/***************************************************************************
 *   Copyright (c) 2008 Werner Mayer <wmayer[at]users.sourceforge.net>     *
 *                                                                         *
 *   This file is part of the FreeCAD CAx development system.              *
 *                                                                         *
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Library General Public           *
 *   License as published by the Free Software Foundation; either          *
 *   version 2 of the License, or (at your option) any later version.      *
 *                                                                         *
 *   This library  is distributed in the hope that it will be useful,      *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU Library General Public License for more details.                  *
 *                                                                         *
 *   You should have received a copy of the GNU Library General Public     *
 *   License along with this library; see the file COPYING.LIB. If not,    *
 *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
 *   Suite 330, Boston, MA  02111-1307, USA                                *
 *                                                                         *
 ***************************************************************************/


#include "PreCompiled.h"

#include <Base/Rotation.h>
#include <Base/Tools.h>
#include <Base/GeometryPyCXX.h>

// inclusion of the generated files (generated out of RotationPy.xml)
#include "VectorPy.h"
#include "RotationPy.h"
#include "RotationPy.cpp"

using namespace Base;

// returns a string which represents the object e.g. when printed in python
std::string RotationPy::representation() const
{
    RotationPy::PointerType ptr = reinterpret_cast<RotationPy::PointerType>(_pcTwinPointer);
    Py::Float q0(ptr->getValue()[0]);
    Py::Float q1(ptr->getValue()[1]);
    Py::Float q2(ptr->getValue()[2]);
    Py::Float q3(ptr->getValue()[3]);
    std::stringstream str;
    str << "Rotation (";
    str << static_cast<std::string>(q0.repr()) << ", "
        << static_cast<std::string>(q1.repr()) << ", "
        << static_cast<std::string>(q2.repr()) << ", "
        << static_cast<std::string>(q3.repr());
    str << ")";

    return str.str();
}

PyObject *RotationPy::PyMake(struct _typeobject *, PyObject *, PyObject *)  // Python wrapper
{
    // create a new instance of RotationPy and the Twin object
    return new RotationPy(new Rotation);
}

// constructor method
int RotationPy::PyInit(PyObject* args, PyObject* kwds)
{
    PyObject* o;
    if (PyArg_ParseTuple(args, "")) {
        return 0;
    }

    PyErr_Clear();
    if (PyArg_ParseTuple(args, "O!", &(Base::RotationPy::Type), &o)) {
        Base::Rotation *rot = static_cast<Base::RotationPy*>(o)->getRotationPtr();
        getRotationPtr()->setValue(rot->getValue());
        return 0;
    }

    PyErr_Clear();
    double angle;
    static char *kw_deg[] = {"Axis", "Degree", nullptr};
    if (PyArg_ParseTupleAndKeywords(args, kwds, "O!d", kw_deg, &(Base::VectorPy::Type), &o, &angle)) {
        // NOTE: The last parameter defines the rotation angle in degree.
        getRotationPtr()->setValue(static_cast<Base::VectorPy*>(o)->value(), Base::toRadians<double>(angle));
        return 0;
    }

    PyErr_Clear();
    static char *kw_rad[] = {"Axis", "Radian", nullptr};
    if (PyArg_ParseTupleAndKeywords(args, kwds, "O!d", kw_rad, &(Base::VectorPy::Type), &o, &angle)) {
        getRotationPtr()->setValue(static_cast<Base::VectorPy*>(o)->value(), angle);
        return 0;
    }

    PyErr_Clear();
    if (PyArg_ParseTuple(args, "O!", &(Base::MatrixPy::Type), &o)) {
      getRotationPtr()->setValue(static_cast<Base::MatrixPy*>(o)->value());
      return 0;
    }

    PyErr_Clear();
    double q0, q1, q2, q3;
    if (PyArg_ParseTuple(args, "dddd", &q0, &q1, &q2, &q3)) {
        getRotationPtr()->setValue(q0, q1, q2, q3);
        return 0;
    }

    PyErr_Clear();
    double y, p, r;
    if (PyArg_ParseTuple(args, "ddd", &y, &p, &r)) {
        getRotationPtr()->setYawPitchRoll(y, p, r);
        return 0;
    }

    PyErr_Clear();
    const char *seq;
    double a, b, c;
    if (PyArg_ParseTuple(args, "sddd", &seq, &a, &b, &c)) {
        PY_TRY {
            getRotationPtr()->setEulerAngles(
                    Rotation::eulerSequenceFromName(seq), a, b, c);
            return 0;
        } _PY_CATCH(return -1)
    }

    double a11 = 1.0, a12 = 0.0, a13 = 0.0, a14 = 0.0;
    double a21 = 0.0, a22 = 1.0, a23 = 0.0, a24 = 0.0;
    double a31 = 0.0, a32 = 0.0, a33 = 1.0, a34 = 0.0;
    double a41 = 0.0, a42 = 0.0, a43 = 0.0, a44 = 1.0;

    // try read a 4x4 matrix
    PyErr_Clear();
    if (PyArg_ParseTuple(args, "dddddddddddddddd",
      &a11, &a12, &a13, &a14,
      &a21, &a22, &a23, &a24,
      &a31, &a32, &a33, &a34,
      &a41, &a42, &a43, &a44))
    {
      Matrix4D mtx(a11, a12, a13, a14,
        a21, a22, a23, a24,
        a31, a32, a33, a34,
        a41, a42, a43, a44);
      getRotationPtr()->setValue(mtx);
      return 0;
    }

    // try read a 3x3 matrix
    PyErr_Clear();
    if (PyArg_ParseTuple(args, "ddddddddd",
      &a11, &a12, &a13,
      &a21, &a22, &a23,
      &a31, &a32, &a33))
    {
      Matrix4D mtx(a11, a12, a13, a14,
        a21, a22, a23, a24,
        a31, a32, a33, a34,
        a41, a42, a43, a44);
      getRotationPtr()->setValue(mtx);
      return 0;
    }


    PyErr_Clear();
    PyObject *v1, *v2;
    if (PyArg_ParseTuple(args, "O!O!", &(Base::VectorPy::Type), &v1,
                                       &(Base::VectorPy::Type), &v2)) {
        Py::Vector from(v1, false);
        Py::Vector to(v2, false);
        getRotationPtr()->setValue(from.toVector(), to.toVector());
        return 0;
    }

    PyErr_Clear();
    PyObject *v3;
    const char *priority = nullptr;
    if (PyArg_ParseTuple(args, "O!O!O!|s", &(Base::VectorPy::Type), &v1,
                                           &(Base::VectorPy::Type), &v2,
                                           &(Base::VectorPy::Type), &v3,
                                           &priority)) {
        Py::Vector xdir(v1, false);
        Py::Vector ydir(v2, false);
        Py::Vector zdir(v3, false);
        if (!priority)
            priority = "ZXY";
        try {
            *getRotationPtr() = (Rotation::makeRotationByAxes(xdir.toVector(), ydir.toVector(), zdir.toVector(), priority));
        } catch(Base::Exception &e) {
            std::string str;
            str += "FreeCAD exception thrown (";
            str += e.what();
            str += ")";
            PyErr_SetString(Base::BaseExceptionFreeCADError,str.c_str());
            return -1;
        }

        return 0;
    }

    PyErr_SetString(PyExc_TypeError, "Rotation constructor accepts:\n"
        "-- empty parameter list\n"
        "-- Rotation object"
        "-- four floats (a quaternion)\n"
        "-- three floats (yaw, pitch, roll)"
        "-- Vector (rotation axis) and float (rotation angle)\n"
        "-- two Vectors (two axes)\n"
        "-- Matrix object\n"
        "-- 16 floats (4x4 matrix)\n"
        "-- 9 floats (3x3 matrix)\n"
        "-- 3 vectors + optional string"
       );
    return -1;
}

PyObject* RotationPy::richCompare(PyObject *v, PyObject *w, int op)
{
    if (PyObject_TypeCheck(v, &(RotationPy::Type)) &&
        PyObject_TypeCheck(w, &(RotationPy::Type))) {
        Base::Rotation r1 = *static_cast<RotationPy*>(v)->getRotationPtr();
        Base::Rotation r2 = *static_cast<RotationPy*>(w)->getRotationPtr();

        PyObject *res=nullptr;
        if (op != Py_EQ && op != Py_NE) {
            PyErr_SetString(PyExc_TypeError,
            "no ordering relation is defined for Rotation");
            return nullptr;
        }
        else if (op == Py_EQ) {
            res = (r1 == r2) ? Py_True : Py_False;
            Py_INCREF(res);
            return res;
        }
        else {
            res = (r1 != r2) ? Py_True : Py_False;
            Py_INCREF(res);
            return res;
        }
    }
    else {
        // This always returns False
        Py_INCREF(Py_NotImplemented);
        return Py_NotImplemented;
    }
}

PyObject* RotationPy::invert(PyObject * args)
{
    if (!PyArg_ParseTuple(args, ""))
        return nullptr;
    this->getRotationPtr()->invert();
    Py_Return;
}

PyObject* RotationPy::inverted(PyObject * args)
{
    if (!PyArg_ParseTuple(args, ""))
        return nullptr;
    Rotation mult = this->getRotationPtr()->inverse();
    return new RotationPy(new Rotation(mult));
}

PyObject* RotationPy::multiply(PyObject * args)
{
    PyObject *rot;
    if (!PyArg_ParseTuple(args, "O!", &(RotationPy::Type), &rot))
        return nullptr;
    Rotation mult = (*getRotationPtr()) * (*static_cast<RotationPy*>(rot)->getRotationPtr());
    return new RotationPy(new Rotation(mult));
}

PyObject* RotationPy::multVec(PyObject * args)
{
    PyObject *obj;
    if (!PyArg_ParseTuple(args, "O!", &(VectorPy::Type), &obj))
        return nullptr;
    Base::Vector3d vec(static_cast<VectorPy*>(obj)->value());
    getRotationPtr()->multVec(vec, vec);
    return new VectorPy(new Vector3d(vec));
}

PyObject* RotationPy::slerp(PyObject * args)
{
    PyObject *rot;
    double t;
    if (!PyArg_ParseTuple(args, "O!d", &(RotationPy::Type), &rot, &t))
        return 0;
    Rotation *rot0 = this->getRotationPtr();
    Rotation *rot1 = static_cast<RotationPy*>(rot)->getRotationPtr();
    Rotation sl = Rotation::slerp(*rot0, *rot1, t);
    return new RotationPy(new Rotation(sl));
}

PyObject* RotationPy::setYawPitchRoll(PyObject * args)
{
    double A,B,C;
    if (!PyArg_ParseTuple(args, "ddd", &A, &B, &C))
        return nullptr;
    this->getRotationPtr()->setYawPitchRoll(A,B,C);
    Py_Return;
}

PyObject* RotationPy::getYawPitchRoll(PyObject * args)
{
    if (!PyArg_ParseTuple(args, ""))
        return nullptr;
    double A,B,C;
    this->getRotationPtr()->getYawPitchRoll(A,B,C);

    Py::Tuple tuple(3);
    tuple.setItem(0, Py::Float(A));
    tuple.setItem(1, Py::Float(B));
    tuple.setItem(2, Py::Float(C));
    return Py::new_reference_to(tuple);
}

PyObject* RotationPy::setEulerAngles(PyObject * args)
{
    const char *seq;
    double A,B,C;
    if (!PyArg_ParseTuple(args, "sddd", &seq, &A, &B, &C))
        return nullptr;

    try {
        getRotationPtr()->setEulerAngles(
                Rotation::eulerSequenceFromName(seq), A, B, C);
        Py_Return;
    }
    catch (const Base::Exception& e) {
        e.setPyException();
        return nullptr;
    }
}

PyObject* RotationPy::toEulerAngles(PyObject * args)
{
    const char *seq = nullptr;
    if (!PyArg_ParseTuple(args, "|s", &seq))
        return nullptr;
    if (!seq) {
        Py::List res;
        for (int i=1; i<Rotation::EulerSequenceLast; ++i)
            res.append(Py::String(Rotation::eulerSequenceName((Rotation::EulerSequence)i)));
        return Py::new_reference_to(res);
    }

    PY_TRY {
        double A,B,C;
        this->getRotationPtr()->getEulerAngles(
                Rotation::eulerSequenceFromName(seq),A,B,C);

        Py::Tuple tuple(3);
        tuple.setItem(0, Py::Float(A));
        tuple.setItem(1, Py::Float(B));
        tuple.setItem(2, Py::Float(C));
        return Py::new_reference_to(tuple);
    } PY_CATCH

}

PyObject* RotationPy::toMatrix(PyObject * args)
{
    if (!PyArg_ParseTuple(args, ""))
        return NULL;
    Base::Matrix4D mat;
    getRotationPtr()->getValue(mat);
    return new MatrixPy(new Matrix4D(mat));
}

PyObject* RotationPy::isSame(PyObject *args)
{
    PyObject *rot;
    double tol = 0.0;
    if (!PyArg_ParseTuple(args, "O!|d", &(RotationPy::Type), &rot, &tol))
        return nullptr;
    Base::Rotation rot1 = * getRotationPtr();
    Base::Rotation rot2 = * static_cast<RotationPy*>(rot)->getRotationPtr();
    bool same = tol > 0.0 ? rot1.isSame(rot2, tol) : rot1.isSame(rot2);
    return Py_BuildValue("O", (same ? Py_True : Py_False));
}

PyObject* RotationPy::isIdentity(PyObject *args)
{
    if (!PyArg_ParseTuple(args, ""))
        return nullptr;
    bool null = getRotationPtr()->isIdentity();
    return Py_BuildValue("O", (null ? Py_True : Py_False));
}

PyObject* RotationPy::isNull(PyObject *args)
{
    if (!PyArg_ParseTuple(args, ""))
        return nullptr;
    bool null = getRotationPtr()->isNull();
    return Py_BuildValue("O", (null ? Py_True : Py_False));
}

Py::Tuple RotationPy::getQ() const
{
    double q0, q1, q2, q3;
    this->getRotationPtr()->getValue(q0,q1,q2,q3);

    Py::Tuple tuple(4);
    tuple.setItem(0, Py::Float(q0));
    tuple.setItem(1, Py::Float(q1));
    tuple.setItem(2, Py::Float(q2));
    tuple.setItem(3, Py::Float(q3));
    return tuple;
}

void RotationPy::setQ(Py::Tuple arg)
{
    double q0 = static_cast<double>(Py::Float(arg.getItem(0)));
    double q1 = static_cast<double>(Py::Float(arg.getItem(1)));
    double q2 = static_cast<double>(Py::Float(arg.getItem(2)));
    double q3 = static_cast<double>(Py::Float(arg.getItem(3)));
    this->getRotationPtr()->setValue(q0,q1,q2,q3);
}

Py::Object RotationPy::getRawAxis() const
{
    Base::Vector3d axis; double angle;
    this->getRotationPtr()->getRawValue(axis, angle);
    return Py::Vector(axis);
}

Py::Object RotationPy::getAxis(void) const
{
    Base::Vector3d axis; double angle;
    this->getRotationPtr()->getValue(axis, angle);
    return Py::Vector(axis);
}

void RotationPy::setAxis(Py::Object arg)
{
    Base::Vector3d axis; double angle;
    this->getRotationPtr()->getValue(axis, angle);
    axis = Py::Vector(arg).toVector();
    this->getRotationPtr()->setValue(axis, angle);
}

Py::Float RotationPy::getAngle() const
{
    Base::Vector3d axis; double angle;
    this->getRotationPtr()->getValue(axis, angle);
    return Py::Float(angle);
}

void RotationPy::setAngle(Py::Float arg)
{
    Base::Vector3d axis; double angle;
    this->getRotationPtr()->getRawValue(axis, angle);
    angle = static_cast<double>(arg);
    this->getRotationPtr()->setValue(axis, angle);
}

PyObject *RotationPy::getCustomAttributes(const char* attr) const
{
    if (strcmp(attr, "Matrix") == 0) {
        Matrix4D mat;
        this->getRotationPtr()->getValue(mat);
        return new MatrixPy(mat);
    }
    else if (strcmp(attr, "Yaw") == 0) {
        double A,B,C;
        this->getRotationPtr()->getYawPitchRoll(A,B,C);
        return PyFloat_FromDouble(A);
    }
    else if (strcmp(attr, "Pitch") == 0) {
        double A,B,C;
        this->getRotationPtr()->getYawPitchRoll(A,B,C);
        return PyFloat_FromDouble(B);
    }
    else if (strcmp(attr, "Roll") == 0) {
        double A,B,C;
        this->getRotationPtr()->getYawPitchRoll(A,B,C);
        return PyFloat_FromDouble(C);
    }
    else if (strcmp(attr, "toEuler") == 0) {
        Py::Object self(const_cast<RotationPy*>(this), false);
        return Py::new_reference_to(self.getAttr("getYawPitchRoll"));
    }
    return nullptr;
}

int RotationPy::setCustomAttributes(const char* attr, PyObject* obj)
{
    if (strcmp(attr, "Matrix") == 0) {
        if (PyObject_TypeCheck(obj, &(MatrixPy::Type))) {
            this->getRotationPtr()->setValue(*static_cast<MatrixPy*>(obj)->getMatrixPtr());
            return 1;
        }
    }
    else if (strcmp(attr, "Axes") == 0) {
        if (PySequence_Check(obj) && PySequence_Size(obj) == 2) {
            PyObject* vec1 = PySequence_GetItem(obj, 0);
            PyObject* vec2 = PySequence_GetItem(obj, 1);
            if (PyObject_TypeCheck(vec1, &(VectorPy::Type)) &&
                PyObject_TypeCheck(vec2, &(VectorPy::Type))) {
                this->getRotationPtr()->setValue(
                    *static_cast<VectorPy*>(vec1)->getVectorPtr(),
                    *static_cast<VectorPy*>(vec2)->getVectorPtr());
                return 1;
            }
        }
    }
    else if (strcmp(attr, "Yaw") == 0) {
        if (PyNumber_Check(obj)) {
            double V = PyFloat_AsDouble(obj);
            double A,B,C;
            this->getRotationPtr()->getYawPitchRoll(A,B,C);
            this->getRotationPtr()->setYawPitchRoll(V,B,C);
            return 1;
        }
    }
    else if (strcmp(attr, "Pitch") == 0) {
        if (PyNumber_Check(obj)) {
            double V = PyFloat_AsDouble(obj);
            double A,B,C;
            this->getRotationPtr()->getYawPitchRoll(A,B,C);
            this->getRotationPtr()->setYawPitchRoll(A,V,C);
            return 1;
        }
    }
    else if (strcmp(attr, "Roll") == 0) {
        if (PyNumber_Check(obj)) {
            double V = PyFloat_AsDouble(obj);
            double A,B,C;
            this->getRotationPtr()->getYawPitchRoll(A,B,C);
            this->getRotationPtr()->setYawPitchRoll(A,B,V);
            return 1;
        }
    }
    return 0;
}

PyObject* RotationPy::number_multiply_handler(PyObject *self, PyObject *other)
{
    if (PyObject_TypeCheck(self, &(RotationPy::Type))) {
        auto a = static_cast<RotationPy*>(self)->value();

        if (PyObject_TypeCheck(other, &(VectorPy::Type))) {
            Vector3d res;
            a.multVec(static_cast<VectorPy*>(other)->value(),res);
            return new VectorPy(res);
        }

        if (PyObject_TypeCheck(other, &(PlacementPy::Type))) {
            const auto &b = static_cast<PlacementPy*>(other)->value();
            return new PlacementPy(Placement(Vector3d(),a)*b);
        }

        if (PyObject_TypeCheck(other, &(RotationPy::Type))) {
            const auto &b = static_cast<RotationPy*>(other)->value();
            return new RotationPy(a*b);
        }

        if (PyObject_TypeCheck(other, &(MatrixPy::Type))) {
            const auto &b = static_cast<MatrixPy*>(other)->value();
            Matrix4D mat;
            a.getValue(mat);
            return new MatrixPy(mat*b);
        }
    }

    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_power_handler (PyObject* self, PyObject* other, PyObject* arg)
{
    if (!PyObject_TypeCheck(self, &(RotationPy::Type)) ||
        !PyLong_Check(other) ||
        arg != Py_None)
    {
        PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
        return nullptr;
    }

    Rotation a = static_cast<RotationPy*>(self)->value();
    long b = Py::Int(other);

    Vector3d axis;
    double rfAngle;

    a.getRawValue(axis, rfAngle);
    rfAngle *= b;
    a.setValue(axis, rfAngle);

    return new RotationPy(a);
}

PyObject* RotationPy::number_add_handler(PyObject * /*self*/, PyObject * /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject* RotationPy::number_subtract_handler(PyObject * /*self*/, PyObject * /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_divide_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_remainder_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_divmod_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_negative_handler (PyObject* /*self*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_positive_handler (PyObject* /*self*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_absolute_handler (PyObject* /*self*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

int RotationPy::number_nonzero_handler (PyObject* /*self*/)
{
    return 1;
}

PyObject * RotationPy::number_invert_handler (PyObject* /*self*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_lshift_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_rshift_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_and_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_xor_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_or_handler (PyObject* /*self*/, PyObject* /*other*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_int_handler (PyObject * /*self*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}

PyObject * RotationPy::number_float_handler (PyObject * /*self*/)
{
    PyErr_SetString(PyExc_NotImplementedError, "Not implemented");
    return nullptr;
}