//-----------------------------------------------------------------------------
// File:     PolygonMassDistributionProperties.cpp
// Class:    None
// Parent:   None
// Children: None
// Purpose:  
//-----------------------------------------------------------------------------
// The following are standard C/C++ header files.
// If a filename is enclosed inside < >  it means the header file is in the Include directory.
// If a filename is enclosed inside " "  it means the header file is in the current directory.
#include <ctype.h>      // Character Types
#include <math.h>       // Mathematical Constants
#include <stdarg.h>     // Variable Argument Lists
#include <stdio.h>      // Standard Input/Output Functions
#include <stdlib.h>     // Utility Functions
#include <string.h>     // String Operations
#include <signal.h>     // Signals (Contol-C + Unix System Calls)
#include <setjmp.h>     // Nonlocal Goto (For Control-C)
#include <time.h>       // Time and Date information
#include <assert.h>     // Verify Program Assertion
#include <errno.h>      // Error Codes (Used in Unix system())
#include <float.h>      // Floating Point Constants
#include <limits.h>     // Implementation Constants
#include <stddef.h>     // Standard Definitions
#include <exception>    // Exception handling (e.g., try, catch throw)
//-----------------------------------------------------------------------------
#include "SimTKsimbody.h"
using namespace SimTK;
using namespace std;
//-----------------------------------------------------------------------------


//-----------------------------------------------------------------------------
// Prototypes for local functions (functions not called by code in other files)
//-----------------------------------------------------------------------------

bool  WriteStringToFile(   const char outputString[], FILE *fptr );  
bool  WriteStringToScreen( const char outputString[] )              { return WriteStringToFile( outputString, stdout ); }
bool  WriteDoubleToFile( double x, int precision, FILE *fptr );
bool  WriteDoubleToScreen( double x, int precision) { return WriteDoubleToFile(x, precision, stdout); }
FILE*  FileOpenWithMessageIfCannotOpen( const char *filename, const char *attribute );

void  UpdateBoundingBoxDimension( const Vec3 &vertexPosition, const Vec3 &xUnitVector, const Vec3 &yUnitVector, const Vec3 &zUnitVector, Vec6 &boundingBox, bool firstCallToFunction); Real  ConvertFromDegreesToRadians( Real angleInDegrees ){return angleInDegrees/57.2957795;/*1 radian is approximately 57.3 degrees*/}

//-----------------------------------------------------------------------------
// The executable program starts here
//-----------------------------------------------------------------------------
int  main( int numberOfCommandLineArguments, char *arrayOfCommandLineArguments[] ){

   //unit vectors for the ground
   const Vec3 nx( 1, 0, 0);
   const Vec3 ny( 0, 1, 0);
   const Vec3 nz( 0, 0, 1);

   // initial unit vectors w.r.t. nx, ny, nz
   Vec3 bx(1, 0, 0);
   Vec3 by(0, 1, 0);
   Vec3 bz(0, 0, 1);


   // positions of the corners of the polygon
   const Vec3 B0Pos(  0, -1, 0);
   const Vec3 B1Pos(  1,  0, 0);
   const Vec3 B2Pos(  0,  3, 0);
   const Vec3 B3Pos( -1,  4, 0);
   const Vec3 B4Pos( -2,  2, 0);

  

   Rotation RotMat;

   Real theta = 0.0;

      

   while( theta <= 90){
      
      Rotation RotMat2 = RotMat.aboutZ(ConvertFromDegreesToRadians(theta));
      bx = RotMat2 * nx;
      by = RotMat2 * ny;
      bz = RotMat2 * nz;

      //Initial values of the bounding box's parameters are set to zero
      //boundingBox (xMin, xMax, yMin, yMax, zMin, zMax)
      Vec6 boundingBox(0, 0, 0, 0, 0, 0);

      //update the bounding boz dimensions for the new angle
      UpdateBoundingBoxDimension( B0Pos, bx, by, bz, boundingBox, 1);
      UpdateBoundingBoxDimension( B1Pos, bx, by, bz, boundingBox, 0);
      UpdateBoundingBoxDimension( B2Pos, bx, by, bz, boundingBox, 0);
      UpdateBoundingBoxDimension( B3Pos, bx, by, bz, boundingBox, 0);
      UpdateBoundingBoxDimension( B4Pos, bx, by, bz, boundingBox, 0);

      //Calculate the width, height, and area
      Real boundingWidth = boundingBox[1]-boundingBox[0];
      Real boundingHeight = boundingBox[3]-boundingBox[2];
      Real boundingArea = boundingWidth * boundingHeight;


	  FILE* myFile = FileOpenWithMessageIfCannotOpen("PolygonMassDistributionResults.txt", "w");

      //write out these values to the screen
      WriteStringToScreen("\n\n theta=   ");
      WriteDoubleToScreen(theta, 6);
      WriteStringToScreen("\n xMin =   ");
      WriteDoubleToScreen(boundingBox[0], 6);
      WriteStringToScreen("   xMax =   ");
      WriteDoubleToScreen(boundingBox[1], 6);
      WriteStringToScreen("\n yMin =   ");
      WriteDoubleToScreen(boundingBox[2], 6);
      WriteStringToScreen("   yMax =   ");
      WriteDoubleToScreen(boundingBox[3], 6);
      WriteStringToScreen("\n Bounding rectangle area:   ");
      WriteDoubleToScreen(boundingArea, 6);

      
      //write out these values to the file
      WriteStringToFile("\n\n theta=   ", myFile);
      WriteDoubleToFile(theta, 6, myFile);
      WriteStringToFile("\n xMin =   ", myFile);
      WriteDoubleToFile(boundingBox[0], 6, myFile);
      WriteStringToFile("   xMax =   ", myFile);
      WriteDoubleToFile(boundingBox[1], 6, myFile);
      WriteStringToFile("\n yMin =   ", myFile);
      WriteDoubleToFile(boundingBox[2], 6, myFile);
      WriteStringToFile("   yMax =   ", myFile);
      WriteDoubleToFile(boundingBox[3], 6, myFile);
      WriteStringToFile("\n Bounding rectangle area:   ", myFile);
      WriteDoubleToFile(boundingArea, 6, myFile);
      

      theta = theta+1;

   }

   
   printf( "\n\n Press  Enter  to terminate the program: " );
   getchar();

   return 0;
   

}

//-------------------------------------------------------------------------------
bool  WriteStringToFile(   const char outputString[], FILE *fptr )  { 
   return fputs( outputString, fptr ) >=0;

}

void  UpdateBoundingBoxDimension( const Vec3 &vertexPosition, const Vec3 &xUnitVector, const Vec3 &yUnitVector, const Vec3 &zUnitVector, Vec6 &boundingBox, bool firstCallToFunction)
{

   Real Xvertex = dot(vertexPosition, xUnitVector);
   Real Yvertex = dot(vertexPosition, yUnitVector);
   Real Zvertex = dot(vertexPosition, zUnitVector);
   
   if(firstCallToFunction){
      //if this is the first call to the function, set all the edges of the bounding box to
      //the current values of x, y, and z
      boundingBox[0] = Xvertex;
      boundingBox[1] = Xvertex;
      boundingBox[2] = Yvertex;
      boundingBox[3] = Yvertex;
      boundingBox[4] = Zvertex;
      boundingBox[5] = Zvertex;
}   
   else{
      //if this is not the first call, check to see if the current values are greater/less than
      //the previously stored max/mins

      if(Xvertex < boundingBox[0])
         boundingBox[0] = Xvertex;
      else 
         boundingBox[1] = Xvertex;
      if(Yvertex < boundingBox[2])
         boundingBox[2] = Yvertex;
      else 
         boundingBox[3] = Yvertex;
      if(Zvertex < boundingBox[4])
         boundingBox[4] = Zvertex;
      else if(Zvertex > boundingBox[5])
         boundingBox[5] = Zvertex;

   }


}
//-----------------------------------------------------------------------------
FILE*  FileOpenWithMessageIfCannotOpen( const char *filename, const char *attribute )
{
   // Try to open the file
   FILE *Fptr1 = fopen( filename, attribute );

   // If unable to open the file, issue a message
   if( !Fptr1 )
   {
      WriteStringToScreen( "\n\n Unable to open the file: " );
      WriteStringToScreen( filename );
      WriteStringToScreen( "\n\n" );
   }

   return Fptr1;
}


//-----------------------------------------------------------------------------
bool  WriteDoubleToFile( double x, int precision, FILE *fptr )
{
   // Ensure the precision (number of digits in the mantissa after the decimal point) makes sense.
   // Next, calculate the field width so it includes one extra space to the right of the number.
   if( precision < 0 || precision > 17 ) precision = 5;
   int fieldWidth = precision + 8;

   // Create the format specifier and print the number
   char format[20];
   sprintf( format, " %%- %d.%dE", fieldWidth, precision );
   return fprintf( fptr, format, x ) >= 0;
}