// Filename: animChannelMatrixXfmTable.cxx
// Created by:  drose (20Feb99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001 - 2004, Disney Enterprises, Inc.  All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license.  You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://etc.cmu.edu/panda3d/docs/license/ .
//
// To contact the maintainers of this program write to
// panda3d-general@lists.sourceforge.net .
//
////////////////////////////////////////////////////////////////////


#include "animChannelMatrixXfmTable.h"
#include "animBundle.h"
#include "config_chan.h"

#include "compose_matrix.h"
#include "indent.h"
#include "datagram.h"
#include "datagramIterator.h"
#include "bamReader.h"
#include "bamWriter.h"
#include "fftCompressor.h"
#include "config_linmath.h"

TypeHandle AnimChannelMatrixXfmTable::_type_handle;

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::Constructor
//       Access: Public
//  Description:
////////////////////////////////////////////////////////////////////
AnimChannelMatrixXfmTable::
AnimChannelMatrixXfmTable(AnimGroup *parent, const string &name)
  : AnimChannelMatrix(parent, name) {
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::Constructor
//       Access: Protected
//  Description: Used only for bam loader.
/////////////////////////////////////////////////////////////
AnimChannelMatrixXfmTable::
AnimChannelMatrixXfmTable() {
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::Destructor
//       Access: Public, Virtual
//  Description: 
/////////////////////////////////////////////////////////////
AnimChannelMatrixXfmTable::
~AnimChannelMatrixXfmTable() {
}


////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::has_changed
//       Access: Public, Virtual
//  Description: Returns true if the value has changed since the last
//               call to has_changed().  last_frame is the frame
//               number of the last call; this_frame is the current
//               frame number.
////////////////////////////////////////////////////////////////////
bool AnimChannelMatrixXfmTable::
has_changed(double last_frame, double this_frame) {
  if (last_frame != this_frame) {
    int last_i_frame = (int)floor(last_frame);
    int next_i_frame = (int)ceil(this_frame);
    for (int i = 0; i < num_matrix_components; i++) {
      if (_tables[i].size() > 1) {
        if (_tables[i][last_i_frame % _tables[i].size()] !=
            _tables[i][next_i_frame % _tables[i].size()]) {
          return true;
        }
      }
    }
  }

  return false;
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_value
//       Access: Public, Virtual
//  Description: Gets the value of the channel at the indicated frame.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_value(int frame, LMatrix4f &mat) {
  float components[num_matrix_components];

  for (int i = 0; i < num_matrix_components; i++) {
    if (_tables[i].empty()) {
      components[i] = get_default_value(i);
    } else {
      components[i] = _tables[i][frame % _tables[i].size()];
    }
  }

  compose_matrix(mat, components);
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_value_no_scale_shear
//       Access: Public, Virtual
//  Description: Gets the value of the channel at the indicated frame,
//               without any scale or shear information.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_value_no_scale_shear(int frame, LMatrix4f &mat) {
  float components[num_matrix_components];
  components[0] = 1.0f;
  components[1] = 1.0f;
  components[2] = 1.0f;
  components[3] = 0.0f;
  components[4] = 0.0f;
  components[5] = 0.0f;

  for (int i = 6; i < num_matrix_components; i++) {
    if (_tables[i].empty()) {
      components[i] = get_default_value(i);
    } else {
      components[i] = _tables[i][frame % _tables[i].size()];
    }
  }

  compose_matrix(mat, components);
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_scale
//       Access: Public, Virtual
//  Description: Gets the scale value at the indicated frame.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_scale(int frame, LVecBase3f &scale) {
  for (int i = 0; i < 3; i++) {
    if (_tables[i].empty()) {
      scale[i] = 1.0f;
    } else {
      scale[i] = _tables[i][frame % _tables[i].size()];
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_hpr
//       Access: Public, Virtual
//  Description: Returns the h, p, and r components associated
//               with the current frame.  As above, this only makes
//               sense for a matrix-type channel.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_hpr(int frame, LVecBase3f &hpr) {
  for (int i = 0; i < 3; i++) {
    if (_tables[i + 6].empty()) {
      hpr[i] = 0.0f;
    } else {
      hpr[i] = _tables[i + 6][frame % _tables[i + 6].size()];
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_quat
//       Access: Public, Virtual
//  Description: Returns the rotation component associated with the
//               current frame, expressed as a quaternion.  As above,
//               this only makes sense for a matrix-type channel.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_quat(int frame, LQuaternionf &quat) {
  LVecBase3f hpr;
  for (int i = 0; i < 3; i++) {
    if (_tables[i + 6].empty()) {
      hpr[i] = 0.0f;
    } else {
      hpr[i] = _tables[i + 6][frame % _tables[i + 6].size()];
    }
  }

  quat.set_hpr(hpr);
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_pos
//       Access: Public, Virtual
//  Description: Returns the x, y, and z translation components
//               associated with the current frame.  As above, this
//               only makes sense for a matrix-type channel.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_pos(int frame, LVecBase3f &pos) {
  for (int i = 0; i < 3; i++) {
    if (_tables[i + 9].empty()) {
      pos[i] = 0.0f;
    } else {
      pos[i] = _tables[i + 9][frame % _tables[i + 9].size()];
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_shear
//       Access: Public, Virtual
//  Description: Returns the a, b, and c shear components associated
//               with the current frame.  As above, this only makes
//               sense for a matrix-type channel.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
get_shear(int frame, LVecBase3f &shear) {
  for (int i = 0; i < 3; i++) {
    if (_tables[i + 3].empty()) {
      shear[i] = 0.0f;
    } else {
      shear[i] = _tables[i + 3][frame % _tables[i + 3].size()];
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::set_table
//       Access: Public
//  Description: Assigns the indicated table.  table_id is one of 'i',
//               'j', 'k', for scale, 'a', 'b', 'c' for shear, 'h',
//               'p', 'r', for rotation, and 'x', 'y', 'z', for
//               translation.  The new table must have either zero,
//               one, or get_num_frames() frames.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
set_table(char table_id, const CPTA_float &table) {
  int num_frames = _root->get_num_frames();

  if (table.size() > 1 && (int)table.size() < num_frames) {
    // The new table has an invalid number of frames--it doesn't match
    // the bundle's requirement.
    return;
  }

  int i = get_table_index(table_id);
  if (i < 0) {
    return;
  }

  _tables[i] = table;
}


////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::clear_all_tables
//       Access: Published
//  Description: Removes all the tables from the channel, and resets
//               it to its initial state.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
clear_all_tables() {
  for (int i = 0; i < num_matrix_components; i++) {
    _tables[i] = NULL;
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::write
//       Access: Public, Virtual
//  Description: Writes a brief description of the table and all of
//               its descendants.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
write(ostream &out, int indent_level) const {
  indent(out, indent_level)
    << get_type() << " " << get_name() << " ";

  // Write a list of all the sub-tables that have data.
  bool found_any = false;
  for (int i = 0; i < num_matrix_components; i++) {
    if (!_tables[i].empty()) {
      out << get_table_id(i) << _tables[i].size();
      found_any = true;
    }
  }

  if (!found_any) {
    out << "(no data)";
  }

  if (!_children.empty()) {
    out << " {\n";
    write_descendants(out, indent_level + 2);
    indent(out, indent_level) << "}";
  }

  out << "\n";
}


////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::get_table_index
//       Access: Protected, Static
//  Description: Returns the table index number, a value between 0 and
//               num_matrix_components, that corresponds to the indicate table
//               id.  Returns -1 if the table id is invalid.
////////////////////////////////////////////////////////////////////
int AnimChannelMatrixXfmTable::
get_table_index(char table_id) {
  for (int i = 0; i < num_matrix_components; i++) {
    if (table_id == get_table_id(i)) {
      return i;
    }
  }

  return -1;
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::write_datagram
//       Access: Public
//  Description: Function to write the important information in
//               the particular object to a Datagram
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
write_datagram(BamWriter *manager, Datagram &me) {
  AnimChannelMatrix::write_datagram(manager, me);

  if (compress_channels && !FFTCompressor::is_compression_available()) {
    chan_cat.error()
      << "Compression is not available; writing uncompressed channels.\n";
    compress_channels = false;
  }

  me.add_bool(compress_channels);
  me.add_bool(temp_hpr_fix);

  if (!compress_channels) {
    // Write out everything uncompressed, as a stream of floats.
    for (int i = 0; i < num_matrix_components; i++) {
      me.add_uint16(_tables[i].size());
      for(int j = 0; j < (int)_tables[i].size(); j++) {
        me.add_float32(_tables[i][j]);
      }
    }

  } else {
    // Write out everything using lossy compression.
    FFTCompressor compressor;
    compressor.set_quality(compress_chan_quality);
    compressor.set_use_error_threshold(true);
    compressor.write_header(me);

    // First, write out the scales and shears.
    int i;
    for (i = 0; i < 6; i++) {
      compressor.write_reals(me, _tables[i], _tables[i].size());
    }

    // Now, write out the joint angles.  For these we need to build up
    // a HPR array.
    vector_LVecBase3f hprs;
    int hprs_length =
      max(max(_tables[6].size(), _tables[7].size()), _tables[8].size());
    hprs.reserve(hprs_length);
    for (i = 0; i < hprs_length; i++) {
      float h = _tables[6].empty() ? 0.0f : _tables[6][i % _tables[6].size()];
      float p = _tables[7].empty() ? 0.0f : _tables[7][i % _tables[7].size()];
      float r = _tables[8].empty() ? 0.0f : _tables[8][i % _tables[8].size()];
      hprs.push_back(LVecBase3f(h, p, r));
    }
    compressor.write_hprs(me, &hprs[0], hprs_length);

    // And now the translations.
    for(i = 9; i < num_matrix_components; i++) {
      compressor.write_reals(me, _tables[i], _tables[i].size());
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::fillin
//       Access: Protected
//  Description: Function that reads out of the datagram (or asks
//               manager to read) all of the data that is needed to
//               re-create this object and stores it in the appropiate
//               place
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
fillin(DatagramIterator &scan, BamReader *manager) {
  AnimChannelMatrix::fillin(scan, manager);

  bool wrote_compressed = scan.get_bool();

  bool new_hpr = scan.get_bool();

  if (!wrote_compressed) {
    // Regular floats.

    for (int i = 0; i < num_matrix_components; i++) {
      int size = scan.get_uint16();
      PTA_float ind_table;
      for (int j = 0; j < size; j++) {
        ind_table.push_back(scan.get_float32());
      }
      _tables[i] = ind_table;
    }

    if ((!new_hpr && temp_hpr_fix) || (new_hpr && !temp_hpr_fix)) {
      // Convert between the old HPR form and the new HPR form.
      size_t num_hprs = max(max(_tables[6].size(), _tables[7].size()),
                            _tables[8].size());

      LVecBase3f default_hpr(0.0, 0.0, 0.0);
      if (!_tables[6].empty()) {
        default_hpr[0] = _tables[6][0];
      }
      if (!_tables[7].empty()) {
        default_hpr[1] = _tables[7][0];
      }
      if (!_tables[8].empty()) {
        default_hpr[2] = _tables[8][0];
      }

      PTA_float h_table = PTA_float::empty_array(num_hprs);
      PTA_float p_table = PTA_float::empty_array(num_hprs);
      PTA_float r_table = PTA_float::empty_array(num_hprs);

      for (size_t hi = 0; hi < num_hprs; hi++) {
        float h = (hi < _tables[6].size() ? _tables[6][hi] : default_hpr[0]);
        float p = (hi < _tables[7].size() ? _tables[7][hi] : default_hpr[1]);
        float r = (hi < _tables[8].size() ? _tables[8][hi] : default_hpr[2]);

        LVecBase3f hpr;
        if (temp_hpr_fix) {
          hpr = old_to_new_hpr(LVecBase3f(h, p, r));
        } else {
          hpr = new_to_old_hpr(LVecBase3f(h, p, r));
        }
        h_table[hi] = hpr[0];
        p_table[hi] = hpr[1];
        r_table[hi] = hpr[2];
      }
      _tables[6] = h_table;
      _tables[7] = p_table;
      _tables[8] = r_table;
    }

  } else {
    // Compressed channels.
    if (!read_compressed_channels) {
      chan_cat.info()
        << "Not reading compressed animation channels.\n";
      clear_all_tables();
      return;
    }

    FFTCompressor compressor;
    compressor.read_header(scan, manager->get_file_minor_ver());

    int i;
    // First, read in the scales and shears.
    for (i = 0; i < 3; i++) {
      PTA_float ind_table = PTA_float::empty_array(0);
      compressor.read_reals(scan, ind_table.v());
      _tables[i] = ind_table;
    }
    for (i = 3; i < 6; i++) {
      PTA_float ind_table = PTA_float::empty_array(0);
      compressor.read_reals(scan, ind_table.v());
      _tables[i] = ind_table;
    }

    // Read in the HPR array and store it back in the joint angles.
    vector_LVecBase3f hprs;
    compressor.read_hprs(scan, hprs, new_hpr);
    PTA_float h_table = PTA_float::empty_array(hprs.size());
    PTA_float p_table = PTA_float::empty_array(hprs.size());
    PTA_float r_table = PTA_float::empty_array(hprs.size());

    for (i = 0; i < (int)hprs.size(); i++) {
      if (!new_hpr && temp_hpr_fix) {
        // Convert the old HPR form to the new HPR form.
        LVecBase3f hpr = old_to_new_hpr(hprs[i]);
        h_table[i] = hpr[0];
        p_table[i] = hpr[1];
        r_table[i] = hpr[2];

      } else if (new_hpr && !temp_hpr_fix) {
        // Convert the new HPR form to the old HPR form.
        LVecBase3f hpr = new_to_old_hpr(hprs[i]);
        h_table[i] = hpr[0];
        p_table[i] = hpr[1];
        r_table[i] = hpr[2];

      } else {
        // Store the HPR angle directly.
        h_table[i] = hprs[i][0];
        p_table[i] = hprs[i][1];
        r_table[i] = hprs[i][2];
      }
    }
    _tables[6] = h_table;
    _tables[7] = p_table;
    _tables[8] = r_table;

    // Now read in the translations.
    for (i = 9; i < num_matrix_components; i++) {
      PTA_float ind_table = PTA_float::empty_array(0);
      compressor.read_reals(scan, ind_table.v());
      _tables[i] = ind_table;
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::make_AnimChannelMatrixXfmTable
//       Access: Protected
//  Description: Factory method to generate an
//               AnimChannelMatrixXfmTable object.
////////////////////////////////////////////////////////////////////
TypedWritable *AnimChannelMatrixXfmTable::
make_AnimChannelMatrixXfmTable(const FactoryParams &params) {
  AnimChannelMatrixXfmTable *me = new AnimChannelMatrixXfmTable;
  DatagramIterator scan;
  BamReader *manager;

  parse_params(params, scan, manager);
  me->fillin(scan, manager);
  return me;
}

////////////////////////////////////////////////////////////////////
//     Function: AnimChannelMatrixXfmTable::register_with_factory
//       Access: Public, Static
//  Description: Factory method to generate an
//               AnimChannelMatrixXfmTable object.
////////////////////////////////////////////////////////////////////
void AnimChannelMatrixXfmTable::
register_with_read_factory() {
  BamReader::get_factory()->register_factory(get_class_type(), make_AnimChannelMatrixXfmTable);
}


