/*=========================================================================

  Program:   Visualization Toolkit
  Module:    $RCSfile: vtkProp3D.cxx,v $

  Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
  All rights reserved.
  See Copyright.txt or http://www.kitware.com/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notice for more information.

=========================================================================*/
#include "vtkProp3D.h"

#include "vtkActor.h"
#include "vtkAssemblyPaths.h"
#include "vtkMath.h"
#include "vtkMatrixToLinearTransform.h"
#include "vtkTransform.h"

#include <math.h>

typedef double (*SqMatPtr)[4];

vtkCxxRevisionMacro(vtkProp3D, "$Revision: 1.36 $");

// Construct with the following defaults: origin(0,0,0) 
// position=(0,0,0) and orientation=(0,0,0). No user defined 
// matrix and no texture map.
vtkProp3D::vtkProp3D()
{
  this->Origin[0] = 0.0;
  this->Origin[1] = 0.0;
  this->Origin[2] = 0.0;

  this->Position[0] = 0.0;
  this->Position[1] = 0.0;
  this->Position[2] = 0.0;

  this->Orientation[0] = 0.0;
  this->Orientation[1] = 0.0;
  this->Orientation[2] = 0.0;

  this->Scale[0] = 1.0;
  this->Scale[1] = 1.0;
  this->Scale[2] = 1.0;

  vtkMath::UninitializeBounds(this->Bounds);

  this->Center[0] = this->Center[1] = this->Center[2] = 0.0;

  this->UserMatrix = NULL;
  this->UserTransform = NULL;
  this->Matrix = vtkMatrix4x4::New();
  this->Transform = vtkTransform::New();
  
  this->CachedProp3D = NULL;
  this->IsIdentity = 1;
}

vtkProp3D::~vtkProp3D()
{
  this->Matrix->Delete();
  this->Transform->Delete();
  if (this->UserMatrix)
    {
    this->UserMatrix->UnRegister(this);
    this->UserMatrix = NULL;
    }
  if (this->CachedProp3D)
    {
    this->CachedProp3D->Delete();
    this->CachedProp3D = NULL;
    }
  if (this->UserTransform)
    {
    this->UserTransform->UnRegister(this);
    this->UserTransform = NULL;
    }
}

unsigned long int vtkProp3D::GetMTime()
{
  unsigned long mTime=this->Superclass::GetMTime();
  unsigned long time;

  time = this->GetUserTransformMatrixMTime();
  mTime = ( time > mTime ? time : mTime );

  return mTime;
}

unsigned long int vtkProp3D::GetUserTransformMatrixMTime()
{
  unsigned long mTime = 0;
  unsigned long time;

  // Factored out of GetMTime because there are times we want
  // just this information, without being influenced by other
  // changes that affect this class's or a subclass's mtime.
  // (E.g. see vtkLODProp3D)
  if ( this->UserMatrix != NULL )
    {
    mTime = this->UserMatrix->GetMTime();
    }

  if ( this->UserTransform != NULL )
    {
    time = this->UserTransform->GetMTime();
    mTime = ( time > mTime ? time : mTime );
    }


  return mTime;
}

// Incrementally change the position of the Prop3D.
void vtkProp3D::AddPosition (double deltaX,double deltaY,double deltaZ)
{
  double position[3];

  position[0] = this->Position[0] + deltaX;
  position[1] = this->Position[1] + deltaY;
  position[2] = this->Position[2] + deltaZ;
  
  this->SetPosition(position);
  this->IsIdentity = 0;
}

void vtkProp3D::AddPosition (double deltaPosition[3])
{
  this->AddPosition (deltaPosition[0], deltaPosition[1], deltaPosition[2]);
  this->IsIdentity = 0;
}

// Sets the orientation of the Prop3D.  Orientation is specified as X,Y and Z
// rotations in that order, but they are performed as RotateZ, RotateX, and
// finally RotateY.
void vtkProp3D::SetOrientation (double x,double y,double z)
{
  // compute the orientation of the transformation matrix
  // as is done in GetOrientation to make sure we are consistent
  this->Transform->GetOrientation(this->Orientation);

  if (x == this->Orientation[0] && y == this->Orientation[1] 
      && z == this->Orientation[2])
    {
    return;
    }
  this->IsIdentity = 0;
    
  // store the coordinates
  this->Orientation[0] = x;
  this->Orientation[1] = y;
  this->Orientation[2] = z;

  vtkDebugMacro(<< " Orientation set to ( " 
                << this->Orientation[0] << ", "
                << this->Orientation[1] << ", " 
                << this->Orientation[2] << ")\n");

  this->Transform->Identity();
  this->Transform->PreMultiply ();
  this->Transform->RotateZ(this->Orientation[2]);
  this->Transform->RotateX(this->Orientation[0]);
  this->Transform->RotateY(this->Orientation[1]);

  this->Modified();
}
void vtkProp3D::SetOrientation(double a[3])
{
  this->SetOrientation(a[0],a[1],a[2]);
}

// Returns the orientation of the Prop3D as s vector of X,Y and Z rotation.
// The ordering in which these rotations must be done to generate the same
// matrix is RotateZ, RotateX, and finally RotateY. See also SetOrientation.
double *vtkProp3D::GetOrientation ()
{
  // return the orientation of the transformation matrix
  this->Transform->GetOrientation(this->Orientation);

  vtkDebugMacro(<< " Returning Orientation of ( " <<  this->Orientation[0] 
  << ", " << this->Orientation[1] << ", " << this->Orientation[2] << ")\n");

  return this->Orientation;
} // vtkProp3D::Getorientation 

void vtkProp3D::GetOrientation (double o[3])
{
  // return the orientation of the transformation matrix
  this->Transform->GetOrientation(o);
  vtkDebugMacro(<< " Returning Orientation of ( " <<  o[0] 
                << ", " << o[1] << ", " << o[2] << ")\n");

} // vtkProp3D::Getorientation 

// Returns the WXYZ orientation of the Prop3D. 
double *vtkProp3D::GetOrientationWXYZ()
{
  return this->Transform->GetOrientationWXYZ();
}

// Add to the current orientation. See SetOrientation and GetOrientation for 
// more details. This basically does a GetOrientation, adds the passed in
// arguments, and then calls SetOrientation.
void vtkProp3D::AddOrientation (double a1,double a2,double a3)
{
  double orient[3];

  this->GetOrientation(orient);
  this->SetOrientation(orient[0] + a1,
                       orient[1] + a2,
                       orient[2] + a3);
} 
void vtkProp3D::AddOrientation(double a[3])
{
  this->AddOrientation(a[0],a[1],a[2]);
}

// Rotate the Prop3D in degrees about the X axis using the right hand
// rule. The axis is the Prop3D's X axis, which can change as other rotations
// are performed.  To rotate about the world X axis use RotateWXYZ (angle, 1,
// 0, 0). This rotation is applied before all others in the current
// transformation matrix.
void vtkProp3D::RotateX (double angle)
{
  this->IsIdentity = 0;
  this->Transform->PreMultiply ();
  this->Transform->RotateX(angle);
  this->Modified();
} 

// Rotate the Prop3D in degrees about the Y axis using the right hand
// rule. The axis is the Prop3D's Y axis, which can change as other rotations
// are performed.  To rotate about the world Y axis use RotateWXYZ (angle, 0,
// 1, 0). This rotation is applied before all others in the current
// transformation matrix.
void vtkProp3D::RotateY (double angle)
{
  this->IsIdentity = 0;
  this->Transform->PreMultiply ();
  this->Transform->RotateY(angle);
  this->Modified();
} 

// Rotate the Prop3D in degrees about the Z axis using the right hand
// rule. The axis is the Prop3D's Z axis, which can change as other rotations
// are performed.  To rotate about the world Z axis use RotateWXYZ (angle, 0,
// 0, 1). This rotation is applied before all others in the current
// transformation matrix.

void vtkProp3D::RotateZ (double angle)
{
  this->IsIdentity = 0;
  this->Transform->PreMultiply ();
  this->Transform->RotateZ(angle);
  this->Modified();
} 

// Rotate the Prop3D in degrees about an arbitrary axis specified by the 
// last three arguments. The axis is specified in world coordinates. To
// rotate an about its model axes, use RotateX, RotateY, RotateZ.
void vtkProp3D::RotateWXYZ (double degree, double x, double y, double z)
{
  this->IsIdentity = 0;
  this->Transform->PostMultiply();  
  this->Transform->RotateWXYZ(degree,x,y,z);
  this->Transform->PreMultiply();  
  this->Modified();
}

void vtkProp3D::SetUserTransform(vtkLinearTransform *transform)
{
  this->IsIdentity = 0;
  if (transform == this->UserTransform) 
    { 
    return; 
    }
  if (this->UserTransform) 
    {
    this->UserTransform->Delete();
    this->UserTransform = NULL;
    }
  if (this->UserMatrix) 
    {
    this->UserMatrix->Delete();
    this->UserMatrix = NULL;
    }
  if (transform)
    {
    this->UserTransform = transform;
    this->UserTransform->Register(this);
    this->UserMatrix = transform->GetMatrix();
    this->UserMatrix->Register(this);
    }
  this->Modified();
}

void vtkProp3D::SetUserMatrix(vtkMatrix4x4 *matrix)
{
  this->IsIdentity = 0;
  if (matrix == this->UserMatrix) 
    { 
    return; 
    }
  if (this->UserTransform) 
    { 
    this->UserTransform->Delete();
    this->UserTransform = NULL;
    }
  if (this->UserMatrix) 
    {
    this->UserMatrix->Delete();
    this->UserMatrix = NULL;
    }
  if (matrix)
    {
    this->UserMatrix = matrix; 
    this->UserMatrix->Register(this);
    vtkMatrixToLinearTransform *transform = vtkMatrixToLinearTransform::New();
    // Consistent Register and UnRegisters.
    transform->Register(this);
    transform->Delete();
    transform->SetInput(matrix);
    this->UserTransform = transform;
    }
  this->Modified();
}

void vtkProp3D::GetMatrix(vtkMatrix4x4 *result)
{
  this->GetMatrix(&result->Element[0][0]);
  result->Modified();
}

void vtkProp3D::GetMatrix(double result[16])
{
  this->ComputeMatrix();
  vtkMatrix4x4::DeepCopy(result,this->Matrix);
}

void vtkProp3D::ComputeMatrix()
{
  if (this->IsIdentity)
    {
    return;
    }

  // check whether or not need to rebuild the matrix
  if ( this->GetMTime() > this->MatrixMTime )
    {
    this->GetOrientation();
    this->Transform->Push();  
    this->Transform->Identity();  
    this->Transform->PostMultiply();  
    
    // shift back to actor's origin
    this->Transform->Translate(-this->Origin[0],
                              -this->Origin[1],
                              -this->Origin[2]);

    // scale
    this->Transform->Scale(this->Scale[0],
                          this->Scale[1],
                          this->Scale[2]);
    
    // rotate
    this->Transform->RotateY(this->Orientation[1]);
    this->Transform->RotateX(this->Orientation[0]);
    this->Transform->RotateZ(this->Orientation[2]);
    
    // move back from origin and translate
    this->Transform->Translate(this->Origin[0] + this->Position[0],
                              this->Origin[1] + this->Position[1],
                              this->Origin[2] + this->Position[2]);

    // apply user defined transform last if there is one 
    if (this->UserTransform)
      {
      this->Transform->Concatenate(this->UserTransform->GetMatrix());
      }

    this->Transform->PreMultiply();  
    this->Transform->GetMatrix(this->Matrix);
    this->MatrixMTime.Modified();
    this->Transform->Pop();  
    }
} 


// Get the bounds for this Prop3D as (Xmin,Xmax,Ymin,Ymax,Zmin,Zmax).
void vtkProp3D::GetBounds(double bounds[6])
{
  this->GetBounds();
  for (int i=0; i<6; i++)
    {
    bounds[i] = this->Bounds[i];
    }
}

// Get the center of the bounding box in world coordinates.
double *vtkProp3D::GetCenter()
{
  this->GetBounds();
  this->Center[0] = (this->Bounds[1] + this->Bounds[0])/2.0;
  this->Center[1] = (this->Bounds[3] + this->Bounds[2])/2.0;
  this->Center[2] = (this->Bounds[5] + this->Bounds[4])/2.0;
  
  return this->Center;
}

// Get the length of the diagonal of the bounding box.
double vtkProp3D::GetLength()
{
  double diff, l=0.0;
  int i;

  this->GetBounds();
  for (i=0; i<3; i++)
    {
    diff = this->Bounds[2*i+1] - this->Bounds[2*i];
    l += diff * diff;
    }
 
  return (double)sqrt(l);
}

// Get the Prop3D's x range in world coordinates.
double *vtkProp3D::GetXRange()
{
  this->GetBounds();
  return this->Bounds;
}

// Get the Prop3D's y range in world coordinates.
double *vtkProp3D::GetYRange()
{
  this->GetBounds();
  return &(this->Bounds[2]);
}

// Get the Prop3D's z range in world coordinates.
double *vtkProp3D::GetZRange()
{
  this->GetBounds();
  return &(this->Bounds[4]);
}

// Shallow copy of vtkProp3D.
void vtkProp3D::ShallowCopy(vtkProp *prop)
{
  int i;
  vtkProp3D *p = vtkProp3D::SafeDownCast(prop);

  if ( p != NULL )
    {
    for (i=0; i < 3; i++) 
      {
      this->Origin[i] = p->Origin[i];
      this->Position[i] = p->Position[i];
      this->Orientation[i] = p->Orientation[i];
      this->Center[i] = p->Center[i];
      this->Scale[i] = p->Scale[i];
      }
    this->Transform->DeepCopy(p->Transform);

    for (i=0; i < 6; i++)
      {
      this->Bounds[i] = p->Bounds[i];
      }

    this->SetUserTransform(p->UserTransform);
    }

  // Now do superclass
  this->vtkProp::ShallowCopy(prop);
}

// Backdoor allows temporary replacement of matrix in vtkProp3D
void vtkProp3D::PokeMatrix(vtkMatrix4x4 *matrix)
{
  // If non-NULL matrix is provided, then we set ourselves up to
  // have a state consistent with the provided matrix. (The idea
  // is to make sure the GetMatrix() call works properly.)
  if ( matrix != NULL ) //set a new transformation
    {
    if ( this->CachedProp3D == NULL )
      {
      this->CachedProp3D = vtkActor::New();
      }

    //The cached Prop3D stores our current values
    //Note: the orientation ivar is not used since the
    //orientation is determined from the transform.
    if ( this->UserTransform && 
         this->UserTransform->GetMatrix() == this->UserMatrix )
      {
      this->CachedProp3D->SetUserTransform(this->UserTransform);
      }
    else
      {
      this->CachedProp3D->SetUserMatrix(this->UserMatrix);
      }
    this->CachedProp3D->SetOrigin(this->Origin);
    this->CachedProp3D->SetPosition(this->Position);
    this->CachedProp3D->SetOrientation(this->Orientation);
    this->CachedProp3D->SetScale(this->Scale);
    this->CachedProp3D->Transform->SetMatrix(this->Transform->GetMatrix());

    //Set the current transformation variables to "non-transformed"
    this->Origin[0] = 0.0; this->Origin[1] = 0.0; this->Origin[2] = 0.0;
    this->Position[0] = 0.0; this->Position[1] = 0.0; this->Position[2] = 0.0;
    this->Scale[0] = 1.0; this->Scale[1] = 1.0; this->Scale[2] = 1.0;
    this->Transform->Identity();

    //the poked matrix is set as the UserMatrix. Since everything else is
    //"non-transformed", this is the final transformation.
    this->SetUserMatrix(matrix);
    }
  else //we restore our original state
    {
    this->CachedProp3D->GetOrigin(this->Origin);
    this->CachedProp3D->GetPosition(this->Position);
    this->CachedProp3D->GetScale(this->Scale);
    if ( this->CachedProp3D->UserTransform &&
         this->CachedProp3D->UserTransform->GetMatrix() == 
         this->CachedProp3D->UserMatrix )
      {
      this->SetUserTransform(this->CachedProp3D->UserTransform);
      }
    else
      {
      this->SetUserMatrix(this->CachedProp3D->UserMatrix);
      }
    this->CachedProp3D->SetUserTransform(NULL);
    this->Transform->SetMatrix(this->CachedProp3D->GetMatrix());
    this->Modified();
    }
}

void vtkProp3D::InitPathTraversal()
{
  if ( this->Paths )
    {
    this->Paths->Delete();
    }
  this->Paths = vtkAssemblyPaths::New();
  vtkAssemblyPath *path = vtkAssemblyPath::New();
  path->AddNode(this,this->GetMatrix());
  this->BuildPaths(this->Paths,path);
  path->Delete();

  this->Paths->InitTraversal();
}

vtkMatrix4x4* vtkProp3D::GetUserMatrix() 
{ 
  if (this->UserTransform) 
    { 
    this->UserTransform->Update(); 
    }
  return this->UserMatrix; 
}

void vtkProp3D::PrintSelf(ostream& os, vtkIndent indent)
{
  this->Superclass::PrintSelf(os,indent);

  os << indent << "IsIdentity: " << (this->IsIdentity ? "true" : "false") << "\n";

  os << indent << "Position: (" << this->Position[0] << ", " 
     << this->Position[1] << ", " << this->Position[2] << ")\n";

  os << indent << "Orientation: (" << this->Orientation[0] << ", " 
     << this->Orientation[1] << ", " << this->Orientation[2] << ")\n";

  os << indent << "Origin: (" << this->Origin[0] << ", " 
     << this->Origin[1] << ", " << this->Origin[2] << ")\n";

  os << indent << "Scale: (" << this->Scale[0] << ", " 
     << this->Scale[1] << ", " << this->Scale[2] << ")\n";
  
  double *bounds = this->GetBounds();
  if ( bounds != NULL )
    {
    os << indent << "Bounds: \n";
    os << indent << "  Xmin,Xmax: (" 
       << this->Bounds[0] << ", " << this->Bounds[1] << ")\n";
    os << indent << "  Ymin,Ymax: (" 
       << this->Bounds[2] << ", " << this->Bounds[3] << ")\n";
    os << indent << "  Zmin,Zmax: (" 
       << this->Bounds[4] << ", " << this->Bounds[5] << ")\n";
    }
  else
    {
    os << indent << "Bounds: (not defined)\n";
    }

  os << indent << "UserTransform: ";
  if (this->UserTransform)
    {
    os << this->UserTransform << "\n"; 
    }
  else
    {
    os << "(none)\n";
    }

  os << indent << "UserMatrix: ";
  if (this->UserMatrix)
    {
    os << this->UserMatrix << "\n"; 
    }
  else
    {
    os << "(none)\n";
    }
}