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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
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   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
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 */

#ifndef OSG_UTILS_H
#define OSG_UTILS_H

// OpenSceneGraph includes
#include <osgViewer/View>
#include <osgGA/OrbitManipulator>
#include <osg/io_utils>
#include <osg/StateSet>
#include <osg/PolygonMode>
#include <osg/Material>
#include <osg/BlendFunc>

// Eigen includes
#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Geometry>

// C++ Standard Library includes
#include <iostream>

namespace osgGolems {

osgViewer::View* createView(int x, int y, int w, int h, osg::Node* scene = NULL);

inline osg::Matrix eigToOsgMatrix(const Eigen::Isometry3d& tf)
{
    osg::Matrix output;
    for(ushort i=0; i<4; ++i)
        for(ushort j=0; j<4; ++j)
            output(i,j) = tf(j,i);
    return output;
}

inline osg::Matrix eigToOsgMatrix(const Eigen::Isometry3f& tf)
{
    osg::Matrix output;
    for(ushort i=0; i<4; ++i)
        for(ushort j=0; j<4; ++j)
            output(i,j) = tf(j,i);

    return output;
}

inline osg::Vec3 eigToOsgVec3(const Eigen::Vector3d& vec)
{
    osg::Vec3 output;
    for(ushort i=0; i<3; ++i) {
        output[i] = vec[i];
    }
    return output;
}

inline void addWireFrameMode(osg::Node* node)
{
    if(!node) {
        std::cerr << "Invalid node. Line " << __LINE__ << " of " << __FILE__ << std::endl;
        return;
    }

    osg::PolygonMode* polyModeObj;

    polyModeObj = dynamic_cast<osg::PolygonMode*>(node->getOrCreateStateSet()->
                                                  getAttribute(osg::StateAttribute::POLYGONMODE));

    if(!polyModeObj) {
        polyModeObj = new osg::PolygonMode;
        node->getOrCreateStateSet()->setAttribute(polyModeObj);
    }
}

inline void setWireFrameOn(osg::Node* node)
{
    if(!node) {
        std::cerr << "Invalid node. Line " << __LINE__ << " of " << __FILE__ << std::endl;
        return;
    }

    if(!node->getStateSet()) {
        addWireFrameMode(node);
    }

    osg::PolygonMode* polyModeObj;
    polyModeObj = dynamic_cast<osg::PolygonMode*>(node->getStateSet()->
                                                  getAttribute(osg::StateAttribute::POLYGONMODE));

    if(!polyModeObj) {
        polyModeObj = new osg::PolygonMode;
        node->getStateSet()->setAttribute(polyModeObj);
    }

    polyModeObj->setMode(osg::PolygonMode::FRONT_AND_BACK, osg::PolygonMode::LINE);
}

inline void setWireFrameOff(osg::Node* node)
{
    if(!node) {
        std::cerr << "Invalid node. Line " << __LINE__ << " of " << __FILE__ << std::endl;
        return;
    }

    if(!node->getStateSet()) {
        addWireFrameMode(node);
    }

    osg::PolygonMode* polyModeObj;
    polyModeObj = dynamic_cast<osg::PolygonMode*>(node->getStateSet()->
                                                  getAttribute(osg::StateAttribute::POLYGONMODE));

    if(!polyModeObj) {
        polyModeObj = new osg::PolygonMode;
        node->getStateSet()->setAttribute(polyModeObj);
    }

    polyModeObj->setMode(osg::PolygonMode::FRONT_AND_BACK, osg::PolygonMode::FILL);
}

inline void setTransparency(osg::Node* node, float transparencyValue)
{
    if(!node->getOrCreateStateSet()->getAttribute(osg::StateAttribute::MATERIAL)) {
        node->getOrCreateStateSet()->setAttribute(new osg::Material);
        std::cerr << "Created new material" << std::endl;
    }
    if(!node->getOrCreateStateSet()->getAttribute(osg::StateAttribute::BLENDFUNC)) {
        node->getOrCreateStateSet()->setAttributeAndModes(new osg::BlendFunc);
        std::cerr << "Created new blendfunc" << std::endl;
    }

    node->getOrCreateStateSet()->setRenderingHint(osg::StateSet::TRANSPARENT_BIN);
    osg::ref_ptr<osg::Material> mat = (osg::Material*)node->getOrCreateStateSet()->getAttribute(osg::StateAttribute::MATERIAL);
    osg::Vec4 diffuse = mat->getDiffuse(osg::Material::FRONT_AND_BACK);
    std::cerr << "Diffuse: " << diffuse << std::endl;
    std::cerr << "Ambient: " << mat->getAmbient(osg::Material::FRONT_AND_BACK) << std::endl;
    std::cerr << "Emissive:" << mat->getEmission(osg::Material::FRONT_AND_BACK) << std::endl;
    std::cerr << "Specular:" << mat->getSpecular(osg::Material::FRONT_AND_BACK) << std::endl;

    diffuse.set(diffuse.r(), diffuse.g(), diffuse.b(), transparencyValue);
    mat->setDiffuse(osg::Material::FRONT_AND_BACK, diffuse);
//    mat->setAlpha(osg::Material::FRONT_AND_BACK, transparencyValue);
    node->getOrCreateStateSet()->setAttributeAndModes(mat, osg::StateAttribute::ON | osg::StateAttribute::OVERRIDE);
}

} // end of osgGolems namespace

#endif // OSG_UTILS_H