/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
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 *   without modification, are permitted provided that the following
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 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
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 */

#include "dart/dynamics/PlanarJoint.hpp"

namespace dart {
namespace dynamics {
namespace detail {

//==============================================================================
PlanarJointUniqueProperties::PlanarJointUniqueProperties(PlaneType _planeType)
{
  switch (_planeType)
  {
    case PlaneType::ARBITRARY:
    case PlaneType::XY:
      setXYPlane();
      mPlaneType
          = _planeType; // In case the PlaneType was supposed to be arbitrary
      break;
    case PlaneType::YZ:
      setYZPlane();
      break;
    case PlaneType::ZX:
      setZXPlane();
      break;
  }
}

//==============================================================================
PlanarJointUniqueProperties::PlanarJointUniqueProperties(
    const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2)
{
  setArbitraryPlane(_transAxis1, _transAxis2);
}

//==============================================================================
PlanarJointUniqueProperties::PlanarJointUniqueProperties(
    const PlanarJointUniqueProperties& other)
{
  switch (other.mPlaneType)
  {
    case PlaneType::ARBITRARY:
      setArbitraryPlane(other.mTransAxis1, other.mTransAxis2);
      break;
    case PlaneType::XY:
      setXYPlane();
      break;
    case PlaneType::YZ:
      setYZPlane();
      break;
    case PlaneType::ZX:
      setZXPlane();
      break;
  }
}

//==============================================================================
PlanarJointUniqueProperties& PlanarJointUniqueProperties::operator=(
    const PlanarJointUniqueProperties& other)
{
  if (this != &other)
  {
    switch (other.mPlaneType)
    {
      case PlaneType::ARBITRARY:
        setArbitraryPlane(other.mTransAxis1, other.mTransAxis2);
        break;
      case PlaneType::XY:
        setXYPlane();
        break;
      case PlaneType::YZ:
        setYZPlane();
        break;
      case PlaneType::ZX:
        setZXPlane();
        break;
    }
  }

  return *this;
}

//==============================================================================
void PlanarJointUniqueProperties::setXYPlane()
{
  mPlaneType = PlaneType::XY;
  mRotAxis = Eigen::Vector3d::UnitZ();
  mTransAxis1 = Eigen::Vector3d::UnitX();
  mTransAxis2 = Eigen::Vector3d::UnitY();
}

//==============================================================================
void PlanarJointUniqueProperties::setYZPlane()
{
  mPlaneType = PlaneType::YZ;
  mRotAxis = Eigen::Vector3d::UnitX();
  mTransAxis1 = Eigen::Vector3d::UnitY();
  mTransAxis2 = Eigen::Vector3d::UnitZ();
}

//==============================================================================
void PlanarJointUniqueProperties::setZXPlane()
{
  mPlaneType = PlaneType::ZX;
  mRotAxis = Eigen::Vector3d::UnitY();
  mTransAxis1 = Eigen::Vector3d::UnitZ();
  mTransAxis2 = Eigen::Vector3d::UnitX();
}

//==============================================================================
void PlanarJointUniqueProperties::setArbitraryPlane(
    const Eigen::Vector3d& _transAxis1, const Eigen::Vector3d& _transAxis2)
{
  // Set plane type as arbitrary plane
  mPlaneType = PlaneType::ARBITRARY;

  // First translational axis
  mTransAxis1 = _transAxis1.normalized();

  // Second translational axis
  mTransAxis2 = _transAxis2.normalized();

  // Orthogonalize translational axes
  double dotProduct = mTransAxis1.dot(mTransAxis2);
  assert(std::abs(dotProduct) < 1.0 - 1e-6);
  if (std::abs(dotProduct) > 1e-6)
    mTransAxis2 = (mTransAxis2 - dotProduct * mTransAxis1).normalized();

  // Rotational axis
  mRotAxis = (mTransAxis1.cross(mTransAxis2)).normalized();
}

//==============================================================================
PlanarJointProperties::PlanarJointProperties(
    const GenericJoint<math::R3Space>::Properties& genericJointProperties,
    const PlanarJointUniqueProperties& planarProperties)
  : GenericJoint<math::R3Space>::Properties(genericJointProperties),
    PlanarJointUniqueProperties(planarProperties)
{
  // Do nothing
}

} // namespace detail
} // namespace dynamics
} // namespace dart
