#include <iostream>
#include "AFramework.h"
#include "AGLObjects.h"
#include "AnimationToolkit.h"

class AButterfly : public AFramework
{
public:
   AButterfly() : AFramework(AFramework::Perspective)
   {
   }

   void setup()
   {
      AJoint* body = new AJoint("Body");
      body->setLocalTranslation(AVector3(1,2,1)*100);
      body->setLocalRotation(AQuaternion(AVector3(0,1,0), 45 * ADeg2Rad));
      skeleton.addJoint(body);
      
      AJoint* lwing = new AJoint("LWing");
      lwing->setLocalTranslation(AVector3(0.1,0,0)*100);
      skeleton.addJoint(lwing);

      AJoint* rwing = new AJoint("RWing");
      rwing->setLocalTranslation(AVector3(-0.1,0,0)*100);
      skeleton.addJoint(rwing);
   }

   void draw()
   {
      // Example: Compute global transforms to draw
      // NOTE: We normally call ASkeleton::fk() to compute global transforms!
      AJoint* body = skeleton.getByName("Body");
      ATransform bodyLocal = body->getLocal2Parent();
      ATransform bodyGlobal = bodyLocal; // because body is the root

      // Draw body
      AVector3 e1Local(0,0,100);
      AVector3 e2Local(0,0,-100);
      AVector3 e1Global = bodyGlobal.transformPoint(e1Local);
      AVector3 e2Global = bodyGlobal.transformPoint(e2Local);

      ASetMaterial(AVector3(0.5,0,1));
      ADrawLimb(e1Global, e2Global, 5);

      // Draw body coordinate axes
      AVector3 fwdLocal(0,0,1);
      AVector3 upLocal(0,1,0);
      AVector3 leftLocal(1,0,0);
      AVector3 pGlobal = bodyGlobal.transformPoint(AVector3(0,0,0));
      AVector3 fwdGlobal = bodyGlobal.transformVector(fwdLocal); 
      AVector3 upGlobal = bodyGlobal.transformVector(upLocal); 
      AVector3 leftGlobal = bodyGlobal.transformVector(leftLocal); 

      ASetMaterial(AVector3(0,0,1));
      ADrawLimb(pGlobal, pGlobal + fwdGlobal * 150, 2);
      ASetMaterial(AVector3(0,1,0));
      ADrawLimb(pGlobal, pGlobal + upGlobal * 150, 2);
      ASetMaterial(AVector3(1,0,0));
      ADrawLimb(pGlobal, pGlobal + leftGlobal * 150, 2);

      // Draw wings
      AJoint* lwing = skeleton.getByName("LWing");
      ATransform lwingGlobal = bodyGlobal * lwing->getLocal2Parent();
      ASetMaterial(AVector3(1,0,0)); // Red for left
      ADrawLimb(lwingGlobal.translation, bodyGlobal.translation, 10);

      AJoint* rwing = skeleton.getByName("RWing");
      ATransform rwingGlobal = bodyGlobal * rwing->getLocal2Parent();
      ASetMaterial(AVector3(1,1,0)); // Yellow for right
      ADrawLimb(rwingGlobal.translation, bodyGlobal.translation, 10);
   }

private:
   ASkeleton skeleton;
};


int main(int argc, char** argv)
{
   AButterfly viewer;
   viewer.init(argc, argv);
   viewer.run();
}