/**
 *  \file rigid_bodies.h
 *  \brief utilities for rigid bodies.
 *
 *  Copyright 2007-2010 IMP Inventors. All rights reserved.
 */

#ifndef IMPCORE_INTERNAL_RIGID_BODIES_H
#define IMPCORE_INTERNAL_RIGID_BODIES_H

#include "../core_config.h"
#include "../XYZ.h"
#include "../Hierarchy.h"
#include <IMP/algebra/Sphere3D.h>

IMPCORE_BEGIN_INTERNAL_NAMESPACE

struct RigidBodyData {
  FloatKeys child_keys_;
  FloatKeys quaternion_;
  FloatKeys torque_;
  FloatKeys lquaternion_;
  HierarchyTraits htraits_;
  HierarchyTraits hbtraits_;
  ObjectKey refkey_;
  RigidBodyData(): htraits_("rigid_body"),
                   hbtraits_("rigid_body_bodies"){
    child_keys_.resize(3);
    std::string pre="rigid_body_";
    child_keys_[0]= FloatKey((pre+"local_x").c_str());
    child_keys_[1]= FloatKey((pre+"local_y").c_str());
    child_keys_[2]= FloatKey((pre+"local_z").c_str());
    quaternion_.resize(4);
    quaternion_[0]= FloatKey((pre+"quaternion_0").c_str());
    quaternion_[1]= FloatKey((pre+"quaternion_1").c_str());
    quaternion_[2]= FloatKey((pre+"quaternion_2").c_str());
    quaternion_[3]= FloatKey((pre+"quaternion_3").c_str());
    torque_.resize(3);
    torque_[0]= FloatKey((pre+"torque_0").c_str());
    torque_[1]= FloatKey((pre+"torque_1").c_str());
    torque_[2]= FloatKey((pre+"torque_2").c_str());
    lquaternion_.resize(4);
    lquaternion_[0]= FloatKey((pre+"local_quaternion_0").c_str());
    lquaternion_[1]= FloatKey((pre+"local_quaternion_1").c_str());
    lquaternion_[2]= FloatKey((pre+"local_quaternion_2").c_str());
    lquaternion_[3]= FloatKey((pre+"local_quaternion_3").c_str());
    refkey_= ObjectKey("rigid body representation");
  }
};

IMPCOREEXPORT const RigidBodyData &rigid_body_data();


inline void set_model_ranges(Model *m) {
  m->set_range(rigid_body_data().quaternion_[0], FloatRange(0,1));
  m->set_range(rigid_body_data().quaternion_[1], FloatRange(0,1));
  m->set_range(rigid_body_data().quaternion_[2], FloatRange(0,1));
  m->set_range(rigid_body_data().quaternion_[3], FloatRange(0,1));
}

inline bool get_has_required_attributes_for_body(Particle *p) {
  IMP_USAGE_CHECK((p->has_attribute(rigid_body_data().quaternion_[0])
            && p->has_attribute(rigid_body_data().quaternion_[1])
            && p->has_attribute(rigid_body_data().quaternion_[2])
            && p->has_attribute(rigid_body_data().quaternion_[3])
             && XYZ::particle_is_instance(p))
            || (!p->has_attribute(rigid_body_data().quaternion_[0])
                && !p->has_attribute(rigid_body_data().quaternion_[1])
                && !p->has_attribute(rigid_body_data().quaternion_[2])
                && !p->has_attribute(rigid_body_data().quaternion_[3])),
            "Particle should have all of quaterion attributes or none");
  return p->has_attribute(rigid_body_data().quaternion_[0]);
}



inline bool
get_has_required_attributes_for_member(Particle *p) {
  for (unsigned int i=0; i< 3; ++i) {
    if (!p->has_attribute(rigid_body_data().child_keys_[i])) return false;
  }
  for (unsigned int i=0; i< 3; ++i) {
    if (!p->has_attribute(XYZ::get_coordinate_key(i)))
      return false;
  }
  return true;
}

inline bool
get_has_required_attributes_for_body_member(Particle *p) {
  for (unsigned int i=0; i< 4; ++i) {
    if (!p->has_attribute(rigid_body_data().lquaternion_[i])) return false;
  }
  return get_has_required_attributes_for_member(p);
}

inline void add_required_attributes_for_body(Particle *p) {
  for (unsigned int i=0; i< 4; ++i) {
    p->add_attribute(rigid_body_data().quaternion_[i], 0);
  }
  for (unsigned int i=0; i< 3; ++i) {
    p->add_attribute(rigid_body_data().torque_[i], 0);
  }
  if (!Hierarchy::particle_is_instance(p, rigid_body_data().htraits_)) {
    Hierarchy::setup_particle(p, rigid_body_data().htraits_);
  }
  Hierarchy::setup_particle(p, rigid_body_data().hbtraits_);
  if (!XYZ::particle_is_instance(p)) {
      XYZ::setup_particle(p);
  }
}
inline void remove_required_attributes_for_body(Particle *p) {
  for (unsigned int i=0; i< 4; ++i) {
    p->remove_attribute(rigid_body_data().quaternion_[i]);
  }
}

inline void add_required_attributes_for_member(Particle *p) {
  for (unsigned int i=0; i< 3; ++i) {
    p->add_attribute(rigid_body_data().child_keys_[i], 0);
  }
  if (!Hierarchy::particle_is_instance(p, rigid_body_data().htraits_)) {
    Hierarchy::setup_particle(p, rigid_body_data().htraits_);
  }
  XYZ::decorate_particle(p);
}

inline void add_required_attributes_for_body_member(Particle *p) {
  add_required_attributes_for_member(p);
  for (unsigned int i=0; i< 4; ++i) {
    p->add_attribute(rigid_body_data().lquaternion_[i], 0);
  }
}


IMPCORE_END_INTERNAL_NAMESPACE

#endif  /* IMPCORE_INTERNAL_RIGID_BODIES_H */