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/*
 * Copyright (C) 2014 Pablo Campillo-Sanchez 
 *
 * This software has been developed as part of the 
 * SociAAL project directed by Jorge J. Gomez Sanz
 * (http://grasia.fdi.ucm.es/sociaal)
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see .
 */
package phat.util;

import com.jme3.bullet.BulletAppState;
import com.jme3.bullet.control.PhysicsControl;
import com.jme3.bullet.control.RigidBodyControl;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
import com.jme3.scene.SceneGraphVisitor;
import com.jme3.scene.Spatial;
import com.jme3.util.TempVars;

/**
 *
 * @author pablo
 */
public class PhysicsUtils {

    public static void setHighPhysicsPrecision(Spatial spatial) {
        final float linear = 0.0001f;
        final float angular = 0.0001f;
        final float threshold = 0.0001f;
        final float radius = 1f;

        SceneGraphVisitor visitor = new SceneGraphVisitor() {
            @Override
            public void visit(Spatial spat) {
                RigidBodyControl rbc = spat.getControl(RigidBodyControl.class);
                if (rbc != null) {
                    rbc.setSleepingThresholds(linear, angular);
                    rbc.setCcdMotionThreshold(threshold);
                    rbc.setCcdSweptSphereRadius(radius);
                }
            }
        };
        spatial.depthFirstTraversal(visitor);
    }

    public static void addAllPhysicsControls(Spatial spatial, BulletAppState bulletAppState) {
        for (int i = 0; i < spatial.getNumControls(); i++) {
            if (spatial.getControl(i) instanceof PhysicsControl) {
                bulletAppState.getPhysicsSpace().add(spatial.getControl(i));
            }
        }
    }
    
    public static void updateLocationAndRotation(Spatial spatial) {
        SceneGraphVisitor visitor = new SceneGraphVisitor() {
            @Override
            public void visit(Spatial spat) {
                RigidBodyControl rbc = spat.getControl(RigidBodyControl.class);
                if (rbc != null) {
                    rbc.setPhysicsLocation(spat.getWorldTranslation());
                    rbc.setPhysicsRotation(spat.getWorldRotation());
                }
            }
        };
        spatial.depthFirstTraversal(visitor);
    }
    
    public static void speed(Vector3f pos1, Vector3f pos2, float dt, Vector3f result) {
        result.set(pos2);
        result.subtractLocal(pos1);
        result.divideLocal(dt);
    }
    
    public static float speed(Vector3f pos1, Vector3f pos2, float dt) {
        float length = pos1.distance(pos2);
        return length / dt;
    }
    
    public static void acceleration(Vector3f vel1, Vector3f vel2, float dt, Vector3f result) {
        result.set(vel2);
        result.subtractLocal(vel1);
        result.divideLocal(dt);
    }
    
    public static float acceleration(float vel1, float vel2, float dt) {
        return (vel2 - vel1) / dt;
    }
    
    public static void angularSpeed(Quaternion q1, Quaternion q2, float dt, Vector3f angularSpeed) {
        TempVars tempVars = TempVars.get();
        float[] angles1 = tempVars.fWdU;
        float[] angles2 = tempVars.fAWdU;
        
        q1.toAngles(angles1);
        q2.toAngles(angles2);
        
        angularSpeed.set(
                (angles2[0]-angles1[0]) / dt, 
                (angles2[1]-angles1[1]) / dt,
                (angles2[2]-angles1[2]) / dt);
        tempVars.release();
    }
}