#include <math.h>
#include <stdlib.h>
#include "SceneGraphRoot.h"
#include "MainLoop.h"
#include "walk.h"

// prototype
static void arm_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h);
static void ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h);
static void ball_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h, SceneGraphPtr tree);
static void ball_collision_idle(SceneGraphPtr, void *sgroot_, int w, int h, SceneGraphPtr tree);

static float vy = 0.0f; // y 方向速度
static float dt = 1.0/1.0f; // frame rate

static float e = -0.8f;  // 反発係数
static float g = 9.8f;  // 重力加速度
//static float v0 = 0.0f; // 初速は 0

static float h0; // 初期高さ
static float ball_radius = 100.0f;

static float speed = 10.0f;

static void
ball_move_idle2(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
{
    SceneGraphRoot *sgroot = (SceneGraphRoot *)sgroot_;
    Pad *pad = sgroot->getController();

    if (pad->circle.isHold()) {
        if (pad->left.isHold()) {
            node->xyz[0] -= speed;
            if(node->xyz[0] < ball_radius)
                node->xyz[0] = ball_radius;
        } else if (pad->right.isHold()) {
            node->xyz[0] += speed;
            if(node->xyz[0] > screen_w  - ball_radius)
                node->xyz[0] = screen_w - ball_radius;
        }

        if (pad->up.isHold()) {
            node->xyz[1] -= speed;
        } else if (pad->down.isHold()) {
            node->xyz[1] += speed;
            if(node->xyz[1] > screen_h - ball_radius)
                node->xyz[1] = screen_h - ball_radius;
        }
    } else {
        node->set_move_collision(ball_move, ball_collision);
    }
}

static int time = 0;

static void
ball_move_idle(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
{
    SceneGraphRoot *sgroot = (SceneGraphRoot *)sgroot_;
    Pad *pad = sgroot->getController();

    if (pad->circle.isPush()) {
        node->set_move_collision(ball_move_idle2, ball_collision_idle);
        time = 0;
    }

    time++;

    if (time > 90) {
        float w = (float)random();

        w = fmodf(w, screen_w - ball_radius*2);
        node->xyz[0] = w + ball_radius;
        node->xyz[1] = h0;
        node->set_move_collision(ball_move, ball_collision);
        time = 0;
    }
}

static void
ball_move(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h)
{
    vy += g * dt;
    node->xyz[1] += vy * dt;
    //    node->xyz[0] += 10.0f;
}

static void
ball_collision_idle(SceneGraphPtr, void *sgroot_, int w, int h, SceneGraphPtr tree)
{
}

static void
ball_collision(SceneGraphPtr node, void *sgroot_, int screen_w, int screen_h,
               SceneGraphPtr tree)
{
    if (node->xyz[1] > screen_h - ball_radius) {
        node->xyz[1] = screen_h - ball_radius;

        vy *= e;
        if (vy > -g && vy < 0) {
            vy = 0.0;
            node->set_move_collision(ball_move_idle, ball_collision_idle);
        }
    }
}

MainLoopPtr
walk::init(Viewer *sgroot, int screen_w, int screen_h)
{
  SceneGraphPtr root, body, head, r_leg_1, l_leg_1, r_leg_2, l_leg_2, r_arm_1, l_arm_1, r_arm_2, l_arm_2;

    // 固定した値で srandom すると、毎回同じ、random() 列が生成される
    // random な値が欲しいなら、man random に方法が書いてあります。
    srandom(100);

    sgroot->createFromXMLfile("xml_file/body_hakama.xml");

    root = sgroot->createSceneGraph();
    body = sgroot->createSceneGraph("body");
    //body->set_move_collision(ball_move, ball_collision);
	root->addChild(body);
	
#if 1
	waist = sgroot->createSceneGraph("waist");
	arm1R = sgroot->createSceneGraph("arm1R");
	arm2R = sgroot->createSceneGraph("arm2R");
	arm1L = sgroot->createSceneGraph("arm1L");
	arm2L = sgroot->createSceneGraph("arm2L");
	handR = sgroot->createSceneGraph("handR");
	handL = sgroot->createSceneGraph("handL");
	
	leg1R = sgroot->createSceneGraph("leg1R");
	leg2R = sgroot->createSceneGraph("leg2R");
	leg1L = sgroot->createSceneGraph("leg1L");
	leg2L = sgroot->createSceneGraph("leg2L");
	footR = sgroot->createSceneGraph("footR");
	footL = sgroot->createSceneGraph("footL");
	
	body->addChild(arm1R);
	body->addChild(arm1L);
	arm1R->addChild(arm2R);
	arm1L->addChild(arm2L);
	arm2R->addChild(handR);
	arm2L->addChild(handL);

	body->addChild(waist);	
	waist->addChild(leg1R);
	waist->addChild(leg1L);
	leg1R->addChild(leg2R);
	leg1L->addChild(leg2L);
	leg2R->addChild(footR);
	leg2L->addChild(footL);
#endif

    //h0 = screen_h/2;
    //h0 = -1000;

    body->xyz[0] = screen_w/2;
    //ball->xyz[0] = 0.0f;
    body->xyz[1] = screen_h/2 + 25;
    body->xyz[2] = 0.0f;
    body->angle[0] = -90.0f;

    r_arm_1->angle[1] = -45.0f;
    r_arm_1->xyz[0] = 0;
    r_arm_1->xyz[1] = 0;
    r_arm_1->xyz[2] = 0;

    sgroot->setSceneData(root);

    return sgroot;
}

MainLoopPtr
walk::init_only_sg(SgChange *sgroot, int screen_w, int screen_h)
{
    return sgroot;
}

extern Application *
application() {
  return new walk();
}

const char *usr_help_str = "Usage: ./test_nogl [OPTION]\n";

extern int init(TaskManager *manager, int argc, char *argv[]);
extern void task_initialize();
static void TMend(TaskManager *manager);

int
TMmain(TaskManager *manager, int argc, char *argv[])
{
    task_initialize();
    manager->set_TMend(TMend);
    return init(manager, argc, argv);

}

void
TMend(TaskManager *manager)
{
    printf("test_nogl end\n");
}

/* end */