/* ScummVM - Graphic Adventure Engine
 *
 * ScummVM is the legal property of its developers, whose names
 * are too numerous to list here. Please refer to the COPYRIGHT
 * file distributed with this source distribution.
 *
 * 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 <http://www.gnu.org/licenses/>.
 *
 */

/*
 * Copyright (C) 2006-2010 - Frictional Games
 *
 * This file is part of HPL1 Engine.
 */

#ifndef HPL_PHYSICS_CONTROLLER_H
#define HPL_PHYSICS_CONTROLLER_H

#include "hpl1/engine/math/MathTypes.h"
#include "hpl1/engine/math/PidController.h"
#include "hpl1/engine/math/Spring.h"

#include "hpl1/engine/game/SaveGame.h"

namespace hpl {

//-------------------------------------------

enum ePhysicsControllerType {
	ePhysicsControllerType_Pid,
	ePhysicsControllerType_Spring,
	ePhysicsControllerType_LastEnum
};

//-------------------------------------------

enum ePhysicsControllerInput {
	ePhysicsControllerInput_JointAngle,
	ePhysicsControllerInput_JointDist,
	ePhysicsControllerInput_LinearSpeed,
	ePhysicsControllerInput_AngularSpeed,
	ePhysicsControllerInput_LastEnum
};

//-------------------------------------------

enum ePhysicsControllerOutput {
	ePhysicsControllerOutput_Force,
	ePhysicsControllerOutput_Torque,
	ePhysicsControllerOutput_LastEnum
};

//-------------------------------------------

enum ePhysicsControllerAxis {
	ePhysicsControllerAxis_X,
	ePhysicsControllerAxis_Y,
	ePhysicsControllerAxis_Z,
	ePhysicsControllerAxis_LastEnum
};

//-------------------------------------------

enum ePhysicsControllerEnd {
	ePhysicsControllerEnd_Null,
	ePhysicsControllerEnd_OnDest,
	ePhysicsControllerEnd_OnMin,
	ePhysicsControllerEnd_OnMax,
	ePhysicsControllerEnd_LastEnum
};

//-------------------------------------------

kSaveData_BaseClass(iPhysicsController) {
	kSaveData_ClassInit(iPhysicsController) public : tString msName;

	int mlBodyId;
	int mlJointId;

	float mfA;
	float mfB;
	float mfC;
	float mfDestValue;
	float mfMaxOutput;

	bool mbMulMassWithOutput;

	int mType;
	int mInputType;
	int mInputAxis;
	int mOutputType;
	int mOutputAxis;
	int mEndType;

	tString msNextController;

	bool mbActive;
	bool mbPaused;

	iSaveObject *CreateSaveObject(cSaveObjectHandler * apSaveObjectHandler, cGame * apGame) { return NULL; }
	int GetSaveCreatePrio() { return 0; }
};

//-------------------------------------------

class iPhysicsWorld;
class iPhysicsJoint;
class iPhysicsBody;

class iPhysicsController : public iSaveObject {
	typedef iSaveObject super;

public:
	iPhysicsController(const tString &asName, iPhysicsWorld *apWorld);
	virtual ~iPhysicsController();

	void Update(float afTimeStep);

	const tString &GetName() { return msName; }

	void SetJoint(iPhysicsJoint *apJoint) { mpJoint = apJoint; }
	iPhysicsJoint *GetJoint() { return mpJoint; }
	void SetBody(iPhysicsBody *apBody) { mpBody = apBody; }
	iPhysicsBody *GetBody() { return mpBody; }

	bool IsActive() { return mbActive; }
	void SetActive(bool abX);

	/*
	 * p in Pid and k in springs
	 */
	void SetA(float afA) { mfA = afA; }
	/*
	 * i in Pid and b in springs
	 */
	void SetB(float afB) { mfB = afB; }
	/*
	 * d in Pid and not used in springs
	 */
	void SetC(float afC) { mfC = afC; }

	void SetPidIntegralSize(int alSize);

	void SetType(ePhysicsControllerType aType) { mType = aType; }

	void SetDestValue(float afX) { mfDestValue = afX; }
	float GetDestValue() { return mfDestValue; }

	void SetMaxOutput(float afX) { mfMaxOutput = afX; }

	void SetInputType(ePhysicsControllerInput aInput, ePhysicsControllerAxis aAxis) {
		mInputType = aInput;
		mInputAxis = aAxis;
	}

	void SetOutputType(ePhysicsControllerOutput aOutput, ePhysicsControllerAxis aAxis) {
		mOutputType = aOutput;
		mOutputAxis = aAxis;
	}
	void SetMulMassWithOutput(bool abX) { mbMulMassWithOutput = abX; }

	void SetEndType(ePhysicsControllerEnd aEnd) { mEndType = aEnd; }
	ePhysicsControllerEnd GetEndType() { return mEndType; }

	void SetNextController(const tString &asName) { msNextController = asName; }
	const tString &GetNextController() { return msNextController; }

	void SetLogInfo(bool abX) { mbLogInfo = abX; }

	void SetPaused(bool abX) { mbPaused = abX; }

	static bool mbUseInputMatrixFix;

	// SaveObject implementation
	virtual iSaveData *CreateSaveData();
	virtual void SaveToSaveData(iSaveData *apSaveData);
	virtual void LoadFromSaveData(iSaveData *apSaveData);
	virtual void SaveDataSetup(cSaveObjectHandler *apSaveObjectHandler, cGame *apGame);

protected:
	cVector3f GetInputValue(ePhysicsControllerInput aInput);
	float GetOutputValue(float afError, float afInput, float afTimeStep);
	void AddOutputValue(ePhysicsControllerOutput aOutput, ePhysicsControllerAxis aAxis,
						float afVal);
	float GetAxisValue(ePhysicsControllerAxis aAxis, const cVector3f &avVec);

	iPhysicsWorld *mpWorld;
	tString msName;

	iPhysicsBody *mpBody;
	iPhysicsJoint *mpJoint;

	float mfA, mfB, mfC;

	float mfDestValue;
	float mfMaxOutput;

	bool mbMulMassWithOutput;

	ePhysicsControllerType mType;

	ePhysicsControllerInput mInputType;
	ePhysicsControllerAxis mInputAxis;

	ePhysicsControllerOutput mOutputType;
	ePhysicsControllerAxis mOutputAxis;

	ePhysicsControllerEnd mEndType;

	tString msNextController;

	cPidControllerf mPidController;

	bool mbActive;
	bool mbPaused;

	bool mbLogInfo;
};

} // namespace hpl

#endif // HPL_PHYSICS_CONTROLLER_H