/* 
 * PROJECT: MMD for Java
 * --------------------------------------------------------------------------------
 * This work is based on the ARTK_MMD v0.1 
 *   PY
 * http://ppyy.hp.infoseek.co.jp/
 * py1024<at>gmail.com
 * http://www.nicovideo.jp/watch/sm7398691
 *
 * The MMD for Java is Java version MMD class library.
 * Copyright (C)2009 nyatla
 *
 * 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 2
 * 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 framework; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 * 
 * For further information please contact.
 *	http://nyatla.jp/
 *	<airmail(at)ebony.plala.or.jp>
 * 
 */
package jp.nyatla.nymmd.core;

import jp.nyatla.nymmd.struct.pmd.PMD_Bone;
import jp.nyatla.nymmd.types.*;

public class PmdBone {
	private String _name;
	private final MmdVector3 _pmd_bone_position = new MmdVector3();
	private final MmdVector3 m_vec3Offset = new MmdVector3();
	private final MmdMatrix m_matInvTransform = new MmdMatrix(); // 初期値のボーンを原点に移動させるような行列

	private PmdBone _parent_bone;
	private PmdBone m_pChildBone;

	// 以下は現在の値
	public final MmdMatrix m_matLocal = new MmdMatrix();

	// 強制public
	public final MmdVector3 m_vec3Position = new MmdVector3();
	public final MmdVector4 m_vec4Rotate = new MmdVector4();
	public boolean m_bIKLimitAngle; // IK時に角度制限をするかどうか

	// 強制public/

	public String getName() {
		return this._name;
	}

	public PmdBone(PMD_Bone pPMDBoneData, PmdBone[] pBoneArray) {
		// ボーン名のコピー
		this._name = pPMDBoneData.szName;

		// 位置のコピー
		this._pmd_bone_position.setValue(pPMDBoneData.vec3Position);

		// 親ボーンの設定
		if (pPMDBoneData.nParentNo != -1 && pBoneArray[pPMDBoneData.nParentNo] != null) {
			this._parent_bone = pBoneArray[pPMDBoneData.nParentNo];
			m_vec3Offset.Vector3Sub(this._pmd_bone_position,
					this._parent_bone._pmd_bone_position);
		} else {
			// 親なし
			this._parent_bone = null;
			this.m_vec3Offset.setValue(this._pmd_bone_position);
		}

		// 子ボーンの設定
		if (pPMDBoneData.nChildNo != -1) {
			this.m_pChildBone = pBoneArray[pPMDBoneData.nChildNo];
		}

		this.m_matInvTransform.MatrixIdentity();
		this.m_matInvTransform.m[3][0] = -this._pmd_bone_position.x;
		this.m_matInvTransform.m[3][1] = -this._pmd_bone_position.y;
		this.m_matInvTransform.m[3][2] = -this._pmd_bone_position.z;

		this.m_bIKLimitAngle = false;

		// 各変数の初期値を設定
		reset();
	}

	public void recalcOffset() {
		if (this._parent_bone != null) {
			m_vec3Offset.Vector3Sub(this._pmd_bone_position,
					this._parent_bone._pmd_bone_position);
		}
		return;
	}

	public void reset() {
		m_vec3Position.x = m_vec3Position.y = m_vec3Position.z = 0.0f;
		m_vec4Rotate.x = m_vec4Rotate.y = m_vec4Rotate.z = 0.0f;
		m_vec4Rotate.w = 1.0f;

		this.m_matLocal.MatrixIdentity();
		this.m_matLocal.m[3][0] = _pmd_bone_position.x;
		this.m_matLocal.m[3][1] = _pmd_bone_position.y;
		this.m_matLocal.m[3][2] = _pmd_bone_position.z;
	}

	public void setIKLimitAngle(boolean i_value) {
		this.m_bIKLimitAngle = i_value;
		return;
	}

	public void updateSkinningMat(MmdMatrix o_matrix) {
		o_matrix.MatrixMultiply(this.m_matInvTransform, this.m_matLocal);
		return;
	}

	public void updateMatrix() {
		// クォータニオンと移動値からボーンのローカルマトリックスを作成
		this.m_matLocal.QuaternionToMatrix(this.m_vec4Rotate);
		this.m_matLocal.m[3][0] = m_vec3Position.x + m_vec3Offset.x;
		this.m_matLocal.m[3][1] = m_vec3Position.y + m_vec3Offset.y;
		this.m_matLocal.m[3][2] = m_vec3Position.z + m_vec3Offset.z;

		// 親があるなら親の回転を受け継ぐ
		if (this._parent_bone != null) {
			m_matLocal.MatrixMultiply(m_matLocal, this._parent_bone.m_matLocal);
		}
		return;
	}

	private final MmdMatrix _lookAt_matTemp = new MmdMatrix();
	private final MmdMatrix _lookAt_matInvTemp = new MmdMatrix();
	private final MmdVector3 _lookAt_vec3LocalTgtPosZY = new MmdVector3();
	private final MmdVector3 _lookAt_vec3LocalTgtPosXZ = new MmdVector3();
	private final MmdVector3 _lookAt_vec3Angle = new MmdVector3();

	public void lookAt(MmdVector3 pvecTargetPos) {
		// どうもおかしいので要調整
		final MmdMatrix matTemp = this._lookAt_matTemp;
		final MmdMatrix matInvTemp = this._lookAt_matInvTemp;
		final MmdVector3 vec3LocalTgtPosZY = this._lookAt_vec3LocalTgtPosZY;
		final MmdVector3 vec3LocalTgtPosXZ = this._lookAt_vec3LocalTgtPosXZ;

		matTemp.MatrixIdentity();
		matTemp.m[3][0] = m_vec3Position.x + m_vec3Offset.x;
		matTemp.m[3][1] = m_vec3Position.y + m_vec3Offset.y;
		matTemp.m[3][2] = m_vec3Position.z + m_vec3Offset.z;

		if (this._parent_bone != null) {
			matInvTemp.MatrixInverse(_parent_bone.m_matLocal);
			matTemp.MatrixMultiply(matTemp, matInvTemp);
		}
		matTemp.MatrixInverse(matTemp);

		vec3LocalTgtPosZY.Vector3Transform(pvecTargetPos, matTemp);

		vec3LocalTgtPosXZ.setValue(vec3LocalTgtPosZY);
		vec3LocalTgtPosXZ.y = 0.0f;
		vec3LocalTgtPosXZ.Vector3Normalize(vec3LocalTgtPosXZ);

		vec3LocalTgtPosZY.x = 0.0f;
		vec3LocalTgtPosZY.Vector3Normalize(vec3LocalTgtPosZY);

		MmdVector3 vec3Angle = this._lookAt_vec3Angle;
		vec3Angle.x = vec3Angle.y = vec3Angle.z = 0;

		if (vec3LocalTgtPosZY.z > 0.0f) {
			vec3Angle.x = (float) (Math.asin(vec3LocalTgtPosZY.y) - (20.0 * Math.PI / 180.0));
		}
		if (vec3LocalTgtPosXZ.x < 0.0f) {
			vec3Angle.y = (float) Math.acos(vec3LocalTgtPosXZ.z);
		} else {
			vec3Angle.y = (float) -Math.acos(vec3LocalTgtPosXZ.z);
		}

		if (vec3Angle.x < (-25.0 * Math.PI / 180.0)) {
			vec3Angle.x = (float) (-25.0 * Math.PI / 180.0);
		}
		if ((45.0f * Math.PI / 180.0) < vec3Angle.x) {
			vec3Angle.x = (float) (45.0 * Math.PI / 180.0);
		}
		if (vec3Angle.y < (-80.0 * Math.PI / 180.0)) {
			vec3Angle.y = (float) (-80.0 * Math.PI / 180.0);
		}
		if ((80.0 * Math.PI / 180.0) < vec3Angle.y) {
			vec3Angle.y = (float) (80.0 * Math.PI / 180.0);
		}

		m_vec4Rotate.QuaternionCreateEuler(vec3Angle);
	}
}
