addSkeletonObjectsRecursivley(const dart::dynamics::BodyNode& bodyNode);

    osg::Group* _makeBodyNodeGroup(const dart::dynamics::BodyNode& node);

    osg::Group* _makeBodyNodeCollisionMeshGroup(const dart::dynamics::BodyNode& node);

    osgDart::BodyNodeVisuals* _makeBodyNodeVisuals(const dart::dynamics::BodyNode& node);

    void _addVisualizationShapesFromBodyNode(const dart::dynamics::BodyNode& node);

    void _addCollisionShapesFromBodyNode(const dart::dynamics::BodyNode& node);

    void _updateRecursively(const dart::dynamics::BodyNode& bodyNode);

    void _updateSkeletonVisuals();

    //---------------------------------------------------------------
    //                    PROTECTED VARIABLES
    //---------------------------------------------------------------

    const dart::dynamics::BodyNode& _rootBodyNode;

    std::vector<osg::ref_ptr<osg::Group> > _bodyNodeGroups;

    std::vector<osg::ref_ptr<osgDart::BodyNodeVisuals> > _bodyNodeVisuals;

    osg::ref_ptr<osgDart::SkeletonVisuals> _skeletonVisuals;

    std::vector<osg::ref_ptr<osg::Group> > _bodyNodeCollisionMeshGroups;

    BodyNodeMatrixMap _bodyNodeMatrixMap;

    BodyNodeGroupMap _bodyNodeGroupMap;

    BodyNodeGroupMap _bodyNodeCollsionMeshGroupMap;

    BodyNodeVisualsMap _bodyNodeVisualsMap;

    const bool _debug;

}; // end class SkeletonNode

} // end osgDart namespace

#endif // SKELETONNODE_H