#ifndef MOTIONCAPTURER_H
#define MOTIONCAPTURER_H

#include "proj.h"

// for bvh parser, assume MAX MAX_CHILDREN joints from a root


typedef enum {

  ROOT		= 0,
  JOINT		= 1,
  END_SITE	= 2

} Segtype;


typedef struct Ancestry{

	Node		*node;
	Ancestry	*child;

} Ancestry;


struct Node {

  char		name[40];
  Segtype	type;
  double	offset[4];	// translation offset.  offset[3]=1=w(homogenous thing)
  int		e_off;		// offset WITHIN A FRAME to the euler array in MotionCapturer. 
  int		q_off;		// offset WITHIN A FRAME to the quatern array in MotionCapturer. 


  int   	chan_cnt; // has to be 3 or 6

  bool		b_first3trans;
	/* indicate order of chans: 3 trans channels first or rot first
		true if first 3 chan are transl, false if rot first 
		only used during parsing for generalized parsing.
	*/

  Node *children[MAX_CHILDREN];
  int		children_cnt;

  Node	*parent;	// parent joint.

  // for proj3
  Ancestry     *ancestors;
  GLuint	pickname;	// for 3D picking
  Point4D	gb_curPos;	// 4D(x,y,z,w) coord of this node at cur frame in last iteration

  Point4D       lc_goalPos;    // goal's local pos in local coord
  Point4D	gb_potPos;	// potential 4D(x,y,z,w) coord of this node at cur frame in next iter  
  
  Bone *bone;

  double dist_root2node_nat;	// natural dist to root: = node pos - root pos
  double dist_root2node_max;	// max dist to root = all bone len to get to root
  double v4_dist_root2node[4];	
  double v4_dist_root2node_nat[4];	

 };


struct Bone {

  Node *pnode;
  Node *cnode;
  JointType joint_type;
  double jAxis_ang;
  double j_ang_lim;
  double ang_twist_lim;
  double ang_twist;
  double v4_natural[4];
  double v4_central[4];
  double q_nat2cen[4];	// quat to rot from natural to central vec
  double len;
};



class MotionCapturer {

public:
	Node	*root;
	int		rot_cnt;	// number of nodes having rotations (root + joints)
	int		ends_cnt;	// number of endsites
	int		frame_cnt;	// number of frames in this anim
	double	frame_time;	// time in sec for each frame

	double	*trans;	
		/* arr of root's translation at each frame.
			arr size = 3 * root_cnt * frame_cnt, root_cnt is usually 1	
		*/

	double	*euler;		
		/* arr of euler rotations read from .bvh file.  each rotation angle in zxy order.
			and each rotation specified in hierachy order.  
			Also all rotations are specified for one frame before the next frame.
			arr size = 3 * node_cnt * frame_cnt.
		*/

	double	*quatern;		
		/* arr of quatern rotations converted from the 3 euler rotations for each node.
			and each rotation specified in hierachy order.  
			Also all rotations are specified for one frame before the next frame.
			arr size = 3 * node_cnt * frame_cnt.
		*/

	double	*expmap;
		/* arr of exponential map rotations converted from the 3 euler rotations for each node.
			and each rotation specified in hierachy order.  
			Also all rotations are specified for one frame before the next frame.
			arr size = 4 * node_cnt * frame_cnt.
		*/

	double *einterp;
		/* arr to store euler interp rot data. same size as euler */

	double *qinterp;
		/* arr to store quatern interp rot data. same size as quatern */

	double *minterp;
		/* arr to store expmap interp rot data. same size as expmap */

	double *mqinterp;
		/* conv emap to q for interp */

	// for 3D picking
	GLuint	pickname_cur;	// next avail pick name
	Node	**pickarr;
		// array for picking, use name to index into arr to find corspd node.

	Node	*endsites[MAX_ENDSITES];

	bool	b_read_flex_success;

	MotionCapturer::MotionCapturer();

	~MotionCapturer();

	// fill in the rot angle lim spec
	Status read_input_flex( FILE *fin, Node *node );


private:	

};

/* returns a node's pos in a more global/upstream node's coord,
   returns global pos if ancestral_node=NULL */
void lc_to_ac_nodePos( double return_val[4],
		      Node *ancestral_node, Node *selNode, 
			  RotType rotType, double *trans, double *rot );



/* find all ancestors from the root down to this node, 
	set its child to NULL in ancestrial chain.
	return the ancestry chain start from root to this node (inclusive */
Ancestry *find_my_ancestors(Node *node);


// del the ancestral chain headed by ancestors
void del_ancestry(Ancestry* &ancestors);


// connect joints w/ bones recursively
void make_skeleton(Node* node);

void init_bones(Node *root);

/* recursively find all end sites and fill the array of endsites
	init es_cnt to 0 before 1st call*/
void create_endsite_list(Node **endsites, Node *node, int &es_cnt);

//--------- parser functions -------------

//Status read_bvh_file(FILE *file, MotionCapturer *motionCapturer, FileType type);
	/* *****API**** called in viewer.cpp. 
	read in file and fill a MotionCapturer object w/ hierarchical and motion data info
	return SUCCESS if read file ok
	FAILURE otherwise
	*/


//--------- end parser functions-----------

#endif