#include "c3dwidget.h"
#include <xml/read_xml.h>
#include <kinematics.h>
#include <OSD.hxx>
#include <AIS_Trihedron.hxx>
#include "AIS_ViewCube.hxx"
#include <AIS_Selection.hxx>
#include <AIS_ColoredShape.hxx>
#include <AIS_ColoredDrawer.hxx>
#include <BRepLib.hxx>
#include <BRepOffsetAPI_ThruSections.hxx>
#include <BRepBuilderAPI_MakeWire.hxx>
#include <BRepBuilderAPI_Transform.hxx>
#include <BRepBuilderAPI_MakeFace.hxx>
#include <BRepBuilderAPI_MakeEdge.hxx>
#include <BRepPrimAPI_MakePrism.hxx>
#include <BRepFilletAPI_MakeFillet.hxx>
#include <BRepOffsetAPI_MakeThickSolid.hxx>
#include <BRepPrimAPI_MakeCylinder.hxx>
#include <BRepAlgoAPI_Fuse.hxx>
#include <BRepTools_ReShape.hxx>
#include <BRepTools.hxx>
#include <BRepBuilderAPI_MakeVertex.hxx>
#include <gp_Trsf.hxx>
#include <TopoDS.hxx>
#include <TopoDS_Solid.hxx>
#include <TopExp.hxx>
#include <TopTools_IndexedMapOfShape.hxx>
#include <TopExp_Explorer.hxx>
#include <TopoDS_Compound.hxx>
#include <TPrsStd_AISPresentation.hxx>
#include <STEPControl_Writer.hxx>
#include <STEPControl_Reader.hxx>
#include <STEPCAFControl_Reader.hxx>
#include <STEPCAFControl_Controller.hxx>
#include <Geom_Line.hxx>
#include <Geom_Circle.hxx>
#include <Geom_TrimmedCurve.hxx>
#include <Geom_CartesianPoint.hxx>
#include <GC_MakeArcOfCircle.hxx>
#include <GC_MakeSegment.hxx>
#include <gce_MakeRotation.hxx>
#include <TopoDS_Wire.hxx>
#include <TopoDS.hxx>
#include <TopExp_Explorer.hxx>
#include <TopoDS_Edge.hxx>
#include <TDocStd_Document.hxx>
#include <TDocStd_Application.hxx>
#include <TDF_Label.hxx>
#include <TDF_AttributeIterator.hxx>
#include <TDF_ChildIterator.hxx>
#include <TDF_LabelSequence.hxx>
#include <TDataStd_Name.hxx>
#include <TDataStd_TreeNode.hxx>
#include <TDataStd_UAttribute.hxx>
#include <TNaming_NamedShape.hxx>
#include <TopTools.hxx>
#include <Geom_Plane.hxx>
#include <Geom_CylindricalSurface.hxx>
#include <Geom2d_Ellipse.hxx>
#include <Geom2d_TrimmedCurve.hxx>
#include "Geom_Axis2Placement.hxx"
#include <GCE2d_MakeSegment.hxx>
#include <GC_MakeArcOfCircle.hxx>
#include <XCAFDoc_Area.hxx>
#include <XCAFDoc_Centroid.hxx>
#include <XCAFDoc_Datum.hxx>
#include <XCAFDoc_Dimension.hxx>
#include <XCAFDoc_Location.hxx>
#include <XCAFDoc_Volume.hxx>
#include <XCAFDoc_DocumentTool.hxx>
#include <XCAFDoc_ColorTool.hxx>
#include <XCAFDoc_ShapeTool.hxx>
#include <XCAFApp_Application.hxx>
#include <XCAFDoc_ColorTool.hxx>
#include <XCAFDoc_ShapeTool.hxx>
#include <XCAFDoc_DocumentTool.hxx>
#include <Quantity_Color.hxx>
#include <Quantity_ColorRGBA.hxx>

//strore the data from the stepfile.
std::vector<TopoDS_Shape> Shape;
std::vector<Handle(AIS_Shape)> ais_Shape;

//store the colors from the stepfile in a struct vector.


void C3DWidget::draw_line(gp_Pnt point1, gp_Pnt point2){

    //make a point
    //gp_Pnt point1(0,0,0);

    //make a vertex from the point
    TopoDS_Vertex vertex1 = BRepBuilderAPI_MakeVertex(point1);

    //make one more point
    //gp_Pnt point2(100,0,0);

    //make an edge from the two points
    TopoDS_Edge edge1 = BRepBuilderAPI_MakeEdge(point1,point2);

    //display the vertex
    Handle(AIS_Shape) aisBody1 = new AIS_Shape(vertex1);
    //aisBody1->SetLocalTransformation(ChainVec.back().WorkFrameVec.back().MyTrsf);
    m_context->SetColor(aisBody1,Quantity_NOC_LAVENDER,Standard_False);
    m_context->SetMaterial(aisBody1,Graphic3d_NOM_PLASTIC,Standard_False);
    m_context->Display(aisBody1,Standard_False);

    //display the edge
    Handle(AIS_Shape) aisBody2 = new AIS_Shape(edge1);

    //Gcode workframe test:
    aisBody2->SetLocalTransformation(ChainVec.back().WorkFrameVec.back().MyTrsf);
    m_context->SetColor(aisBody2,Quantity_NOC_BLUE4,Standard_False);
    m_context->SetMaterial(aisBody2,Graphic3d_NOM_PLASTIC,Standard_False);
    m_context->Display(aisBody2,Standard_False);

}

void C3DWidget::draw_circle(gp_Pnt center,double radius){

    //draw circle :
    gp_Dir dir(0,0,1); // you can change this
    gp_Circ circle(gp_Ax2( center, dir),radius);
    BRepBuilderAPI_MakeEdge makeEdge(circle);
    Handle(AIS_Shape) shape = new AIS_Shape(TopoDS_Edge());
    m_context->SetColor(shape,Quantity_NOC_BLUE4,Standard_False);
    m_context->SetMaterial(shape,Graphic3d_NOM_PLASTIC,Standard_False);
    shape ->Set(makeEdge.Edge());

    //Gcode workframe test:
    shape->SetLocalTransformation(ChainVec.back().WorkFrameVec.back().MyTrsf);
    m_context->Display(shape , 1);

}

void C3DWidget::draw_3p_arc(gp_Pnt point1,gp_Pnt point2,gp_Pnt point3){

    //gp_Pnt point1(0,0,0);
    //gp_Pnt point2(50,50,0);
    //gp_Pnt point3(100,0,0);
    Handle(Geom_TrimmedCurve) aArcOfCircle = GC_MakeArcOfCircle(point1,point2,point3);

    TopoDS_Edge aEdge2 = BRepBuilderAPI_MakeEdge(aArcOfCircle);

    //display the edge
    Handle(AIS_Shape) aisBody2 = new AIS_Shape(aEdge2);

    //Gcode workframe test:
    aisBody2->SetLocalTransformation(ChainVec.back().WorkFrameVec.back().MyTrsf);

    m_context->SetColor(aisBody2,Quantity_NOC_BLUE4,Standard_False);
    m_context->SetMaterial(aisBody2,Graphic3d_NOM_PLASTIC,Standard_False);
    m_context->Display(aisBody2,Standard_False);

}

void C3DWidget::draw_cp_arc(gp_Pnt center, gp_Pnt point1, gp_Pnt point2){

    double radius=center.Distance(point2);
    //std::cout<<"radius:"<<radius<<std::endl;
    gp_Dir dir(0,0,1); // you can change this
    gp_Circ circle(gp_Ax2( center, dir),radius);

    Handle(Geom_TrimmedCurve) aArcOfCircle = GC_MakeArcOfCircle(circle,point1,point2,0);
    TopoDS_Edge aEdge2 = BRepBuilderAPI_MakeEdge(aArcOfCircle);

    //display the edge
    Handle(AIS_Shape) aisBody2 = new AIS_Shape(aEdge2);

    //Gcode workframe test:
    aisBody2->SetLocalTransformation(ChainVec.back().WorkFrameVec.back().MyTrsf);

    m_context->SetColor(aisBody2,Quantity_NOC_BLUE4,Standard_False);
    m_context->SetMaterial(aisBody2,Graphic3d_NOM_PLASTIC,Standard_False);
    m_context->Display(aisBody2,Standard_False);

}

void Opencascade::write_text(std::string str, int textheight, double x, double y, double rot_deg){ //https://www.youtube.com/watch?v=31SXQLpdNyE

    m_context->EraseAll(0);

    const char *chartext=str.c_str();

    if(textheight==0 || textheight<0){textheight=1;}

    Font_BRepFont aBrepFont("/usr/share/fonts/truetype/dejavu/DejaVuSans-Bold.ttf", textheight);
    Font_BRepTextBuilder aTextBuilder;
    TopoDS_Shape Text_Shape = aTextBuilder.Perform(aBrepFont, NCollection_String(chartext));

    Handle(AIS_Shape) Text_ais_Shape = new AIS_Shape(Text_Shape);

    gp_Trsf MyTrsf_rot;
    MyTrsf_rot.SetRotation(gp_Ax1(gp_Pnt(
                                      0,
                                      0,
                                      0), gp_Dir(
                                      0,                         //rotation flag x
                                      0,                         //rotation flag y
                                      1)), rot_deg * M_PI /180);
    gp_Trsf MyTrsf_trans;
    MyTrsf_trans.SetTranslation(gp_Pnt(0,0,0),gp_Pnt(x,y,0));
    Text_ais_Shape->SetLocalTransformation(MyTrsf_trans*MyTrsf_rot);

    m_context->SetColor(Text_ais_Shape,Quantity_NOC_BLACK,Standard_False);
    //m_context->SetMaterial(aisBody2,Graphic3d_NOM_PLASTIC,Standard_False);
    m_context->Display(Text_ais_Shape,Standard_True);

    view_top();

    m_view->ZFitAll();
    m_view->FitAll();
    m_view->Redraw();
}

void Opencascade::Clear()
{
     m_context->EraseAll(0);
     m_view->FitAll();
     m_view->Redraw();
}


void Opencascade::view_front()
{
    m_view->SetProj( V3d_Yneg );
}

void Opencascade::view_back()
{
    m_view->SetProj( V3d_Ypos );
}

void Opencascade::view_top()
{
    m_view->SetProj( V3d_Zpos );
}

void Opencascade::view_bottom()
{
    m_view->SetProj( V3d_Zneg );
}

void Opencascade::view_left()
{
    m_view->SetProj( V3d_Xneg );
}
void Opencascade::view_right()
{
    m_view->SetProj( V3d_Xpos );
}