/*
 * Copyright (c) Contributors, http://opensimulator.org/
 * See CONTRIBUTORS.TXT for a full list of copyright holders.
 *
 * 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 OpenSim Project 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 DEVELOPERS ``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 CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * 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.
 */

using System;
using System.Collections.Generic;
using OpenMetaverse;
using Nini.Config;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using System.Reflection;
using log4net;

namespace OpenSim.Region.Physics.NewtonPlugin
{
    public class NewtonPrim : PhysicsActor
    {
        private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        private float _mass;
        private Vector3 _position;
        private Vector3 _velocity;
        private Vector3 _oldPosition;
        private Vector3 _oldVelocity;
        private Vector3 _acceleration;
        private Vector3 _oldAcceleration;
        private Vector3 _jerk;
        private Vector3 _oldJerk;
        private Vector3 _size;

        private Vector3 _a0;
        private Vector3 _j0;
        private Vector3 _a1;
        private Vector3 _a2;
        private Vector3 _j2;
        private bool _firstStep;
        private float _hOld;

        private Vector3 m_rotationalVelocity = Vector3.Zero;
        private Quaternion _orientation;
        private bool iscolliding;
        private bool isPhysical;

        public NewtonPrim()
        {
            _mass = 1.0f;
            _velocity = new Vector3();
            _position = new Vector3();
            _acceleration = new Vector3();
            _jerk = new Vector3();
            _oldPosition = new Vector3();
            _oldVelocity = new Vector3();
            _oldAcceleration = new Vector3();
            _oldJerk = new Vector3();

            _a0 = new Vector3();
            _j0 = new Vector3();
            _a1 = new Vector3();
            _a2 = new Vector3();
            _j2 = new Vector3();
            _firstStep = true;
        }

        public override int PhysicsActorType
        {
            get { return (int) ActorTypes.Prim; }
            set { return; }
        }

        public override Vector3 RotationalVelocity
        {
            get { return m_rotationalVelocity; }
            set { m_rotationalVelocity = value; }
        }

        public override bool IsPhysical
        {
            get { return isPhysical; }
            set { isPhysical = value; }
        }

        public override bool ThrottleUpdates
        {
            get { return false; }
            set { return; }
        }

        public override bool IsColliding
        {
            get { return iscolliding; }
            set { iscolliding = value; }
        }

        public override bool CollidingGround
        {
            get { return false; }
            set { return; }
        }

        public override bool CollidingObj
        {
            get { return false; }
            set { return; }
        }

        public override bool Stopped
        {
            get { return false; }
        }

        public Vector3 OldPosition
        {
          get { return _oldPosition; }
          set { _oldPosition = value; }
        }

        public override Vector3 Position
        {
            get { return _position; }
            set { 
                // m_log.InfoFormat("[NEWTONPRIM] Somebody set our position to {0}", value);
                _position = value;
            }
        }

        public override Vector3 Size
        {
            get { return _size; }
            set { _size = value; }
        }

        public override float Mass
        {
            get { return _mass; }
            // set {
            //     m_log.InfoFormat("[NEWTONPRIM] Somebody tried to set mass to {0}, ignored.",
            //                      value);
            // }
        }

        // We're the Physics Engine, we control mass!!!
        //  (More to the point : I don't know how to ask        
        //   for the out-of-engine mass, and it was getting
        //   set after the object had been enabled physical,
        //   which led to inconsistencies and scariness 
        //   with AddForce)

        public void SetMass(float mass)
        {
            // m_log.InfoFormat("[NEWTONPRIM] Somebody tried to set mass to {0}, ignored.",mass);
        }

        public override Vector3 Force
        {
            get { return Vector3.Zero; }
            set { return; }
        }

        public override int VehicleType
        {
            get { return 0; }
            set { return; }
        }

        public override void VehicleFloatParam(int param, float value)
        {
        }

        public override void VehicleVectorParam(int param, Vector3 value)
        {
        }

        public override void VehicleRotationParam(int param, Quaternion rotation)
        {
        }

        public override void SetVolumeDetect(int param)
        {
        }

        public override Vector3 CenterOfMass
        {
            get { return Vector3.Zero; }
        }

        public override Vector3 GeometricCenter
        {
            get { return Vector3.Zero; }
        }

        public override PrimitiveBaseShape Shape
        {
            set { return; }
        }

        public override float Buoyancy
        {
            get { return 0f; }
            set { return; }
        }

        public override bool FloatOnWater
        {
            set { return; }
        }

        public Vector3 OldVelocity
        {
          get { return _oldVelocity; }
          set { _oldVelocity = value; }
        }

        public override Vector3 Velocity
        {
            get { return _velocity; }
            set { _velocity = value; }
        }

        public override Vector3 Torque
        {
            get { return Vector3.Zero; }
            set { return; }
        }

        public override float CollisionScore
        {
            get { return 0f; }
            set { }
        }

        public override Quaternion Orientation
        {
            get { return _orientation; }
            set { _orientation = value; }
        }

        public Vector3 OldAcceleration
        {
          get { return _oldAcceleration; }
          set { _oldAcceleration = value; }
        }

        // set commented out because PhysicsActor.Acceleration doesn't have
        //   a set!
        public override Vector3 Acceleration
        {
            get { return _acceleration; }
            // set { _acceleration = value; }
        }

        public Vector3 Jerk 
        {
            get { return _jerk; }
            set { _jerk = value; }
        }

        public Vector3 OldJerk
        {
            get { return _oldJerk; }
            set { _oldJerk = value; }
        }

        public override bool Kinematic
        {
            get { return true; }
            set { }
        }

        public Vector3 A0
        {
            get { return _a0; }
            set { _a0 = value; }
        }

        public Vector3 A1
        {
            get { return _a1; }
            set { _a1 = value; }
        }

        public Vector3 A2
        {
            get { return _a2; }
            set { _a2 = value; }
        }

        public Vector3 J0
        {
            get { return _j0; }
            set { _j0 = value; }
        }

        public Vector3 J2
        {
            get { return _j2; }
            set { _j2 = value; }
        }

        public bool FirstStep
        {
            get { return _firstStep; }
            set { _firstStep = value; }
        }

        public float HOld
        {
            get { return _hOld; }
            set { _hOld = value; }
        }

        // TODO: Replace with a setter once there is one in PhysicsActor to override
        public void SetAcceleration(Vector3 accel)
        {
            _acceleration = accel;
        }

        public void SetOldAcceleration(Vector3 accel) 
        {
            _oldAcceleration = accel;
        }

        public void SaveState() 
        {
            _oldPosition = _position;
            _oldVelocity = _velocity;
            _oldAcceleration = _acceleration;
            _oldJerk = _jerk;
        }

        public override void AddForce(Vector3 force, bool pushforce)
        {
            // I don't understand what pushforce is, so I'm going to
            // ignore it for now...! (rknop 2009/09/14)
            // (rknop 2009/12/03 -- I seem to remember being told it's
            //  an impulse.)

            // m_log.InfoFormat("[NEWTONPRIM] Adding force {0} to prim at {1} with mass {2}",
            //                  force, _position, _mass);
            _velocity += force/_mass;
            // m_log.InfoFormat("[NEWTONPRIM] When done : position = {0}, velocity={1}, acceleration={2}, jerk={3}",
            //                  _position, _velocity, _acceleration, _jerk);
        }

        public override void AddAngularForce(Vector3 force, bool pushforce)
        {
        }

        public override void SetMomentum(Vector3 momentum)
        {
        }

        public override bool Flying
        {
            get { return false; }
            set { }
        }

        public override bool SetAlwaysRun
        {
            get { return false; }
            set { return; }
        }

        public override uint LocalID
        {
            set { return; }
        }

        public override bool Grabbed
        {
            set { return; }
        }

        public override void link(PhysicsActor obj)
        {
        }

        public override void delink()
        {
        }

        public override void LockAngularMotion(Vector3 axis)
        {
        }

        public override bool Selected
        {
            set { return; }
        }

        public override void CrossingFailure()
        {
        }

        public override Vector3 PIDTarget
        {
            set { return; }
        }

        public override bool PIDActive
        {
            set { return; }
        }

        public override float PIDTau
        {
            set { return; }
        }

        public override float PIDHoverHeight
        {
            set { return; }
        }

        public override bool PIDHoverActive
        {
            set { return; }
        }

        public override PIDHoverType PIDHoverType
        {
            set { return; }
        }

        public override float PIDHoverTau
        {
            set { return; }
        }

        public override void SubscribeEvents(int ms)
        {
        }

        public override void UnSubscribeEvents()
        {
        }

        public override bool SubscribedEvents()
        {
            return false;
        }

        public float KineticEnergy() 
        {
            float v = Velocity.Length();
            return 0.5f * Mass * v * v;
        }
    }
}