// Filename: linearEulerIntegrator.cxx
// Created by:  charles (13Jun00)
//
////////////////////////////////////////////////////////////////////
//
// 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 "linearEulerIntegrator.h"
#include "forceNode.h"
#include "physicalNode.h"
#include "config_physics.h"

////////////////////////////////////////////////////////////////////
//     Function : LinearEulerIntegrator
//       Access : Public
//  Description : constructor
////////////////////////////////////////////////////////////////////
LinearEulerIntegrator::
LinearEulerIntegrator() {
}

////////////////////////////////////////////////////////////////////
//     Function : LinearEulerIntegrator
//       Access : Public
//  Description : destructor
////////////////////////////////////////////////////////////////////
LinearEulerIntegrator::
~LinearEulerIntegrator() {
}

////////////////////////////////////////////////////////////////////
//     Function : Integrate
//       Access : Public
//  Description : Integrate a step of motion (based on dt) by
//                applying every force in force_vec to every object
//                in obj_vec.
//                
//                physical,
//                    The objects being acted upon and the
//                    set of local forces that are applied 
//                    after the global forces.
//                forces,
//                    Global forces to be applied first.
//                dt,
//                    The delta time of this integration step.
////////////////////////////////////////////////////////////////////
void LinearEulerIntegrator::
child_integrate(Physical *physical,
                LinearForceVector& forces,
                float dt) {
  // perform the precomputation.  Note that the vector returned by
  // get_precomputed_matrices() has the matrices loaded in order of force
  // type: first global, then local.  If you're using this as a guide to write
  // another integrator, be sure to process your forces global, then local.
  // otherwise your transforms will be VERY bad.
  precompute_linear_matrices(physical, forces);
  const MatrixVector &matrices = get_precomputed_linear_matrices();
#ifndef NDEBUG
  MatrixVector::const_iterator mi;
  for (mi = matrices.begin(); mi != matrices.end(); ++mi) {
    nassertv(!(*mi).is_nan());
  }
#endif  // NDEBUG

  // Get the greater of the local or global viscosity:
  float viscosityDamper=1.0f-physical->get_viscosity();

  // Loop through each object in the set.  This processing occurs in O(pf) time,
  // where p is the number of physical objects and f is the number of
  // forces.  Unfortunately, no precomputation of forces can occur, as
  // each force is possibly contingent on such things as the position and
  // velocity of each physicsobject in the set.  Accordingly, we have
  // to grunt our way through each one.  wrt caching of the xform matrix
  // should help.
  PhysicsObject::Vector::const_iterator current_object_iter;
  current_object_iter = physical->get_object_vector().begin();
  for (; current_object_iter != physical->get_object_vector().end();
       ++current_object_iter) {
    PhysicsObject *current_object = *current_object_iter;

    // bail out if this object doesn't exist or doesn't want to be
    // processed.
    if (current_object == (PhysicsObject *) NULL) {
      continue;
    }
    
    if (current_object->get_active() == false) {
      continue;
    }
    
    LVector3f md_accum_vec; // mass dependent accumulation vector.
    LVector3f non_md_accum_vec;
    LVector3f accel_vec;
    LVector3f vel_vec;
    
    // reset the accumulation vectors for this object
    md_accum_vec.set(0.0f, 0.0f, 0.0f);
    non_md_accum_vec.set(0.0f, 0.0f, 0.0f);

    // run through each acting force and sum it
    LVector3f f;
    //    LMatrix4f force_to_object_xform;

    LinearForceVector::const_iterator f_cur;

    // global forces
    f_cur = forces.begin();
    int index = 0;
    for (; f_cur != forces.end(); ++f_cur) {
      LinearForce *cur_force = *f_cur;

      // make sure the force is turned on.
      if (cur_force->get_active() == false) {
        continue;
      }

      // now we go from force space to our object's space.
      f = cur_force->get_vector(current_object) * matrices[index++];

      physics_spam("child_integrate "<<f);
      // tally it into the accum vectors.
      if (cur_force->get_mass_dependent() == true) {
        md_accum_vec += f;
      } else {
        non_md_accum_vec += f;
      }
    }

    // local forces
    f_cur = physical->get_linear_forces().begin();
    for (; f_cur != physical->get_linear_forces().end(); ++f_cur) {
      LinearForce *cur_force = *f_cur;

      // make sure the force is turned on.
      if (cur_force->get_active() == false) {
        continue;
      }

      // go from force space to object space
      f = cur_force->get_vector(current_object) * matrices[index++];

      physics_spam("child_integrate "<<f);
      // tally it into the accum vectors
      if (cur_force->get_mass_dependent() == true) {
        md_accum_vec += f;
      } else {
        non_md_accum_vec += f;
      }
    }

    // get this object's physical info
    LPoint3f pos = current_object->get_position();
    vel_vec = current_object->get_velocity();
    float mass = current_object->get_mass();

    // we want 'a' in F = ma
    // get it by computing F / m
    nassertv(mass != 0.0f);
    accel_vec = md_accum_vec / mass;
    accel_vec += non_md_accum_vec;

    #if 0 //[
    // step the position and velocity
    vel_vec += accel_vec * dt;

    // cap terminal velocity
    float len = vel_vec.length();

    if (len > current_object->get_terminal_velocity()) {
      //cout << "Capping terminal velocity at: " << current_object->get_terminal_velocity() << endl;
      vel_vec *= current_object->get_terminal_velocity() / len;
    }

    pos += vel_vec * dt;
    #else //][
    assert(current_object->get_position()==current_object->get_last_position());
    
    accel_vec*=viscosityDamper;
    
    // x = x + v * t + 0.5 * a * t * t
    pos += vel_vec * dt + 0.5 * accel_vec * dt * dt;
    // v = v + a * t
    vel_vec += accel_vec * dt;
    #endif //]
    
    // and store them back.
    if (!pos.is_nan()) {
      current_object->set_position(pos);
    }
    if (!vel_vec.is_nan()) {
      current_object->set_velocity(vel_vec);
    }
  }
}

////////////////////////////////////////////////////////////////////
//     Function : output
//       Access : Public
//  Description : Write a string representation of this instance to
//                <out>.
////////////////////////////////////////////////////////////////////
void LinearEulerIntegrator::
output(ostream &out) const {
  #ifndef NDEBUG //[
  out<<"LinearEulerIntegrator";
  #endif //] NDEBUG
}

////////////////////////////////////////////////////////////////////
//     Function : write
//       Access : Public
//  Description : Write a string representation of this instance to
//                <out>.
////////////////////////////////////////////////////////////////////
void LinearEulerIntegrator::
write(ostream &out, unsigned int indent) const {
  #ifndef NDEBUG //[
  out.width(indent);
  out<<""<<"LinearEulerIntegrator:\n";
  LinearIntegrator::write(out, indent+2);
  #endif //] NDEBUG
}








