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#include "dart/constraint/JointCoulombFrictionConstraint.hpp"

#include <iostream>

#include "dart/common/Console.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/Joint.hpp"
#include "dart/dynamics/Skeleton.hpp"

#define DART_CFM 1e-9

namespace dart {
namespace constraint {

double JointCoulombFrictionConstraint::mConstraintForceMixing = DART_CFM;

//==============================================================================
JointCoulombFrictionConstraint::JointCoulombFrictionConstraint(
    dynamics::Joint* _joint)
  : ConstraintBase(),
    mJoint(_joint),
    mBodyNode(_joint->getChildBodyNode()),
    mAppliedImpulseIndex(0)
{
  assert(_joint);
  assert(mBodyNode);

  mLifeTime[0] = 0;
  mLifeTime[1] = 0;
  mLifeTime[2] = 0;
  mLifeTime[3] = 0;
  mLifeTime[4] = 0;
  mLifeTime[5] = 0;

  mActive[0] = false;
  mActive[1] = false;
  mActive[2] = false;
  mActive[3] = false;
  mActive[4] = false;
  mActive[5] = false;
}

//==============================================================================
JointCoulombFrictionConstraint::~JointCoulombFrictionConstraint()
{
}

//==============================================================================
void JointCoulombFrictionConstraint::setConstraintForceMixing(double _cfm)
{
  // Clamp constraint force mixing parameter if it is out of the range
  if (_cfm < 1e-9)
  {
    dtwarn << "Constraint force mixing parameter[" << _cfm
           << "] is lower than 1e-9. "
           << "It is set to 1e-9." << std::endl;
    mConstraintForceMixing = 1e-9;
  }
  if (_cfm > 1.0)
  {
    dtwarn << "Constraint force mixing parameter[" << _cfm
           << "] is greater than 1.0. "
           << "It is set to 1.0." << std::endl;
    mConstraintForceMixing = 1.0;
  }

  mConstraintForceMixing = _cfm;
}

//==============================================================================
double JointCoulombFrictionConstraint::getConstraintForceMixing()
{
  return mConstraintForceMixing;
}

//==============================================================================
void JointCoulombFrictionConstraint::update()
{
  // Reset dimention
  mDim = 0;

  std::size_t dof = mJoint->getNumDofs();
  for (std::size_t i = 0; i < dof; ++i)
  {
    mNegativeVel[i] = -mJoint->getVelocity(i);

    if (mNegativeVel[i] != 0.0)
    {
      double timeStep = mJoint->getSkeleton()->getTimeStep();
      // TODO: There are multiple ways to get time step (or its inverse).
      //   - ContactConstraint get it from the constructor parameter
      //   - Skeleton has it itself.
      //   - ConstraintBase::getInformation() passes ConstraintInfo structure
      //     that contains reciprocal time step.
      // We might need to pick one way and remove the others to get rid of
      // redundancy.

      // Note: Coulomb friction is force not impulse
      mUpperBound[i] = mJoint->getCoulombFriction(i) * timeStep;
      mLowerBound[i] = -mUpperBound[i];

      if (mActive[i])
      {
        ++(mLifeTime[i]);
      }
      else
      {
        mActive[i] = true;
        mLifeTime[i] = 0;
      }

      ++mDim;
    }
    else
    {
      mActive[i] = false;
    }
  }
}

//==============================================================================
void JointCoulombFrictionConstraint::getInformation(ConstraintInfo* _lcp)
{
  std::size_t index = 0;
  std::size_t dof = mJoint->getNumDofs();
  for (std::size_t i = 0; i < dof; ++i)
  {
    if (mActive[i] == false)
      continue;

    assert(_lcp->w[index] == 0.0);

    _lcp->b[index] = mNegativeVel[i];
    _lcp->lo[index] = mLowerBound[i];
    _lcp->hi[index] = mUpperBound[i];

    assert(_lcp->findex[index] == -1);

    if (mLifeTime[i])
      _lcp->x[index] = mOldX[i];
    else
      _lcp->x[index] = 0.0;

    index++;
  }
}

//==============================================================================
void JointCoulombFrictionConstraint::applyUnitImpulse(std::size_t _index)
{
  assert(_index < mDim && "Invalid Index.");

  std::size_t localIndex = 0;
  const dynamics::SkeletonPtr& skeleton = mJoint->getSkeleton();

  std::size_t dof = mJoint->getNumDofs();
  for (std::size_t i = 0; i < dof; ++i)
  {
    if (mActive[i] == false)
      continue;

    if (localIndex == _index)
    {
      skeleton->clearConstraintImpulses();
      mJoint->setConstraintImpulse(i, 1.0);
      skeleton->updateBiasImpulse(mBodyNode);
      skeleton->updateVelocityChange();
      mJoint->setConstraintImpulse(i, 0.0);
    }

    ++localIndex;
  }

  mAppliedImpulseIndex = _index;
}

//==============================================================================
void JointCoulombFrictionConstraint::getVelocityChange(
    double* _delVel, bool _withCfm)
{
  assert(_delVel != nullptr && "Null pointer is not allowed.");

  std::size_t localIndex = 0;
  std::size_t dof = mJoint->getNumDofs();
  for (std::size_t i = 0; i < dof; ++i)
  {
    if (mActive[i] == false)
      continue;

    if (mJoint->getSkeleton()->isImpulseApplied())
      _delVel[localIndex] = mJoint->getVelocityChange(i);
    else
      _delVel[localIndex] = 0.0;

    ++localIndex;
  }

  // Add small values to diagnal to keep it away from singular, similar to cfm
  // varaible in ODE
  if (_withCfm)
  {
    _delVel[mAppliedImpulseIndex]
        += _delVel[mAppliedImpulseIndex] * mConstraintForceMixing;
  }

  assert(localIndex == mDim);
}

//==============================================================================
void JointCoulombFrictionConstraint::excite()
{
  mJoint->getSkeleton()->setImpulseApplied(true);
}

//==============================================================================
void JointCoulombFrictionConstraint::unexcite()
{
  mJoint->getSkeleton()->setImpulseApplied(false);
}

//==============================================================================
void JointCoulombFrictionConstraint::applyImpulse(double* _lambda)
{
  std::size_t localIndex = 0;
  std::size_t dof = mJoint->getNumDofs();
  for (std::size_t i = 0; i < dof; ++i)
  {
    if (mActive[i] == false)
      continue;

    mJoint->setConstraintImpulse(
        i, mJoint->getConstraintImpulse(i) + _lambda[localIndex]);

    mOldX[i] = _lambda[localIndex];

    ++localIndex;
  }
}

//==============================================================================
dynamics::SkeletonPtr JointCoulombFrictionConstraint::getRootSkeleton() const
{
  return mJoint->getSkeleton()->mUnionRootSkeleton.lock();
}

//==============================================================================
bool JointCoulombFrictionConstraint::isActive() const
{
  for (std::size_t i = 0; i < 6; ++i)
  {
    if (mActive[i])
      return true;
  }

  return false;
}

} // namespace constraint
} // namespace dart
