/***************************************************************************
 *   Copyright (c) 2023 Ondsel, Inc.                                       *
 *                                                                         *
 *   This file is part of OndselSolver.                                    *
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/

#pragma once

#include "ASMTSpatialItem.h"
 //#include "ASMTRefPoint.h"
 //#include "ASMTRefCurve.h"
 //#include "ASMTRefSurface.h"
#include "ASMTPrincipalMassMarker.h"
//#include "Units.h"
//#include "ASMTPart.h"
//#include "ASMTJoint.h"
//#include "ASMTMotion.h"

namespace MbD {
	class ASMTRefPoint;
	class ASMTRefCurve;
	class ASMTRefSurface;
	class ASMTPrincipalMassMarker;
	class Units;
	class ASMTPart;
	class ASMTJoint;
	class ASMTMotion;
	class ASMTMarker;

	class ASMTSpatialContainer : public ASMTSpatialItem
	{
		//
	public:
		ASMTSpatialContainer();
		void initialize() override;
		void setPrincipalMassMarker(std::shared_ptr<ASMTPrincipalMassMarker> aJ);
		void readRefPoints(std::vector<std::string>& lines);
		void readRefPoint(std::vector<std::string>& lines);
		void readRefCurves(std::vector<std::string>& lines);
		void readRefCurve(std::vector<std::string>& lines);
		void readRefSurfaces(std::vector<std::string>& lines);
		void readRefSurface(std::vector<std::string>& lines);
		void readXs(std::vector<std::string>& lines);
		void readYs(std::vector<std::string>& lines);
		void readZs(std::vector<std::string>& lines);
		void readBryantxs(std::vector<std::string>& lines);
		void readBryantys(std::vector<std::string>& lines);
		void readBryantzs(std::vector<std::string>& lines);
		void readVXs(std::vector<std::string>& lines);
		void readVYs(std::vector<std::string>& lines);
		void readVZs(std::vector<std::string>& lines);
		void readOmegaXs(std::vector<std::string>& lines);
		void readOmegaYs(std::vector<std::string>& lines);
		void readOmegaZs(std::vector<std::string>& lines);
		void readAXs(std::vector<std::string>& lines);
		void readAYs(std::vector<std::string>& lines);
		void readAZs(std::vector<std::string>& lines);
		void readAlphaXs(std::vector<std::string>& lines);
		void readAlphaYs(std::vector<std::string>& lines);
		void readAlphaZs(std::vector<std::string>& lines);
		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
		void updateMbDFromPosition3D(FColDsptr position3D);
		void updateMbDFromPosition3D(double a, double b, double c);
		void updateMbDFromRotationMatrix(FMatDsptr mat);
		void updateMbDFromRotationMatrix(double v11, double v12, double v13,
			double v21, double v22, double v23,
			double v31, double v32, double v33);
		FColDsptr rOcmO();
		std::shared_ptr<EulerParameters<double>> qEp();
		virtual FColDsptr vOcmO();
		virtual FColDsptr omeOpO();
		ASMTSpatialContainer* partOrAssembly() override;
        void updateForFrame(size_t index) override;
        void updateFromInitiallyAssembledState() override;
        void updateFromInputState() override;
        void updateFromMbD() override;
		void compareResults(AnalysisType type) override;
		void outputResults(AnalysisType type) override;
		void addRefPoint(std::shared_ptr<ASMTRefPoint> refPoint);
		void addMarker(std::shared_ptr<ASMTMarker> marker);
		std::string generateUniqueMarkerName();
		std::shared_ptr<std::vector<std::shared_ptr<ASMTMarker>>> markerList();
		void setVelocity3D(FColDsptr velocity3D);
		void setOmega3D(FColDsptr omega3D);
		void readVelocity3D(std::vector<std::string>& lines);
		void readOmega3D(std::vector<std::string>& lines);
		void setVelocity3D(double a, double b, double c);
		void setOmega3D(double a, double b, double c);
		void storeOnLevel(std::ofstream& os, size_t level) override;
		void storeOnLevelVelocity(std::ofstream& os, size_t level);
		void storeOnLevelOmega(std::ofstream& os, size_t level);
		void storeOnLevelRefPoints(std::ofstream& os, size_t level);
		void storeOnLevelRefCurves(std::ofstream& os, size_t level);
		void storeOnLevelRefSurfaces(std::ofstream& os, size_t level);
		void storeOnTimeSeries(std::ofstream& os) override;
        FColDsptr getVelocity3D(size_t i);
        FColDsptr getOmega3D(size_t i);
        FColDsptr getAcceleration3D(size_t i);
        FColDsptr getAlpha3D(size_t i);

		FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
        FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
        FColDsptr acceleration3D = std::make_shared<FullColumn<double>>(3);
        FColDsptr alpha3D = std::make_shared<FullColumn<double>>(3);
        std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
		std::shared_ptr<std::vector<std::shared_ptr<ASMTRefCurve>>> refCurves;
		std::shared_ptr<std::vector<std::shared_ptr<ASMTRefSurface>>> refSurfaces;
		FRowDsptr vxs, vys, vzs, omexs, omeys, omezs;
		FRowDsptr axs, ays, azs, alpxs, alpys, alpzs;
		FRowDsptr invxs, invys, invzs, inomexs, inomeys, inomezs;
		FRowDsptr inaxs, inays, inazs, inalpxs, inalpys, inalpzs;
		std::shared_ptr<ASMTPrincipalMassMarker> principalMassMarker = ASMTPrincipalMassMarker::With();

	};
}