#include "frameTransform.h"

using namespace std;
using namespace qglviewer; // Vec

void Viewer::init()
{
  restoreFromFile();

  setSceneRadius(1.5);
  showEntireScene();
  setDrawAxis();
  glDisable(GL_LIGHTING);

  help();
}

void Viewer::draw()
{
  // Draws line sets (red, green, blue) with different origins, but with a common
  // end point, located on a circle in the XY plane.
  const float nbLines = 50.0;
  
  glBegin(GL_LINES);

  for (float i=0; i<nbLines; ++i)
    {
      float angle = 2.0*M_PI*i/nbLines;

      glColor3f(.8,.2,.2);
      // These lines will never be seen as they are always aligned with the viewing direction.
      glVertex3fv(camera()->position().address());
      glVertex3f (cos(angle), sin(angle), 0.0);

      glColor3f(.2,.8,.2);
      // World Coordinates are infered from the camera, and seem to be immobile in the screen.
      glVertex3fv(camera()->worldCoordinatesOf(Vec(.3*cos(angle), .3*sin(angle), -2.0)).address());
      glVertex3f (cos(angle), sin(angle), 0.0);

      glColor3f(.2,.2,.8);
      // These lines are defined in the world coordinate system and will move with the camera.
      glVertex3f(1.5*cos(angle), 1.5*sin(angle), -1.0);
      glVertex3f(cos(angle), sin(angle), 0.0);
    }
  glEnd();

  Vec origin = camera()->cameraCoordinatesOf(Vec(0.0, 0.0, 0.0));
  cout << "Camera position in world coord. system  = " << camera()->position() << endl;
  cout << "World origin position in camera frame   = " << origin << endl;  
  cout << endl;
}

QString Viewer::helpString() const
{
  QString text("<h2>F r a m e T r a n s f o r m</h2>");
  text += "This example illustrates how easy it is to switch between the camera and ";
  text += "the world coordinate systems : using the <i>camera()->cameraCoordinatesOf()</i> ";
  text += "and <i>camera::worldCoordinatesOf()</i> functions.<br>";
  text += "You can create your own hierarchy of local coordinates systems and each of ";
  text += "them can be manipulated with the mouse (see the <i>manipulatedFrame</i> and <i>luxo</i> examples). ";
  text += "Standard functions allow you to convert from any local frame to an other, ";
  text += "the world/camera relation presented here simply being one of its illustration.<br>";
  text += "See <i>examples/frameTransform.html</i> for an explanation of the meaning of these weird lines.";
  return text;
}