/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * Copyright (c) 2012, Ivan Dryanovski <ivan.dryanovski@gmail.com>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "imu_acc_visual.h"

namespace rviz {

ImuAccVisual::ImuAccVisual(Ogre::SceneManager* scene_manager,
                           Ogre::SceneNode* parent_node)
    : acc_vector_(NULL),
      direction_(0, 0, 1),
      arrow_length_(9.81),
      arrow_radius_(0.50),
      head_length_(1.00),
      head_radius_(1.00),
      scale_(0.05),
      alpha_(1.0),
      color_(1.0, 1.0, 0.0),
      derotated_(true)
{
    scene_manager_ = scene_manager;

    // Ogre::SceneNode s form a tree, with each node storing the
    // transform (position and orientation) of itself relative to its
    // parent.  Ogre does the math of combining those transforms when it
    // is time to render.
    //
    // Here we create a node to store the pose of the Imu's header frame
    // relative to the RViz fixed frame.
    frame_node_ = parent_node->createChildSceneNode();
}

ImuAccVisual::~ImuAccVisual()
{
    hide();

    // Destroy the frame node since we don't need it anymore.
    scene_manager_->destroySceneNode(frame_node_);
}

void ImuAccVisual::show()
{
    if (!acc_vector_)
    {
        acc_vector_ = new Arrow(scene_manager_, frame_node_);
        acc_vector_->setColor(color_.redF(), color_.greenF(), color_.blueF(),
                              alpha_);
        acc_vector_->setDirection(direction_);
        acc_vector_->set(arrow_length_ * scale_, arrow_radius_ * scale_,
                         head_length_ * scale_, head_radius_ * scale_);
    }
}

void ImuAccVisual::hide()
{
    if (acc_vector_)
    {
        delete acc_vector_;
        acc_vector_ = NULL;
    }
}

void ImuAccVisual::setMessage(const sensor_msgs::Imu::ConstPtr& msg)
{
    direction_ =
        Ogre::Vector3(msg->linear_acceleration.x, msg->linear_acceleration.y,
                      msg->linear_acceleration.z);

    // Rotate the acceleration vector by the IMU orientation. This makes
    // sense since the visualization of the IMU is also rotated by the
    // orientation. In this way, both appear in the inertial frame.
    if (derotated_)
    {
        Ogre::Quaternion orientation(msg->orientation.w, msg->orientation.x,
                                     msg->orientation.y, msg->orientation.z);

        direction_ = orientation * direction_;
    }

    arrow_length_ =
        sqrt(msg->linear_acceleration.x * msg->linear_acceleration.x +
             msg->linear_acceleration.y * msg->linear_acceleration.y +
             msg->linear_acceleration.z * msg->linear_acceleration.z);

    if (acc_vector_)
    {
        acc_vector_->setDirection(direction_);
        acc_vector_->set(arrow_length_ * scale_, arrow_radius_ * scale_,
                         head_length_ * scale_, head_radius_ * scale_);
    }
}

void ImuAccVisual::setScale(float scale)
{
    scale_ = scale;
    if (acc_vector_)
    {
        acc_vector_->setDirection(direction_);
        acc_vector_->set(arrow_length_ * scale_, arrow_radius_ * scale_,
                         head_length_ * scale_, head_radius_ * scale_);
    }
}

void ImuAccVisual::setColor(const QColor& color)
{
    color_ = color;
    if (acc_vector_)
        acc_vector_->setColor(color_.redF(), color_.greenF(), color_.blueF(),
                              alpha_);
}

void ImuAccVisual::setAlpha(float alpha)
{
    alpha_ = alpha;
    if (acc_vector_)
        acc_vector_->setColor(color_.redF(), color_.greenF(), color_.blueF(),
                              alpha_);
}

void ImuAccVisual::setDerotated(bool derotated)
{
    derotated_ = derotated;
    if (acc_vector_)
        acc_vector_->setColor(color_.redF(), color_.greenF(), color_.blueF(),
                              alpha_);
}

void ImuAccVisual::setFramePosition(const Ogre::Vector3& position)
{
    frame_node_->setPosition(position);
}

void ImuAccVisual::setFrameOrientation(const Ogre::Quaternion& orientation)
{
    frame_node_->setOrientation(orientation);
}

}  // end namespace rviz
