#include "ImportMJCFSetup.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
//#define TEST_MULTIBODY_SERIALIZATION 1

#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "Bullet3Common/b3FileUtils.h"

#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../../Utils/b3ResourcePath.h"
#include "../../Utils/b3BulletDefaultFileIO.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"

#include "../ImportURDFDemo/MyMultiBodyCreator.h"
#include "BulletMJCFImporter.h"
#include "../ImportURDFDemo/URDF2Bullet.h"

class ImportMJCFSetup : public CommonMultiBodyBase
{
	char m_fileName[1024];

	struct ImportMJCFInternalData* m_data;
	bool m_useMultiBody;
	btAlignedObjectArray<std::string*> m_nameMemory;
	btScalar m_grav;
	int m_upAxis;

public:
	ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
	virtual ~ImportMJCFSetup();

	virtual void initPhysics();
	virtual void stepSimulation(float deltaTime);

	void setFileName(const char* mjcfFileName);

	virtual void resetCamera()
	{
		float dist = 3.5;
		float pitch = -28;
		float yaw = -136;
		float targetPos[3] = {0.47, 0, -0.64};
		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
	}
};

static btAlignedObjectArray<std::string> gMCFJFileNameArray;

#define MAX_NUM_MOTORS 1024

struct ImportMJCFInternalData
{
	ImportMJCFInternalData()
		: m_numMotors(0),
		  m_mb(0)
	{
		for (int i = 0; i < MAX_NUM_MOTORS; i++)
		{
			m_jointMotors[i] = 0;
			m_generic6DofJointMotors[i] = 0;
		}
	}

	btScalar m_motorTargetPositions[MAX_NUM_MOTORS];
	btMultiBodyJointMotor* m_jointMotors[MAX_NUM_MOTORS];
	btGeneric6DofSpring2Constraint* m_generic6DofJointMotors[MAX_NUM_MOTORS];
	int m_numMotors;
	btMultiBody* m_mb;
	btRigidBody* m_rb;
};

ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
	: CommonMultiBodyBase(helper),
	  m_grav(-10),
	  m_upAxis(2)
{
	m_data = new ImportMJCFInternalData;

	m_useMultiBody = true;

	static int count = 0;
	if (fileName)
	{
		setFileName(fileName);
	}
	else
	{
		gMCFJFileNameArray.clear();

		//load additional MJCF file names from file

		FILE* f = fopen("mjcf_files.txt", "r");
		if (f)
		{
			int result;
			//warning: we don't avoid string buffer overflow in this basic example in fscanf
			char fileName[1024];
			do
			{
				result = fscanf(f, "%s", fileName);
				b3Printf("mjcf_files.txt entry %s", fileName);
				if (result == 1)
				{
					gMCFJFileNameArray.push_back(fileName);
				}
			} while (result == 1);

			fclose(f);
		}

		if (gMCFJFileNameArray.size() == 0)
		{
			gMCFJFileNameArray.push_back("mjcf/humanoid.xml");

			gMCFJFileNameArray.push_back("MPL/MPL.xml");

			gMCFJFileNameArray.push_back("mjcf/inverted_pendulum.xml");
			gMCFJFileNameArray.push_back("mjcf/ant.xml");
			gMCFJFileNameArray.push_back("mjcf/hello_mjcf.xml");

			gMCFJFileNameArray.push_back("mjcf/cylinder.xml");
			gMCFJFileNameArray.push_back("mjcf/cylinder_fromtoX.xml");
			gMCFJFileNameArray.push_back("mjcf/cylinder_fromtoY.xml");
			gMCFJFileNameArray.push_back("mjcf/cylinder_fromtoZ.xml");

			gMCFJFileNameArray.push_back("mjcf/capsule.xml");
			gMCFJFileNameArray.push_back("mjcf/capsule_fromtoX.xml");
			gMCFJFileNameArray.push_back("mjcf/capsule_fromtoY.xml");
			gMCFJFileNameArray.push_back("mjcf/capsule_fromtoZ.xml");

			gMCFJFileNameArray.push_back("mjcf/hopper.xml");
			gMCFJFileNameArray.push_back("mjcf/swimmer.xml");
			gMCFJFileNameArray.push_back("mjcf/reacher.xml");
		}

		int numFileNames = gMCFJFileNameArray.size();

		if (count >= numFileNames)
		{
			count = 0;
		}
		sprintf(m_fileName, "%s", gMCFJFileNameArray[count++].c_str());
	}
}

ImportMJCFSetup::~ImportMJCFSetup()
{
	for (int i = 0; i < m_nameMemory.size(); i++)
	{
		delete m_nameMemory[i];
	}
	m_nameMemory.clear();
	delete m_data;
}

void ImportMJCFSetup::setFileName(const char* mjcfFileName)
{
	memcpy(m_fileName, mjcfFileName, strlen(mjcfFileName) + 1);
}

struct MyMJCFLogger : public MJCFErrorLogger
{
	virtual void reportError(const char* error)
	{
		b3Error(error);
	}
	virtual void reportWarning(const char* warning)
	{
		b3Warning(warning);
	}
	virtual void printMessage(const char* msg)
	{
		b3Printf(msg);
	}
};

void ImportMJCFSetup::initPhysics()
{
	m_guiHelper->setUpAxis(m_upAxis);

	createEmptyDynamicsWorld();

	//MuJoCo uses a slightly different collision filter mode, use the FILTER_GROUPAMASKB_OR_GROUPBMASKA2
	//@todo also use the modified collision filter for raycast and other collision related queries
	m_filterCallback->m_filterMode = FILTER_GROUPAMASKB_OR_GROUPBMASKA2;

	//m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
	m_dynamicsWorld->getDebugDrawer()->setDebugMode(
		btIDebugDraw::DBG_DrawConstraints + btIDebugDraw::DBG_DrawContactPoints + btIDebugDraw::DBG_DrawAabb);  //+btIDebugDraw::DBG_DrawConstraintLimits);

	if (m_guiHelper->getParameterInterface())
	{
		SliderParams slider("Gravity", &m_grav);
		slider.m_minVal = -10;
		slider.m_maxVal = 10;
		m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
	}

	int flags = 0;
	b3BulletDefaultFileIO fileIO;
	BulletMJCFImporter importer(m_guiHelper, 0, &fileIO, flags);
	MyMJCFLogger logger;
	bool result = importer.loadMJCF(m_fileName, &logger);
	if (result)
	{
		btTransform rootTrans;
		rootTrans.setIdentity();

		for (int m = 0; m < importer.getNumModels(); m++)
		{
			importer.activateModel(m);

			// normally used with PhysicsServerCommandProcessor that allocates unique ids to multibodies,
			// emulate this behavior here:
			importer.setBodyUniqueId(m);

			btMultiBody* mb = 0;

			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
			//int rootLinkIndex = importer.getRootLinkIndex();
			//b3Printf("urdf root link index = %d\n",rootLinkIndex);
			MyMultiBodyCreator creation(m_guiHelper);

			rootTrans.setIdentity();
			importer.getRootTransformInWorld(rootTrans);

			ConvertURDF2Bullet(importer, creation, rootTrans, m_dynamicsWorld, m_useMultiBody, importer.getPathPrefix(), CUF_USE_MJCF);

			mb = creation.getBulletMultiBody();
			if (mb)
			{
				std::string* name =
					new std::string(importer.getLinkName(
						importer.getRootLinkIndex()));
				m_nameMemory.push_back(name);
#ifdef TEST_MULTIBODY_SERIALIZATION
				s->registerNameForPointer(name->c_str(), name->c_str());
#endif  //TEST_MULTIBODY_SERIALIZATION
				mb->setBaseName(name->c_str());
				mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);

				//create motors for each btMultiBody joint
				int numLinks = mb->getNumLinks();
				for (int i = 0; i < numLinks; i++)
				{
					int mbLinkIndex = i;
					int urdfLinkIndex = creation.m_mb2urdfLink[mbLinkIndex];

					std::string* jointName = new std::string(importer.getJointName(urdfLinkIndex));
					std::string* linkName = new std::string(importer.getLinkName(urdfLinkIndex).c_str());
#ifdef TEST_MULTIBODY_SERIALIZATION
					s->registerNameForPointer(jointName->c_str(), jointName->c_str());
					s->registerNameForPointer(linkName->c_str(), linkName->c_str());
#endif  //TEST_MULTIBODY_SERIALIZATION
					m_nameMemory.push_back(jointName);
					m_nameMemory.push_back(linkName);
					mb->getLinkCollider(i)->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);

					mb->getLink(i).m_linkName = linkName->c_str();
					mb->getLink(i).m_jointName = jointName->c_str();
					m_data->m_mb = mb;
					if (mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::eRevolute || mb->getLink(mbLinkIndex).m_jointType == btMultibodyLink::ePrismatic)
					{
						if (m_data->m_numMotors < MAX_NUM_MOTORS)
						{
							char motorName[1024];
							sprintf(motorName, "%s q ", jointName->c_str());
							btScalar* motorPos = &m_data->m_motorTargetPositions[m_data->m_numMotors];
							*motorPos = 0.f;
							SliderParams slider(motorName, motorPos);
							slider.m_minVal = -4;
							slider.m_maxVal = 4;
							slider.m_clampToIntegers = false;
							slider.m_clampToNotches = false;
							m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
							float maxMotorImpulse = 5.f;
							btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb, mbLinkIndex, 0, 0, maxMotorImpulse);
							motor->setErp(0.1);
							//motor->setMaxAppliedImpulse(0);
							m_data->m_jointMotors[m_data->m_numMotors] = motor;
							m_dynamicsWorld->addMultiBodyConstraint(motor);
							m_data->m_numMotors++;
						}
					}
				}
			}
			else
			{
				// not multibody
				if (1)
				{
					//create motors for each generic joint
					int num6Dof = creation.getNum6DofConstraints();
					for (int i = 0; i < num6Dof; i++)
					{
						btGeneric6DofSpring2Constraint* c = creation.get6DofConstraint(i);
						if (c->getUserConstraintPtr())
						{
							GenericConstraintUserInfo* jointInfo = (GenericConstraintUserInfo*)c->getUserConstraintPtr();
							if ((jointInfo->m_urdfJointType == URDFRevoluteJoint) ||
								(jointInfo->m_urdfJointType == URDFPrismaticJoint) ||
								(jointInfo->m_urdfJointType == URDFContinuousJoint))
							{
								int urdfLinkIndex = jointInfo->m_urdfIndex;
								std::string jointName = importer.getJointName(urdfLinkIndex);
								char motorName[1024];
								sprintf(motorName, "%s q'", jointName.c_str());
								btScalar* motorVel = &m_data->m_motorTargetPositions[m_data->m_numMotors];

								*motorVel = 0.f;
								SliderParams slider(motorName, motorVel);
								slider.m_minVal = -4;
								slider.m_maxVal = 4;
								m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
								m_data->m_generic6DofJointMotors[m_data->m_numMotors] = c;
								bool motorOn = true;
								c->enableMotor(jointInfo->m_jointAxisIndex, motorOn);
								c->setMaxMotorForce(jointInfo->m_jointAxisIndex, 10000);
								c->setTargetVelocity(jointInfo->m_jointAxisIndex, 0);

								m_data->m_numMotors++;
							}
						}
					}
				}
			}
		}
		m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
	}
}

void ImportMJCFSetup::stepSimulation(float deltaTime)
{
	if (m_dynamicsWorld)
	{
		btVector3 gravity(0, 0, -10);
		gravity[m_upAxis] = m_grav;
		m_dynamicsWorld->setGravity(gravity);

		for (int i = 0; i < m_data->m_numMotors; i++)
		{
			if (m_data->m_jointMotors[i])
			{
				btScalar pos = m_data->m_motorTargetPositions[i];

				int link = m_data->m_jointMotors[i]->getLinkA();
				btScalar lowerLimit = m_data->m_mb->getLink(link).m_jointLowerLimit;
				btScalar upperLimit = m_data->m_mb->getLink(link).m_jointUpperLimit;
				if (lowerLimit < upperLimit)
				{
					btClamp(pos, lowerLimit, upperLimit);
				}
				m_data->m_jointMotors[i]->setPositionTarget(pos);
			}
			if (m_data->m_generic6DofJointMotors[i])
			{
				GenericConstraintUserInfo* jointInfo = (GenericConstraintUserInfo*)m_data->m_generic6DofJointMotors[i]->getUserConstraintPtr();
				m_data->m_generic6DofJointMotors[i]->setTargetVelocity(jointInfo->m_jointAxisIndex, m_data->m_motorTargetPositions[i]);
			}
		}

		//the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge
		m_dynamicsWorld->stepSimulation(deltaTime, 10, 1. / 240.);
	}
}

class CommonExampleInterface* ImportMJCFCreateFunc(struct CommonExampleOptions& options)
{
	return new ImportMJCFSetup(options.m_guiHelper, options.m_option, options.m_fileName);
}