// submodel.cxx - models a releasable submodel.
// Written by Dave Culp, started Aug 2004
//
// This file is in the Public Domain and comes with no warranty.

#include "submodel.hxx"

#include <simgear/structure/exception.hxx>
#include <simgear/misc/sg_path.hxx>

#include <Main/fg_props.hxx>
#include <Main/util.hxx>
#include <AIModel/AIManager.hxx>


SubmodelSystem::SubmodelSystem ()
{
    
  x_offset = y_offset = 0.0;
  z_offset = -4.0;
  pitch_offset = 2.0;
  yaw_offset = 0.0;
  
  out[0] = out[1] = out[2] = 0;
  in[3] = out[3] = 1;
}

SubmodelSystem::~SubmodelSystem ()
{
}

void
SubmodelSystem::init ()
{
    load();
    _serviceable_node = fgGetNode("/sim/systems/submodels/serviceable", true);

    _user_lat_node = fgGetNode("/position/latitude-deg", true);
    _user_lon_node = fgGetNode("/position/longitude-deg", true);
    _user_alt_node = fgGetNode("/position/altitude-ft", true);

    _user_heading_node = fgGetNode("/orientation/heading-deg", true);
    _user_pitch_node =   fgGetNode("/orientation/pitch-deg", true);
    _user_roll_node =    fgGetNode("/orientation/roll-deg", true);
    _user_yaw_node =     fgGetNode("/orientation/yaw-deg", true);

    _user_speed_node = fgGetNode("/velocities/uBody-fps", true);

    _user_wind_from_east_node  = fgGetNode("/environment/wind-from-east-fps",true);
    _user_wind_from_north_node = fgGetNode("/environment/wind-from-north-fps",true);

    ai = (FGAIManager*)globals->get_subsystem("ai_model");


}

void
SubmodelSystem::bind ()
{
}

void
SubmodelSystem::unbind ()
{
  submodel_iterator = submodels.begin();
  while(submodel_iterator != submodels.end()) {
    (*submodel_iterator)->prop->untie("count");
    ++submodel_iterator;
  }
}

void
SubmodelSystem::update (double dt)
{
  if (!(_serviceable_node->getBoolValue())) return;
  int i=-1;
  submodel_iterator = submodels.begin();
  while(submodel_iterator != submodels.end()) {
    i++;
    if ((*submodel_iterator)->trigger->getBoolValue()) {
        if ((*submodel_iterator)->count != 0) {
          release( (*submodel_iterator), dt);
        } 
    } 
    ++submodel_iterator;
  }
   
}

bool
SubmodelSystem::release (submodel* sm, double dt)
{
  sm->timer += dt;
  if (sm->timer < sm->delay) return false;
  sm->timer = 0.0;

  transform(sm);  // calculate submodel's initial conditions in world-coordinates

  //cout << "Creating a submodel." << endl; 
  FGAIModelEntity entity;

  entity.path = sm->model.c_str();
  entity.latitude = IC.lat;
  entity.longitude = IC.lon;
  entity.altitude = IC.alt;
  entity.azimuth = IC.azimuth;
  entity.elevation = IC.elevation;
  entity.speed = IC.speed;
  entity.eda = sm->drag_area;
  entity.life = sm->life;
  entity.buoyancy = sm->buoyancy;
  entity.wind_from_east = IC.wind_from_east;
  entity.wind_from_north = IC.wind_from_north;
  entity.wind = sm->wind;
  int rval = ai->createBallistic( &entity );

  //cout << "Submodel created." << endl;
  if (sm->count > 0) (sm->count)--; 

  return true;                    
}

void
SubmodelSystem::load ()
{
    int i;
    SGPropertyNode *path = fgGetNode("/sim/systems/submodels/path");
    SGPropertyNode root;

    if (path) {
      SGPath config( globals->get_fg_root() );
      config.append( path->getStringValue() );

      try {
        readProperties(config.str(), &root);
      } catch (const sg_exception &e) {
        SG_LOG(SG_GENERAL, SG_ALERT,
        "Unable to read submodels file: ");
        cout << config.str() << endl;
        return;
      }
    }

   int count = root.nChildren();
   for (i = 0; i < count; i++) { 
     // cout << "Reading submodel " << i << endl;        
     SGPropertyNode *prop;
     submodel* sm = new submodel;
     SGPropertyNode * entry_node = root.getChild(i);
     sm->trigger        = fgGetNode(entry_node->getStringValue("trigger", "none"), true);
     sm->name           = entry_node->getStringValue("name", "none_defined");
     sm->model          = entry_node->getStringValue("model", "Models/Geometry/rocket.ac");
     sm->speed          = entry_node->getDoubleValue("speed", 0.0);
     sm->repeat         = entry_node->getBoolValue  ("repeat", false); 
     sm->delay          = entry_node->getDoubleValue("delay", 0.25); 
     sm->count          = entry_node->getIntValue   ("count", 1); 
     sm->slaved         = entry_node->getBoolValue  ("slaved", false); 
     sm->x_offset       = entry_node->getDoubleValue("x-offset", 0.0); 
     sm->y_offset       = entry_node->getDoubleValue("y-offset", 0.0); 
     sm->z_offset       = entry_node->getDoubleValue("z-offset", 0.0); 
     sm->yaw_offset     = entry_node->getDoubleValue("yaw-offset", 0.0); 
     sm->pitch_offset   = entry_node->getDoubleValue("pitch-offset", 0.0);
     sm->drag_area      = entry_node->getDoubleValue("eda", 0.007);
     sm->life           = entry_node->getDoubleValue("life", 900.0);
     sm->buoyancy       = entry_node->getDoubleValue("buoyancy", 0);
     sm->wind           = entry_node->getBoolValue  ("wind", false); 

     sm->trigger->setBoolValue(false);
     sm->timer = sm->delay;

     sm->prop = fgGetNode("/systems/submodels/submodel", i, true);
     sm->prop->tie("count", SGRawValuePointer<int>(&(sm->count)));

//	 in[0] = sm->x_offset;
//	 in[1] = sm->y_offset;
//	 in[2] = sm->z_offset; 
 

     submodels.push_back( sm );
   }

  submodel_iterator = submodels.begin();
  // cout << submodels.size() << " submodels read." << endl;
}


void
SubmodelSystem::transform( submodel* sm) 
{

 // get initial conditions 
    
  IC.lat =        _user_lat_node->getDoubleValue();    
  IC.lon =        _user_lon_node->getDoubleValue();	   
  IC.alt =        _user_alt_node->getDoubleValue();    
  IC.roll =      - _user_roll_node->getDoubleValue();   // rotation about x axis
  IC.elevation =  _user_pitch_node->getDoubleValue();  // rotation about y axis
  IC.azimuth =    _user_heading_node->getDoubleValue(); // rotation about z axis
  
  IC.speed =           _user_speed_node->getDoubleValue() + sm->speed;
  IC.wind_from_east =  _user_wind_from_east_node->getDoubleValue();
  IC.wind_from_north = _user_wind_from_north_node->getDoubleValue();
  
  in[0] = sm->x_offset;
  in[1] = sm->y_offset;
  in[2] = sm->z_offset; 
  
 

// pre-process the trig functions

    cosRx = cos(IC.roll * SG_DEGREES_TO_RADIANS);
    sinRx = sin(IC.roll * SG_DEGREES_TO_RADIANS);
    cosRy = cos(IC.elevation * SG_DEGREES_TO_RADIANS);
    sinRy = sin(IC.elevation * SG_DEGREES_TO_RADIANS);
    cosRz = cos(IC.azimuth * SG_DEGREES_TO_RADIANS);
    sinRz = sin(IC.azimuth * SG_DEGREES_TO_RADIANS);


// set up the transform matrix

    trans[0][0] =	cosRy * cosRz;
    trans[0][1] =	-1 * cosRx * sinRz + sinRx * sinRy * cosRz ;
    trans[0][2] =	sinRx * sinRz + cosRx * sinRy * cosRz;

    trans[1][0] = 	cosRy * sinRz;
    trans[1][1] =	cosRx * cosRz + sinRx * sinRy * sinRz;
    trans[1][2] =	-1 * sinRx * cosRx + cosRx * sinRy * sinRz;

    trans[2][0] =	-1 * sinRy;
    trans[2][1] =	sinRx * cosRy;
    trans[2][2] =   cosRx * cosRy;


// multiply the input and transform matrices

//	for( int i=0; i<4; i++) {
//		for( int j=0; j<4; j++ ) {
//			out[i] += in[j] * trans[i][j];
//		}
//	}

out[0] = in[0] * trans[0][0] + in[1] * trans[0][1] + in[2] * trans[0][2];
out[1] = in[0] * trans[1][0] + in[1] * trans[1][1] + in[2] * trans[1][2];
out[2] = in[0] * trans[2][0] + in[1] * trans[2][1] + in[2] * trans[2][2];

// convert ft to degrees of latitude

    out[0] = out[0] /(366468.96 - 3717.12 * cos(IC.lat * SG_DEGREES_TO_RADIANS));

// convert ft to degrees of longitude

    out[1] = out[1] /(365228.16 * cos(IC.lat * SG_DEGREES_TO_RADIANS));


    IC.lat += out[0];
    IC.lon += out[1];
    IC.alt += out[2];
    IC.elevation += sm->pitch_offset;
    IC.azimuth   += sm->yaw_offset;


}

void 
SubmodelSystem::updatelat(double lat) 
{
    double latitude = lat;
    ft_per_deg_latitude = 366468.96 - 3717.12 * cos(latitude / SG_RADIANS_TO_DEGREES);
    ft_per_deg_longitude = 365228.16 * cos(latitude / SG_RADIANS_TO_DEGREES);
}

// end of submodel.cxx