/*
 * @File Created: 2022-11-26, 16:52:29
 * @Last Modified: 2022-11-26, 18:51:06
 * @Author: forty-twoo
 * @Copyright (c) 2022, Caiyue Li(li_caiyue@zju.edu.cn), All rights reserved.
 */

#include <igl/opengl/glfw/Viewer.h>
#include <tinynurbs/tinynurbs.h>
#include "bvh.hpp"
#include "show_libigl.hpp"
#include "intersection.hpp"

igl::opengl::glfw::Viewer viewer;

int main(int argc, char *argv[])
{

    viewer.data().point_size = 5;

    tinynurbs::RationalCurve<double> crv1;      // Planar curve using float32
    crv1.control_points = {glm::vec3(-3, 0, 0), // std::vector of 3D points
                           glm::vec3(-1, 4, 0),
                           glm::vec3(1, -5, 0),
                           glm::vec3(2, 1, 0),
                           glm::vec3(4, -1, 0)};
    crv1.knots = {0, 0, 0, 1, 2, 3, 3, 3}; // std::vector of floats
    crv1.degree = 2;
    crv1.weights = {1, 1, 1, 1, 1};

    double param = 0.6;
    tinynurbs::array2<double> ders = tinynurbs::bsplineDerBasis(crv1.degree, tinynurbs::findSpan(crv1.degree, crv1.knots, param), crv1.knots, param, 1);
    std::cout << "row:" << ders.rows() << " col:" << ders.cols() << std::endl;
    for (int i = 0; i < ders.rows(); i++)
    {
        for (int j = 0; j < ders.cols(); j++)
        {
            std::cout << ders(i, j) << " ";
        }
        std::cout << std::endl;
    }

    std::vector<double> basis = tinynurbs::bsplineBasis(crv1.degree, tinynurbs::findSpan(crv1.degree, crv1.knots, param), crv1.knots, param);
    for (auto it : basis)
    {
        std::cout << it << std::endl;
    }

    /***
    ShowCurve_Igl(crv1, 5000, YELLOW);
    BVH_AABB bvh_curve1(11, 2, 100, crv1);
    // bvh_curve.Build_NurbsCurve(crv, bvh_curve.bvh_aabb_node, 0, 0, tstep);
    // ShowBVHNode(viewer, bvh_curve.bvh_aabb_node);

    tinynurbs::RationalCurve<double> crv2;      // Planar curve using float32
    crv2.control_points = {glm::vec3(-4, 4, 0), // std::vector of 3D points
                           glm::vec3(-2, 2, 0),
                           glm::vec3(1, -1, 0),
                           glm::vec3(3, -3, 0),
                           glm::vec3(4, -4, 0)};
    crv2.knots = {0, 0, 0, 1, 2, 3, 3, 3}; // std::vector of floats
    crv2.degree = 2;
    crv2.weights = {1, 1, 1, 1, 1};

    ShowCurve_Igl(crv2, 5000, YELLOW);
    BVH_AABB bvh_curve2(11, 2, 100, crv2);

    double tstep1 = *(crv1.knots.end() - 1);
    double tstep2 = *(crv2.knots.end() - 1);
    bvh_curve1.Build_NurbsCurve(crv1, bvh_curve1.bvh_aabb_node, 0, 0, tstep1);
    bvh_curve2.Build_NurbsCurve(crv2, bvh_curve2.bvh_aabb_node, 0, 0, tstep2);

    std::vector<std::pair<BVH_AABB_NodePtr, BVH_AABB_NodePtr>> IstNodePtr;
    if (CurveCurveBVHIntersect(bvh_curve1.bvh_aabb_node, bvh_curve2.bvh_aabb_node, IstNodePtr))
    {
        if (IstNodePtr.size() != 0)
            std::cout << "Curve1 and Curve2 intersect!\n";
        else
            std::cout << "Curve1 and Curve2 not intersect!\n";
        int idx = 0;
        for (auto it : IstNodePtr)
        {
            ShowAABB_Igl(it.first->bound, RED);
            ShowAABB_Igl(it.second->bound, GREEN);

            std::cout << "The " << idx++ << "th boxes pair lie on\n"
                      << "     min_point ("
                      << it.first->bound.Bmin.x << ", " << it.first->bound.Bmin.y << ", " << it.first->bound.Bmin.z << ") , max_point (" << it.first->bound.Bmax.x << ", " << it.first->bound.Bmax.y << ", " << it.first->bound.Bmax.z << ")\n";
            std::cout << "     min_point ("
                      << it.second->bound.Bmin.x << ", " << it.second->bound.Bmin.y << ", " << it.second->bound.Bmin.z << ") , max_point (" << it.second->bound.Bmax.x << ", " << it.second->bound.Bmax.y << ", " << it.second->bound.Bmax.z << ")\n";
        }
    }

    /*
    ShowCurve_Igl(viewer, crv, 100);
    BVH_AABB bvh_curve(5, 2, 100);
    double tstep = *(crv.knots.end() - 1);
    bvh_curve.Build_NurbsCurve(crv, bvh_curve.bvh_aabb_node, 0, 0, tstep);
    ShowBVHNode(viewer, bvh_curve.bvh_aabb_node);
    */

    /*
     double u = 0.5;
     std::vector<double> basis = tinynurbs::bsplineBasis(crv.degree, tinynurbs::findSpan(crv.degree, crv.knots, u), crv.knots, u);
     for (auto it : basis)
     {
         std::cout << it << std::endl;
     }
     */

    viewer.launch();
}