//! Base implementation of a physical particle for the sju physics engine
/*!
 * A physical particle is the simplest physical object that can exist, yet it
 * will respond accordingly to nearly all the effects and objects included in
 * the physics engine and can be used to simulate more complicated objects
 * cheaply.
 */
/* Copyright (C) 2009  Alejandro Valenzuela Roca, <lanjoe9 at mexinetica NOSPAMPLEASE dot com>
 *
 * This file is part of MotorJ, a free framework for videogame creation.
 * <http://wiki.lidsol.net/wiki/index.php?title=MotorJ >
 * <http://motorj.mexinetica.com/ >
 *
 * MotorJ is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * MotorJ 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 Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with MotorJ.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "pparticle-class.h"

pParticle::pParticle()
{
	cGeometry = CG_PT;
	cGeometryData = NULL;
	rotDragFactor = 0;
	e = 1.0;
	v3_0(&v);
	v3_0(&a);
	v3_0(&rotv);
	v3_0(&rota);
	hasCollision = true;
	hasGravitation = false;
	hasGravity = true;
	hasCharge = false;
	
}

void pParticle::SetData(float m0, float mInertia0, vector3 & v0, vector3 & rotv0)
{
	mass = m0;
	mInertia = mInertia0;
	invmass = 1.0/mass;
	invMInertia = 1.0/mInertia;
	vec_copy(v0, &v);
	vec_copy(rotv0, &rotv);
	collStatus = COLR_NOCOLLISION;
}

void pParticle::ApplyEffect(vector3 effect, vector3 &pointOfAction, sjuPETypes effectType, IPhysicalObject* interactionObject)
{
    //printf("Got effect %d:%f,%f,%f\n", effectType, effect.x, effect.y, effect.z);
	if (effectType == PE_C_IMMOVABLE)
	{
		// Collision reaction needs to be delayed until the speed
		// has been recalculated
		collisionDetected = true;

		vec_copy(effect, &f_1);
		normalize(&f_1);

	} else if (effectType == PE_ACCEL)
	{
		// Acceleration response


		vec_sum2(effect, &a);
	} else if (effectType == PE_FRFIELD)
	{
		v.x *= 1-effect.x;
		v.y *= 1-effect.y;
		v.z *= 1-effect.z;

	} else if (effectType == PE_ROTACCEL)
	{
		vec_sum2(effect, &rota);
	} else if (effectType == PE_TORQUE)
	{
		vec_sum(invMInertia, effect, &rota);
	} else if (effectType == PE_CONTACT)
	{
	    vec_copy(effect, &v);
	} else
	{
	    //printf("%3.3f: %3.3f, %3.3f, %3.3f\n", invmass, effect.x, effect.y, effect.z);
		vec_sum(invmass, effect, &a);
	}

}

void pParticle::ResetAccels()
{
	v3_0(&a);
	v3_0(&rota);
	collisionDetected = false;
	collStatus = COLR_NOCOLLISION;
}

void pParticle::Update(float t_elapsed)
{
	vector3 rotD;
	vector3 rotU;
    //printf("a: %3.3f,%3.3f,%3.3f\n", a.x, a.y, a.z);
    //printf("v %3.3f,%3.3f,%3.3f\n", v.x, v.y, v.z);
	vec_sum(t_elapsed, a, &v);
	vec_sum(t_elapsed, rota, &rotv);

	if (collisionDetected)
	{
		// Get current velocity's magnitude
		float speed = normalize(&v);
		vector3 r;
		// Now perform reflection
		vec_refl(v, f_1, &r);
		// Set reflected v as new v
		vec_copy(r,&v);
		// Set speed back
		mul_scal(e*speed, &v);
	}
	// Do the dragFactor scaling
	mul_scal(1.0-dragFactor, &v);
	mul_scal(1.0-rotDragFactor, &rotv);
	vec_sum(t_elapsed, v, &p);

	if (vec_norm(rotv) > 0.0001)
	{
		cross(rotv, dir, &rotD);
		cross(rotv, up, &rotU);
		//printf("rE: %f %f %f\n", rotE.x, rotE.y, rotE.z );
		vec_sum(t_elapsed, rotD, &dir);
		vec_sum(t_elapsed, rotU, &up);

		//vec_sum2(rotE, &dir);
		normalize(&dir);
		normalize(&up);
	}
	//printf("d: %3.3f, %3.3f, %3.3f\n", dir.x, dir.y, dir.z);
	//printf("p:"

}


pParticle::~pParticle()
{

}