#ifdef _WIN32
#  include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>

#ifndef __APPLE__
#  include <GL/glut.h>
#else
#  include <GLUT/glut.h>
#endif
#include <AR/gsub.h>
#include <AR/param.h>
#include <AR/ar.h>
#include <AR/video.h>

#include "object.h"


#define COLLIDE_DIST 30000.0

/* Object Data */
char            *model_name = "Data/object_data2";
ObjectData_T    *object;
int             objectnum;

int             xsize, ysize;
int				thresh = 100;
int             count = 0;

/* set up the video format globals */

#ifdef _WIN32
char			*vconf = "Data\\WDM_camera_flipV.xml";
#else
char			*vconf = "";
#endif

char           *cparam_name    = "Data/camera_para.dat";
ARParam         cparam;

static void   init(void);
static void   cleanup(void);
static void   keyEvent( unsigned char key, int x, int y);
static void   mainLoop(void);
static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist);
static int draw( ObjectData_T *object, int objectnum );
static int  draw_object( int obj_id, double gl_para[16], int collide_flag );

int main(int argc, char **argv)
{
	//initialize applications
	glutInit(&argc, argv);
    init();

	//start video capture
	arVideoCapStart();

	//start the main event loop
    argMainLoop( NULL, keyEvent, mainLoop );

	return 0;
}

static void   keyEvent( unsigned char key, int x, int y)   
{
    /* quit if the ESC key is pressed */
    if( key == 0x1b ) {
        printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
        cleanup();
        exit(0);
    }
}

/* main loop */
static void mainLoop(void)
{
    ARUint8         *dataPtr;
    ARMarkerInfo    *marker_info;
    int             marker_num;
    int             i,j,k;

    /* grab a video frame */
    if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return;
    }
	
    if( count == 0 ) arUtilTimerReset();  
    count++;

	/*draw the video*/
    argDrawMode2D();
    argDispImage( dataPtr, 0,0 );

	/* capture the next video frame */
	arVideoCapNext();
	
	glColor3f( 1.0, 0.0, 0.0 );
	glLineWidth(6.0);

	/* detect the markers in the video frame */ 
	if(arDetectMarker(dataPtr, thresh, 
		&marker_info, &marker_num) < 0 ) {
		cleanup(); 
		exit(0);
	}
	for( i = 0; i < marker_num; i++ ) {
		argDrawSquare(marker_info[i].vertex,0,0);
	}

	/* check for known patterns */
    for( i = 0; i < objectnum; i++ ) {
		k = -1;
		for( j = 0; j < marker_num; j++ ) {
	        if( object[i].id == marker_info[j].id) {

				/* you've found a pattern */
				//printf("Found pattern: %d ",patt_id);
				glColor3f( 0.0, 1.0, 0.0 );
				argDrawSquare(marker_info[j].vertex,0,0);

				if( k == -1 ) k = j;
		        else /* make sure you have the best pattern (highest confidence factor) */
					if( marker_info[k].cf < marker_info[j].cf ) k = j;
			}
		}
		if( k == -1 ) {
			object[i].visible = 0;
			continue;
		}
		
		/* calculate the transform for each marker */
		if( object[i].visible == 0 ) {
            arGetTransMat(&marker_info[k],
                          object[i].marker_center, object[i].marker_width,
                          object[i].trans);
        }
        else {
            arGetTransMatCont(&marker_info[k], object[i].trans,
                          object[i].marker_center, object[i].marker_width,
                          object[i].trans);
        }
        object[i].visible = 1;
	}

	/*check for object collisions between marker 0 and 1 */
	if(object[0].visible && object[1].visible){
		if(checkCollisions(object[0],object[1],COLLIDE_DIST)){
			object[0].collide = 1;
			object[1].collide = 1;
		}
		else{
			object[0].collide = 0;
			object[1].collide = 0;
		}
	}
	
	/* draw the AR graphics */
    draw( object, objectnum );

	/*swap the graphics buffers*/
	argSwapBuffers();
}

/* check collision between two markers */
static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist)
{
	float x1,y1,z1;
	float x2,y2,z2;
	float dist;

	x1 = object0.trans[0][3];
	y1 = object0.trans[1][3];
	z1 = object0.trans[2][3];

	x2 = object1.trans[0][3];
	y2 = object1.trans[1][3];
	z2 = object1.trans[2][3];

	dist = (x1-x2)*(x1-x2)+(y1-y2)*(y1-y2)+(z1-z2)*(z1-z2);

	printf("Dist = %3.2f\n",dist);

	if(dist < collide_dist)
		return 1;
	else 
		return 0;
}
static void init( void )
{
	ARParam  wparam;

    /* open the video path */
    if( arVideoOpen( vconf ) < 0 ) exit(0);
    /* find the size of the window */
    if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
    printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);

    /* set the initial camera parameters */
    if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
        printf("Camera parameter load error !!\n");
        exit(0);
    }
    arParamChangeSize( &wparam, xsize, ysize, &cparam );
    arInitCparam( &cparam );
    printf("*** Camera Parameter ***\n");
    arParamDisp( &cparam );

	/* load in the object data - trained markers and associated bitmap files */
    if( (object=read_ObjData(model_name, &objectnum)) == NULL ) exit(0);
    printf("Objectfile num = %d\n", objectnum);

    /* open the graphics window */
    argInit( &cparam, 2.0, 0, 0, 0, 0 );
}

/* cleanup function called when program exits */
static void cleanup(void)
{
	arVideoCapStop();
    arVideoClose();
    argCleanup();
}

/* draw the the AR objects */
static int draw( ObjectData_T *object, int objectnum )
{
    int     i;
    double  gl_para[16];
       
	glClearDepth( 1.0 );
    glClear(GL_DEPTH_BUFFER_BIT);
    glEnable(GL_DEPTH_TEST);
    glDepthFunc(GL_LEQUAL);
    glEnable(GL_LIGHTING);

    /* calculate the viewing parameters - gl_para */
    for( i = 0; i < objectnum; i++ ) {
        if( object[i].visible == 0 ) continue;
        argConvGlpara(object[i].trans, gl_para);
        draw_object( object[i].id, gl_para, object[i].collide );
    }
     
	glDisable( GL_LIGHTING );
    glDisable( GL_DEPTH_TEST );
	
    return(0);
}

/* draw the user object */
static int  draw_object( int obj_id, double gl_para[16], int collide_flag )
{
    GLfloat   mat_ambient[]				= {0.0, 0.0, 1.0, 1.0};
	GLfloat   mat_ambient_collide[]     = {1.0, 0.0, 0.0, 1.0};
    GLfloat   mat_flash[]				= {0.0, 0.0, 1.0, 1.0};
	GLfloat   mat_flash_collide[]       = {1.0, 0.0, 0.0, 1.0};
    GLfloat   mat_flash_shiny[] = {50.0};
    GLfloat   light_position[]  = {100.0,-200.0,200.0,0.0};
    GLfloat   ambi[]            = {0.1, 0.1, 0.1, 0.1};
    GLfloat   lightZeroColor[]  = {0.9, 0.9, 0.9, 0.1};
 
    argDrawMode3D();
    argDraw3dCamera( 0, 0 );
    glMatrixMode(GL_MODELVIEW);
    glLoadMatrixd( gl_para );

 	/* set the material */
    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
    glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);

    glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);	

	if(collide_flag){
		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide);
		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide);
		/* draw a cube */
		glTranslatef( 0.0, 0.0, 30.0 );
		glutSolidSphere(30,12,6);
	}
	else {
		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
		/* draw a cube */
		glTranslatef( 0.0, 0.0, 30.0 );
		glutSolidCube(60);
	}

    argDrawMode2D();

    return 0;
}
