#include "tk_steprotatecloud.h"

// Utilise le depot
#include "ct_global/ct_context.h"

#include "ct_math/ct_mathpoint.h"

#include "ct_view/ct_stepconfigurabledialog.h"
#include "ct_result/model/inModel/ct_inresultmodelgroup.h"
#include "ct_result/model/outModel/ct_outresultmodelgroup.h"
#include "ct_result/model/inModel/ct_inresultmodelgrouptocopy.h"
#include "ct_result/model/outModel/ct_outresultmodelgroupcopy.h"
#include "ct_result/model/outModel/tools/ct_outresultmodelgrouptocopypossibilities.h"

// Inclusion of standard result class
#include "ct_result/ct_resultgroup.h"

// Inclusion of used ItemDrawable classes
#include "ct_itemdrawable/ct_scene.h"
#include "ct_iterator/ct_pointiterator.h"
#include "ct_iterator/ct_mutablepointiterator.h"

// Alias for indexing in models
#define DEF_resultIn_inputResult "inputResult"
#define DEF_groupIn_inputScene "inputGroup"
#define DEF_itemIn_scene "inputScene"

#include <limits>

#include "Eigen/Geometry"


#define RAD_TO_DEG 57.2957795131
#define DEG_TO_RAD 0.01745329251

// Constructor : initialization of parameters
TK_StepRotateCloud::TK_StepRotateCloud(CT_StepInitializeData &dataInit) : CT_AbstractStep(dataInit)
{
    _alpha = 0;
    _axisX = 0;
    _axisY = 0;
    _axisZ = 1;
    _x = 0;
    _y = 0;
    _z = 0;

    // Cette etape est CT_debugable
    setDebuggable( true );
}

// Step description (tooltip of contextual menu)
QString TK_StepRotateCloud::getStepDescription() const
{
    return tr("Rotation des points");
}

// Step copy method
CT_VirtualAbstractStep* TK_StepRotateCloud::createNewInstance(CT_StepInitializeData &dataInit)
{
    return new TK_StepRotateCloud(dataInit);
}

//////////////////// PROTECTED METHODS //////////////////

// Creation and affiliation of IN models
void TK_StepRotateCloud::createInResultModelListProtected()
{
    CT_InResultModelGroupToCopy *resultModel = createNewInResultModelForCopy(DEF_resultIn_inputResult, tr("Scene(s)"));

    resultModel->setZeroOrMoreRootGroup();
    resultModel->addGroupModel("", DEF_groupIn_inputScene, CT_AbstractItemGroup::staticGetType(), tr("Group"));
    resultModel->addItemModel(DEF_groupIn_inputScene, DEF_itemIn_scene, CT_Scene::staticGetType(), tr("Scene(s)"));
}

// Creation and affiliation of OUT models
void TK_StepRotateCloud::createOutResultModelListProtected()
{
    CT_OutResultModelGroupToCopyPossibilities *resultModel = createNewOutResultModelToCopy(DEF_resultIn_inputResult);

    if (resultModel != NULL)
    {
        resultModel->addItemModel(DEF_groupIn_inputScene, _outSceneModelName, new CT_Scene(), tr("Rotated Scene"));
    }
}

// Semi-automatic creation of step parameters DialogBox
void TK_StepRotateCloud::createPostConfigurationDialog()
{
    CT_StepConfigurableDialog *configDialog = newStandardPostConfigurationDialog();

    configDialog->addDouble(tr("Angle de rotation"), "", -360, 360, 4, _alpha);
    configDialog->addText(tr("Axe de rotation (direction)"), "", "");
    configDialog->addDouble("X", "", -1e+10, 1e+10, 4, _axisX);
    configDialog->addDouble("Y", "", -1e+10, 1e+10, 4, _axisY);
    configDialog->addDouble("Z", "", -1e+10, 1e+10, 4, _axisZ);
    configDialog->addText(tr("Point sur l'axe"), "", "");
    configDialog->addDouble("X", "", -1e+10, 1e+10, 4, _x);
    configDialog->addDouble("Y", "", -1e+10, 1e+10, 4, _y);
    configDialog->addDouble("Z", "", -1e+10, 1e+10, 4, _z);
}

void TK_StepRotateCloud::compute()
{
    CT_ResultGroup *outResult = getOutResultList().first();

    CT_ResultGroupIterator it(outResult, this, DEF_groupIn_inputScene);
    while(!isStopped() && it.hasNext())
    {
        CT_StandardItemGroup *group = (CT_StandardItemGroup*) it.next();

        if (group != NULL)
        {
            const CT_Scene* itemIn_scene = (CT_Scene*) group->firstItemByINModelName(this, DEF_itemIn_scene);
            const CT_AbstractPointCloudIndex *cloudIndex = itemIn_scene->getPointCloudIndex();
            CT_PointIterator itP(cloudIndex);

            // Cloud bounding box
            Eigen::Vector3d bboxBot;
            Eigen::Vector3d bboxTop;

            for ( int i = 0 ; i < 3 ; i++ )
            {
                bboxBot[i] = std::numeric_limits<double>::max();
                bboxTop[i] = -std::numeric_limits<double>::max();
            }

            // On cree le vecteur d'axe de rotation et le vecteur du centre de rotation
            Eigen::Vector3d axisVector( _axisX, _axisY, _axisZ );
            Eigen::Vector3d center( _x, _y, _z );
            double alpha = _alpha * DEG_TO_RAD;

            Eigen::Affine3d transformation(Eigen::AngleAxisd(alpha, axisVector));

            // On Cree un nouveau nuage qui sera le translate
            CT_NMPCIR rotatedCloud = PS_REPOSITORY->createNewPointCloud(cloudIndex->size());
            CT_MutablePointIterator itPM(rotatedCloud);

            size_t i = 0;
            // On applique la translation a tous les points du nuage
            while (itP.hasNext() && itPM.hasNext())
            {
                itP.next();
                CT_Point point = itP.currentPoint();

                // Translation au centre
                point = point - center;

                // Rotation
                point = transformation * point;

                // Translation inverse
                point += center;

                // Update BBox
                for ( int j = 0 ; j < 3 ; j++ )
                {
                    if ( point[j] < bboxBot[j] )
                    {
                        bboxBot[j] = point[j];
                    }

                    if ( point[j] > bboxTop[j] )
                    {
                        bboxTop[j] = point[j];
                    }
                }

                itPM.next().replaceCurrentPoint(point);

                // Barre de progression
                setProgress( 100.0*i++ /cloudIndex->size() );

                // On regarde si on est en debug mode
                waitForAckIfInDebugMode();
            }

            CT_Scene* itemOut_scene = new CT_Scene(_outSceneModelName.completeName(), outResult, rotatedCloud);
            itemOut_scene->setBoundingBox( bboxBot(0), bboxBot(1), bboxBot(2), bboxTop(0), bboxTop(1), bboxTop(2) );

            group->addItemDrawable(itemOut_scene);
        }
    }
}