/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2022 SenseGlove
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @section DESCRIPTION
 *
 *
 */


#include "SGCore/SGJointKinematics.h"

#include "SGCore/SGBasicHandModel.h"
#include "SGCoreImpl/SGExportedFunctions.h"
#include "SGInterop/SGIC_ESGFinger.h"
#include "SGInterop/SGIC_FQuat.h"
#include "SGInterop/SGIC_FSGBasicHandModelImpl.h"
#include "SGInterop/SGIC_FVector.h"
#include "SGInterop/SGIC_TArray_FQuat.h"
#include "SGInterop/SGIC_TArray_FVector.h"

bool FSGJointKinematics::ForwardKinematics(
    const FVector& StartPosition, const FQuat& StartRotation, const TArray<FVector>& JointLengths,
    const TArray<FVector>& JointAngles, TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
{
    FSGIC_FVector StartPositionContainer{StartPosition};
    FSGIC_FQuat StartRotationContainer{StartRotation};
    FSGIC_TArray_FVector JointLengthsContainer{JointLengths};
    FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
    FSGIC_TArray_FVector OutNewPositionsContainer;
    FSGIC_TArray_FQuat OutNewRotationsContainer;

    const bool bResult =
        SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_StartPosition_StartRotation_JointLengths_JointAngles_OutNewPositions_OutNewRotations(
            &StartPositionContainer, &StartRotationContainer, &JointLengthsContainer, &JointAnglesContainer,
            &OutNewPositionsContainer, &OutNewRotationsContainer);

    OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
    OutNewRotations = MoveTemp(OutNewRotationsContainer.Array);

    return bResult;
}

bool FSGJointKinematics::ForwardKinematics(
    const FVector& StartPosition, const FRotator& StartRotation, const TArray<FVector>& JointLengths,
    const TArray<FVector>& JointAngles, TArray<FVector>& OutNewPositions, TArray<FRotator>& OutNewRotations)
{
    FSGIC_FVector StartPositionContainer{StartPosition};
    FSGIC_FQuat StartRotationContainer{StartRotation.Quaternion()};
    FSGIC_TArray_FVector JointLengthsContainer{JointLengths};
    FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
    FSGIC_TArray_FVector OutNewPositionsContainer;
    FSGIC_TArray_FQuat OutNewRotationsContainer;

    const bool bResult =
        SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_StartPosition_StartRotation_JointLengths_JointAngles_OutNewPositions_OutNewRotations(
            &StartPositionContainer, &StartRotationContainer, &JointLengthsContainer, &JointAnglesContainer,
            &OutNewPositionsContainer, &OutNewRotationsContainer);

    OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
    OutNewRotations = FSGArrayUtils::QuatsToRotators(OutNewRotationsContainer.Array);

    return bResult;
}

bool FSGJointKinematics::ForwardKinematics(
    const USGBasicHandModel* Profile, const ESGFinger Finger, const TArray<FVector>& JointAngles,
    TArray<FVector>& OutNewPositions, TArray<FQuat>& OutNewRotations)
{
    FSGIC_FSGBasicHandModelImpl ProfileContainer{Profile->ToBasicHandModelImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
    FSGIC_TArray_FVector OutNewPositionsContainer;
    FSGIC_TArray_FQuat OutNewRotationsContainer;

    const bool bResult =
        SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_Profile_Finger_JointAngles_OutNewPositions_OutNewRotations(
            &ProfileContainer, &FingerContainer, &JointAnglesContainer,
            &OutNewPositionsContainer, &OutNewRotationsContainer);

    OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
    OutNewRotations = MoveTemp(OutNewRotationsContainer.Array);

    return bResult;
}

bool FSGJointKinematics::ForwardKinematics(
    const USGBasicHandModel* Profile, const ESGFinger Finger, const TArray<FVector>& JointAngles,
    TArray<FVector>& OutNewPositions, TArray<FRotator>& OutNewRotations)
{
    FSGIC_FSGBasicHandModelImpl ProfileContainer{Profile->ToBasicHandModelImpl()};
    FSGIC_ESGFinger FingerContainer{Finger};
    FSGIC_TArray_FVector JointAnglesContainer{JointAngles};
    FSGIC_TArray_FVector OutNewPositionsContainer;
    FSGIC_TArray_FQuat OutNewRotationsContainer;

    const bool bResult =
        SGCoreImpl_FSGJointKinematicsImpl_ForwardKinematics_Profile_Finger_JointAngles_OutNewPositions_OutNewRotations(
            &ProfileContainer, &FingerContainer, &JointAnglesContainer,
            &OutNewPositionsContainer, &OutNewRotationsContainer);

    OutNewPositions = MoveTemp(OutNewPositionsContainer.Array);
    OutNewRotations = FSGArrayUtils::QuatsToRotators(OutNewRotationsContainer.Array);

    return bResult;
}