/**

 Copyright (c) 2010-2013  hkrn

 All rights reserved.

 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 MMDAI project team 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 OWNER 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 USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 POSSIBILITY OF SUCH DAMAGE.

*/

#include "vpvl2/vpvl2.h"
#include "vpvl2/internal/util.h"

#include "vpvl2/pmx/Joint.h"

namespace
{

using namespace vpvl2;

#pragma pack(push, 1)

struct JointUnit
{
    float32 position[3];
    float32 rotation[3];
    float32 positionLowerLimit[3];
    float32 positionUpperLimit[3];
    float32 rotationLowerLimit[3];
    float32 rotationUpperLimit[3];
    float32 positionStiffness[3];
    float32 rotationStiffness[3];
};

#pragma pack(pop)

}

namespace vpvl2
{
namespace pmx
{

Joint::Joint(IModel *modelRef)
    : internal::BaseJoint(modelRef)
{
}

Joint::~Joint()
{
}

bool Joint::preparse(uint8 *&ptr, vsize &rest, Model::DataInfo &info)
{
    int32 njoints, size, rigidBodyIndexSize = int32(info.rigidBodyIndexSize) * 2;
    if (!internal::getTyped<int32>(ptr, rest, njoints)) {
        VPVL2_LOG(WARNING, "Invalid size of PMX joints detected: size=" << njoints << " rest=" << rest);
        return false;
    }
    info.jointsPtr = ptr;
    for (int32 i = 0; i < njoints; i++) {
        uint8 *namePtr;
        /* name in Japanese */
        if (!internal::getText(ptr, rest, namePtr, size)) {
            VPVL2_LOG(WARNING, "Invalid size of PMX joint name in Japanese detected: index=" << i << " size=" << size << " rest=" << rest);
            return false;
        }
        /* name in English */
        if (!internal::getText(ptr, rest, namePtr, size)) {
            VPVL2_LOG(WARNING, "Invalid size of PMX joint name in English detected: index=" << i << " size=" << size << " rest=" << rest);
            return false;
        }
        uint8 type;
        if (!internal::getTyped<uint8>(ptr, rest, type)) {
            VPVL2_LOG(WARNING, "Invalid size of PMX joint type detected: index=" << i << " ptr=" << static_cast<const void *>(ptr) << " rest=" << rest);
            return false;
        }
        if (type != kGeneric6DofSpringConstraint && info.version < 2.1) {
            VPVL2_LOG(WARNING, "The constraint type is not supported: type=" << type << " index=" << i << " ptr=" << static_cast<const void *>(ptr) << " rest=" << rest);
            return false;
        }
        switch (static_cast<Type>(type)) {
        case kGeneric6DofSpringConstraint:
        case kGeneric6DofConstraint:
        case kPoint2PointConstraint:
        case kConeTwistConstraint:
        case kSliderConstraint:
        case kHingeConstraint:
        {
            if (!internal::validateSize(ptr, rigidBodyIndexSize + sizeof(JointUnit), rest)) {
                VPVL2_VLOG(1, sizeof(JointUnit));
                VPVL2_LOG(WARNING, "Invalid size of PMX joint unit detected: index=" << i << " ptr=" << static_cast<const void *>(ptr) << " rest=" << rest);
                return false;
            }
            break;
        }
        default:
            VPVL2_LOG(WARNING, "Invalid PMX Joint type specified: index=" << i << " type=" << int(type));
            return false;
        }
    }
    info.jointsCount = njoints;
    return true;
}

bool Joint::loadJoints(const Array<Joint *> &joints, const Array<RigidBody *> &rigidBodies)
{
    const int njoints = joints.count();
    const int nRigidBodies = rigidBodies.count();
    for (int i = 0; i < njoints; i++) {
        Joint *joint = joints[i];
        const int rigidBodyIndex1 = joint->m_rigidBodyIndex1;
        if (rigidBodyIndex1 >= 0) {
            if (rigidBodyIndex1 >= nRigidBodies) {
                VPVL2_LOG(WARNING, "Invalid rigidBodyIndex1 specified: index=" << i << " body=" << rigidBodyIndex1);
                return false;
            }
            else {
                joint->m_rigidBody1Ref = rigidBodies[rigidBodyIndex1];
            }
        }
        const int rigidBodyIndex2 = joint->m_rigidBodyIndex2;
        if (rigidBodyIndex2 >= 0) {
            if (rigidBodyIndex2 >= nRigidBodies) {
                VPVL2_LOG(WARNING, "Invalid rigidBodyIndex2 specified: index=" << i << " body=" << rigidBodyIndex2);
                return false;
            }
            else {
                joint->m_rigidBody2Ref = rigidBodies[rigidBodyIndex2];
            }
        }
        joint->build(i);
    }
    return true;
}

void Joint::writeJoints(const Array<Joint *> &joints, const Model::DataInfo &info, uint8 *&data)
{
    const int njoints = joints.count();
    internal::writeBytes(&njoints, sizeof(njoints), data);
    for (int i = 0; i < njoints; i++) {
        const Joint *joint = joints[i];
        joint->write(data, info);
    }
}

vsize Joint::estimateTotalSize(const Array<Joint *> &joints, const Model::DataInfo &info)
{
    const int njoints = joints.count();
    vsize size = 0;
    size += sizeof(njoints);
    for (int i = 0; i < njoints; i++) {
        Joint *joint = joints[i];
        size += joint->estimateSize(info);
    }
    return size;
}

void Joint::read(const uint8 *data, const Model::DataInfo &info, vsize &size)
{
    uint8 *namePtr, *ptr = const_cast<uint8 *>(data), *start = ptr;
    vsize rest = SIZE_MAX;
    int nNameSize;
    IEncoding *encoding = info.encoding;
    internal::getText(ptr, rest, namePtr, nNameSize);
    internal::setStringDirect(encoding->toString(namePtr, nNameSize, info.codec), m_name);
    VPVL2_VLOG(3, "PMXJoint: name=" << internal::cstr(m_name, "(null)"));
    internal::getText(ptr, rest, namePtr, nNameSize);
    internal::setStringDirect(encoding->toString(namePtr, nNameSize, info.codec), m_englishName);
    VPVL2_VLOG(3, "PMXJoint: englishName=" << internal::cstr(m_englishName, "(null)"));
    uint8 type;
    internal::getTyped<uint8>(ptr, rest, type);
    m_type = static_cast<Type>(type);
    m_rigidBodyIndex1 = internal::readSignedIndex(ptr, info.rigidBodyIndexSize);
    m_rigidBodyIndex2 = internal::readSignedIndex(ptr, info.rigidBodyIndexSize);
    VPVL2_VLOG(3, "PMXJoint: type=" << m_type << " rigidBodyIndex1=" << m_rigidBodyIndex1 << " rigidBodyIndex2=" << m_rigidBodyIndex2);
    JointUnit unit;
    internal::getData(ptr, unit);
    internal::setPositionRaw(unit.position, m_position);
    VPVL2_VLOG(3, "PMXJoint: position=" << m_position.x() << "," << m_position.y() << "," << m_position.z());
    internal::setPositionRaw(unit.rotation, m_rotation);
    VPVL2_VLOG(3, "PMXJoint: rotation=" << m_rotation.x() << "," << m_rotation.y() << "," << m_rotation.z());
    internal::setPositionRaw(unit.positionLowerLimit, m_positionLowerLimit);
    VPVL2_VLOG(3, "PMXJoint: positionLowerLimit=" << m_positionLowerLimit.x() << "," << m_positionLowerLimit.y() << "," << m_positionLowerLimit.z());
    internal::setPositionRaw(unit.rotationLowerLimit, m_rotationLowerLimit);
    VPVL2_VLOG(3, "PMXJoint: rotationLowerLimit=" << m_rotationLowerLimit.x() << "," << m_rotationLowerLimit.y() << "," << m_rotationLowerLimit.z());
    internal::setPositionRaw(unit.positionUpperLimit, m_positionUpperLimit);
    VPVL2_VLOG(3, "PMXJoint: positionUpperLimit=" << m_positionUpperLimit.x() << "," << m_positionUpperLimit.y() << "," << m_positionUpperLimit.z());
    internal::setPositionRaw(unit.rotationUpperLimit, m_rotationUpperLimit);
    VPVL2_VLOG(3, "PMXJoint: rotationUpperLimit=" << m_rotationUpperLimit.x() << "," << m_rotationUpperLimit.y() << "," << m_rotationUpperLimit.z());
    internal::setPositionRaw(unit.positionStiffness, m_positionStiffness);
    VPVL2_VLOG(3, "PMXJoint: positionStiffness=" << m_positionStiffness.x() << "," << m_positionStiffness.y() << "," << m_positionStiffness.z());
    internal::setPositionRaw(unit.rotationStiffness, m_rotationStiffness);
    VPVL2_VLOG(3, "PMXJoint: rotationStiffness=" << m_rotationStiffness.x() << "," << m_rotationStiffness.y() << "," << m_rotationStiffness.z());
    ptr += sizeof(unit);
    size = ptr - start;
}

void Joint::write(uint8 *&data, const Model::DataInfo &info) const
{
    internal::writeString(m_name, info.codec, data);
    internal::writeString(m_englishName, info.codec, data);
    uint8 type = m_type;
    internal::writeBytes(&type, sizeof(type), data);
    vsize rigidBodyIndexSize = info.rigidBodyIndexSize;
    internal::writeSignedIndex(m_rigidBodyIndex1, rigidBodyIndexSize, data);
    internal::writeSignedIndex(m_rigidBodyIndex2, rigidBodyIndexSize, data);
    JointUnit ju;
    internal::getPositionRaw(m_position, ju.position);
    internal::getPositionRaw(m_rotation, ju.rotation);
    internal::getPositionRaw(m_positionLowerLimit, ju.positionLowerLimit);
    internal::getPositionRaw(m_rotationLowerLimit, ju.rotationLowerLimit);
    internal::getPositionRaw(m_positionUpperLimit, ju.positionUpperLimit);
    internal::getPositionRaw(m_rotationUpperLimit, ju.rotationUpperLimit);
    internal::getPositionRaw(m_positionStiffness, ju.positionStiffness);
    internal::getPositionRaw(m_rotationStiffness, ju.rotationStiffness);
    internal::writeBytes(&ju, sizeof(ju), data);
}

vsize Joint::estimateSize(const Model::DataInfo &info) const
{
    vsize size = 0;
    size += internal::estimateSize(m_name, info.codec);
    size += internal::estimateSize(m_englishName, info.codec);
    size += sizeof(uint8);
    size += info.rigidBodyIndexSize * 2;
    size += sizeof(JointUnit);
    return size;
}

} /* namespace pmx */
} /* namespace vpvl2 */
