using System;
using System.Collections.Generic;
using System.Text;

using Box2DX.Common;
using Box2DX.Collision;

namespace Box2DX.Dynamics.Controllers
{
	/// <summary>
	/// A controller edge is used to connect bodies and controllers together
	/// in a bipartite graph.
	/// </summary>
	public class ControllerEdge
	{
		public Controller controller;		// provides quick access to other end of this edge.
		public Body body;					// the body
		public ControllerEdge prevBody;		// the previous controller edge in the controllers's joint list
		public ControllerEdge nextBody;		// the next controller edge in the controllers's joint list
		public ControllerEdge prevController;		// the previous controller edge in the body's joint list
		public ControllerEdge nextController;		// the next controller edge in the body's joint list
	}

	/// <summary>
	/// Base class for controllers. Controllers are a convience for encapsulating common
	/// per-step functionality.
	/// </summary>
	public abstract class Controller: IDisposable
	{
		internal Controller _prev;
		internal Controller _next;

		internal World _world;
		protected ControllerEdge _bodyList;
		protected int _bodyCount;

		public Controller()
		{
			_bodyList = null;
			_bodyCount = 0;
		}

		public Controller(World world)
		{
			_bodyList = null;
			_bodyCount = 0;

			_world = world;
		}

		public void Dispose()
		{
			//Remove attached bodies
			while (_bodyCount > 0)
				RemoveBody(_bodyList.body);
		}

		/// <summary>
		/// Controllers override this to implement per-step functionality.
		/// </summary>
		public abstract void Step(TimeStep step);

		/// <summary>
		/// Controllers override this to provide debug drawing.
		/// </summary>
		public virtual void Draw(DebugDraw debugDraw) { }

		/// <summary>
		/// Adds a body to the controller list.
		/// </summary>
		public void AddBody(Body body)
		{
			ControllerEdge edge = new ControllerEdge();
			
			edge.body = body;
			edge.controller = this;
			
			//Add edge to controller list
			edge.nextBody = _bodyList;
			edge.prevBody = null;
			if(_bodyList!=null)
				_bodyList.prevBody = edge;
			_bodyList = edge;
			++_bodyCount;

			//Add edge to body list
			edge.nextController = body._controllerList;
			edge.prevController = null;
			if(body._controllerList!=null)
				body._controllerList.prevController = edge;
			body._controllerList = edge;
		}

		/// <summary>
		/// Removes a body from the controller list.
		/// </summary>
		public void RemoveBody(Body body)
		{
			//Assert that the controller is not empty
			Box2DXDebug.Assert(_bodyCount > 0);

			//Find the corresponding edge
			ControllerEdge edge = _bodyList;
			while (edge!=null && edge.body != body)
				edge = edge.nextBody;

			//Assert that we are removing a body that is currently attached to the controller
			Box2DXDebug.Assert(edge != null);

			//Remove edge from controller list
			if (edge.prevBody!=null)
				edge.prevBody.nextBody = edge.nextBody;
			if (edge.nextBody != null)
				edge.nextBody.prevBody = edge.prevBody;
			if (edge == _bodyList)
				_bodyList = edge.nextBody;
			--_bodyCount;

			//Remove edge from body list
			if (edge.prevController != null)
				edge.prevController.nextController = edge.nextController;
			if (edge.nextController != null)
				edge.nextController.prevController = edge.prevController;
			if (edge == body._controllerList)
				body._controllerList = edge.nextController;

			//Free the edge
			edge = null;
		}

		/// <summary>
		/// Get the next body in the world's body list.
		/// </summary>
		internal Controller GetNext() { return _next; }

		/// <summary>
		/// Get the parent world of this body.
		/// </summary>
		internal World GetWorld() { return _world; }

		/// <summary>
		/// Get the attached body list
		/// </summary>
		internal ControllerEdge GetBodyList() { return _bodyList; }
	}
}