/*
 * Copyright (c) 2011-2021, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
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 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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 */

#include <iostream>

#include <dart/dart.hpp>
#include <dart/gui/gui.hpp>
#include <dart/utils/utils.hpp>

#include "MyWindow.hpp"

using namespace dart;
using namespace dynamics;
using namespace simulation;

int main(int argc, char* argv[])
{
  // load a skeleton file
  // create and initialize the world
  dart::simulation::WorldPtr myWorld
      = utils::SkelParser::readWorld("dart://sample/skel/fullbody1.skel");
  assert(myWorld != nullptr);

  Eigen::Vector3d gravity(0.0, -9.81, 0.0);
  myWorld->setGravity(gravity);

  std::vector<std::size_t> genCoordIds;
  genCoordIds.push_back(1);  // global orientation y
  genCoordIds.push_back(4);  // global position y
  genCoordIds.push_back(6);  // left hip
  genCoordIds.push_back(9);  // left knee
  genCoordIds.push_back(10); // left ankle
  genCoordIds.push_back(13); // right hip
  genCoordIds.push_back(16); // right knee
  genCoordIds.push_back(17); // right ankle
  genCoordIds.push_back(21); // lower back
  Eigen::VectorXd initConfig(9);
  initConfig << -0.1, 0.2, 0.2, -0.5, 0.3, 0.2, -0.5, 0.3, -0.1;
  myWorld->getSkeleton(1)->setPositions(genCoordIds, initConfig);

  // create controller
  Controller* myController = new Controller(
      myWorld->getSkeleton(1),
      myWorld->getConstraintSolver(),
      myWorld->getTimeStep());

  // create a window and link it to the world
  MyWindow window;
  window.setWorld(myWorld);
  window.setController(myController);

  std::cout << "space bar: simulation on/off" << std::endl;
  std::cout << "'p': playback/stop" << std::endl;
  std::cout << "'[' and ']': play one frame backward and forward" << std::endl;
  std::cout << "'v': visualization on/off" << std::endl;
  std::cout << "'1'--'4': programmed interaction" << std::endl;
  std::cout << "'h': harness on/off" << std::endl;

  glutInit(&argc, argv);
  window.initWindow(640, 480, "Harness Test");
  glutMainLoop();

  return 0;
}
