/* 
 * PROJECT: NyARToolkit
 * --------------------------------------------------------------------------------
 * This work is based on the original ARToolKit developed by
 *   Hirokazu Kato
 *   Mark Billinghurst
 *   HITLab, University of Washington, Seattle
 * http://www.hitl.washington.edu/artoolkit/
 *
 * The NyARToolkit is Java version ARToolkit class library.
 * Copyright (C)2008 R.Iizuka
 *
 * 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/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp>
 * 
 */
package jp.nyatla.nyartoolkit.core.transmat;

import jp.nyatla.nyartoolkit.NyARException;
import jp.nyatla.nyartoolkit.core.NyARSquare;
import jp.nyatla.nyartoolkit.core.param.*;
import jp.nyatla.nyartoolkit.core.transmat.fitveccalc.NyARFitVecCalculator;
import jp.nyatla.nyartoolkit.core.transmat.optimize.*;
import jp.nyatla.nyartoolkit.core.transmat.rotmatrix.*;
import jp.nyatla.nyartoolkit.core.types.*;


/**
 * This class calculates ARMatrix from square information and holds it. --
 * 変換行列を計算して、結果を保持するクラス。
 * 
 */
public class NyARTransMat implements INyARTransMat
{
	private final static double AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR = 1.0;

	private final NyARDoublePoint2d _center=new NyARDoublePoint2d(0,0);
	private final NyARTransOffset _offset=new NyARTransOffset();
	protected NyARRotMatrix _rotmatrix;
	protected NyARFitVecCalculator _calculator;
	protected INyARRotTransOptimize _mat_optimize;

	/**
	 * 派生クラスで自分でメンバオブジェクトを指定したい場合はこちらを使う。
	 *
	 */
	protected NyARTransMat()
	{
		//_calculator,_rotmatrix,_mat_optimizeをコンストラクタの終了後に
		//作成して割り当ててください。
		return;
	}
	public NyARTransMat(NyARParam i_param) throws NyARException
	{
		final NyARCameraDistortionFactor dist=i_param.getDistortionFactor();
		final NyARPerspectiveProjectionMatrix pmat=i_param.getPerspectiveProjectionMatrix();
		this._calculator=new NyARFitVecCalculator(pmat,dist);
		//互換性が重要な時は、NyARRotMatrix_ARToolKitを使うこと。
		//理屈はNyARRotMatrix_NyARToolKitもNyARRotMatrix_ARToolKitも同じだけど、少しだけ値がずれる。
		this._rotmatrix = new NyARRotMatrix_NyARToolKit(pmat);
//		this._rotmatrix = new NyARRotMatrix_ARToolKit(pmat);
		this._mat_optimize=new NyARRotTransOptimize_O2(pmat);
	}

	public void setCenter(double i_x, double i_y)
	{
		this._center.x= i_x;
		this._center.y= i_y;
	}




	/**
	 * 頂点順序をi_directionに対応して並べ替えます。
	 * @param i_square
	 * @param i_direction
	 * @param o_sqvertex_ref
	 * @param o_liner_ref
	 */
	private final void initVertexOrder(NyARSquare i_square, int i_direction, NyARDoublePoint2d[] o_sqvertex_ref, NyARLinear[] o_liner_ref)
	{
		//頂点順序を考慮した矩形の頂点情報
		o_sqvertex_ref[0]= i_square.sqvertex[(4 - i_direction) % 4];
		o_sqvertex_ref[1]= i_square.sqvertex[(5 - i_direction) % 4];
		o_sqvertex_ref[2]= i_square.sqvertex[(6 - i_direction) % 4];
		o_sqvertex_ref[3]= i_square.sqvertex[(7 - i_direction) % 4];	
		o_liner_ref[0]=i_square.line[(4 - i_direction) % 4];
		o_liner_ref[1]=i_square.line[(5 - i_direction) % 4];
		o_liner_ref[2]=i_square.line[(6 - i_direction) % 4];
		o_liner_ref[3]=i_square.line[(7 - i_direction) % 4];
		return;
	}


	private final NyARDoublePoint2d[] __transMat_sqvertex_ref = new NyARDoublePoint2d[4];
	private final NyARLinear[] __transMat_linear_ref=new NyARLinear[4];
	private final NyARDoublePoint3d __transMat_trans=new NyARDoublePoint3d();
	/**
	 * double arGetTransMat( ARMarkerInfo *marker_info,double center[2], double width, double conv[3][4] )
	 * 
	 * @param i_square
	 * 計算対象のNyARSquareオブジェクト
	 * @param i_direction
	 * @param i_width
	 * @return
	 * @throws NyARException
	 */
	public void transMat(final NyARSquare i_square, int i_direction, double i_width, NyARTransMatResult o_result_conv) throws NyARException
	{
		final NyARDoublePoint2d[] sqvertex_ref = __transMat_sqvertex_ref;
		final NyARLinear[] linear_ref=__transMat_linear_ref;
		final NyARDoublePoint3d trans=this.__transMat_trans;
		
		//計算用に頂点情報を初期化（順番調整）
		initVertexOrder(i_square, i_direction, sqvertex_ref,linear_ref);
		
		//基準矩形を設定
		this._offset.setSquare(i_width,this._center);

		// rotationを矩形情報から計算
		this._rotmatrix.initRotBySquare(linear_ref,sqvertex_ref);

		//平行移動量計算機にオフセット頂点をセット
		this._calculator.setOffsetSquare(this._offset);
		
		//平行移動量計算機に適応先矩形の情報をセット
		this._calculator.setFittedSquare(sqvertex_ref);	

		//回転行列の平行移動量の計算
		this._calculator.calculateTransfer(this._rotmatrix,trans);
		
		//計算結果の最適化(this._rotmatrix,trans)
		this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);
		
		// マトリクスの保存
		this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,o_result_conv);
		return;
	}
	/**
	 * double arGetTransMatCont( ARMarkerInfo *marker_info, double prev_conv[3][4],double center[2], double width, double conv[3][4] )
	 * 
	 * @param i_square
	 * @param i_direction
	 * マーカーの方位を指定する。
	 * @param i_width
	 * @param io_result_conv
	 * 計算履歴を持つNyARTransMatResultオブジェクトを指定する。 履歴を持たない場合は、transMatと同じ処理を行う。
	 * @return
	 * @throws NyARException
	 */
	public void transMatContinue(NyARSquare i_square, int i_direction, double i_width, NyARTransMatResult io_result_conv) throws NyARException
	{
		final NyARDoublePoint2d[] sqvertex_ref = __transMat_sqvertex_ref;
		final NyARLinear[] linear_ref=__transMat_linear_ref;
		final NyARDoublePoint3d trans=this.__transMat_trans;

		// io_result_convが初期値なら、transMatで計算する。
		if (!io_result_conv.has_value) {
			this.transMat(i_square, i_direction, i_width, io_result_conv);
			return;
		}
		
		//基準矩形を設定
		this._offset.setSquare(i_width,this._center);

		// rotationを矩形情報を一つ前の変換行列で初期化
		this._rotmatrix.initRotByPrevResult(io_result_conv);

		//平行移動量計算機に、オフセット頂点をセット
		this._calculator.setOffsetSquare(this._offset);
		
		//平行移動量計算機に、適応先矩形の情報をセット
		this._calculator.setFittedSquare(sqvertex_ref);	
				
		//回転行列の平行移動量の計算
		this._calculator.calculateTransfer(this._rotmatrix,trans);
		
		//計算結果の最適化(this._rotmatrix,trans)
		final double err=this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);
		
		//計算結果を保存
		this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,io_result_conv);

		// エラー値が許容範囲でなければTransMatをやり直し
		if (err > AR_GET_TRANS_CONT_MAT_MAX_FIT_ERROR) {
			// rotationを矩形情報で初期化
			this._rotmatrix.initRotBySquare(linear_ref,sqvertex_ref);
			//回転行列の平行移動量の計算
			this._calculator.calculateTransfer(this._rotmatrix,trans);
			//計算結果の最適化(this._rotmatrix,trans)
			final double err2=this._mat_optimize.optimize(this._rotmatrix,trans,this._calculator);
			//エラー値が低かったら値を差換え
			if (err2 < err) {
				// 良い値が取れたら、差換え
				this.updateMatrixValue(this._rotmatrix, this._offset.point, trans,io_result_conv);
			}
		}
		return;
	}
	/**
	 * パラメータで変換行列を更新します。
	 * 
	 * @param i_rot
	 * @param i_off
	 * @param i_trans
	 */
	public void updateMatrixValue(NyARRotMatrix i_rot, NyARDoublePoint3d i_off, NyARDoublePoint3d i_trans,NyARTransMatResult o_result)
	{
		o_result.m00=i_rot.m00;
		o_result.m01=i_rot.m01;
		o_result.m02=i_rot.m02;
		o_result.m03=i_rot.m00 * i_off.x + i_rot.m01 * i_off.y + i_rot.m02 * i_off.z + i_trans.x;

		o_result.m10 = i_rot.m10;
		o_result.m11 = i_rot.m11;
		o_result.m12 = i_rot.m12;
		o_result.m13 = i_rot.m10 * i_off.x + i_rot.m11 * i_off.y + i_rot.m12 * i_off.z + i_trans.y;

		o_result.m20 = i_rot.m20;
		o_result.m21 = i_rot.m21;
		o_result.m22 = i_rot.m22;
		o_result.m23 = i_rot.m20 * i_off.x + i_rot.m21 * i_off.y + i_rot.m22 * i_off.z + i_trans.z;

		o_result.angle.copyFrom(i_rot.refAngle());
		o_result.has_value = true;
		return;
	}	
}
