# Copyright (c) 2017 Ultimaker B.V.
# Uranium is released under the terms of the LGPLv3 or higher.

from . import SceneNode

from UM.Math.Matrix import Matrix
from UM.Math.Ray import Ray
from UM.Math.Vector import Vector

from typing import Optional

import numpy
import numpy.linalg
import copy

MYPY = False
if MYPY:
    from UM.Mesh.MeshData import MeshData


##  A SceneNode subclass that provides a camera object.
#
#   The camera provides a projection matrix and its transformation matrix
#   can be used as view matrix.
class Camera(SceneNode.SceneNode):
    def __init__(self, name: str, parent = None):
        super().__init__(parent)
        self._name = name  # type: str
        self._projection_matrix = Matrix()  # type: Matrix
        self._projection_matrix.setOrtho(-5, 5, 5, -5, -100, 100)
        self._perspective = True  # type: bool
        self._viewport_width = 0  # type: int
        self._viewport_height = 0  # type: int
        self._window_width = 0  # type: int
        self._window_height = 0  # type: int
        self._auto_adjust_view_port_size = True  # type: bool
        self.setCalculateBoundingBox(False)

    def setMeshData(self, mesh_data: Optional["MeshData"]):
        assert mesh_data is not None, "Camera's can't have mesh data"

    def getAutoAdjustViewPort(self):
        return self._auto_adjust_view_port_size

    def setAutoAdjustViewPort(self, auto_adjust):
        self._auto_adjust_view_port_size = auto_adjust

    ##  Get the projection matrix of this camera.
    def getProjectionMatrix(self) -> Matrix:
        return copy.deepcopy(self._projection_matrix)
    
    def getViewportWidth(self):
        return self._viewport_width
    
    def setViewportWidth(self, width: int):
        self._viewport_width = width
    
    def setViewPortHeight(self, height: int):
        self._viewport_height = height
        
    def setViewportSize(self, width: int, height: int):
        self._viewport_width = width
        self._viewport_height = height
    
    def getViewportHeight(self):
        return self._viewport_height

    def setWindowSize(self, width, height):
        self._window_width = width
        self._window_height = height
    
    ##  Set the projection matrix of this camera.
    #   \param matrix The projection matrix to use for this camera.
    def setProjectionMatrix(self, matrix: Matrix):
        self._projection_matrix = matrix

    def isPerspective(self):
        return self._perspective

    def setPerspective(self, perspective: Matrix):
        self._perspective = perspective

    ##  Get a ray from the camera into the world.
    #
    #   This will create a ray from the camera's origin, passing through (x, y)
    #   on the near plane and continuing based on the projection matrix.
    #
    #   \param x The X coordinate on the near plane this ray should pass through.
    #   \param y The Y coordinate on the near plane this ray should pass through.
    #
    #   \return A Ray object representing a ray from the camera origin through X, Y.
    #
    #   \note The near-plane coordinates should be in normalized form, that is within (-1, 1).
    def getRay(self, x, y) -> Ray:
        window_x = ((x + 1) / 2) * self._window_width
        window_y = ((y + 1) / 2) * self._window_height
        view_x = (window_x / self._viewport_width) * 2 - 1
        view_y = (window_y / self._viewport_height) * 2 - 1

        inverted_projection = numpy.linalg.inv(self._projection_matrix.getData().copy())
        transformation = self.getWorldTransformation().getData()

        near = numpy.array([view_x, -view_y, -1.0, 1.0], dtype = numpy.float32)
        near = numpy.dot(inverted_projection, near)
        near = numpy.dot(transformation, near)
        near = near[0:3] / near[3]

        far = numpy.array([view_x, -view_y, 1.0, 1.0], dtype = numpy.float32)
        far = numpy.dot(inverted_projection, far)
        far = numpy.dot(transformation, far)
        far = far[0:3] / far[3]

        dir = far - near
        dir /= numpy.linalg.norm(dir)

        return Ray(self.getWorldPosition(), Vector(-dir[0], -dir[1], -dir[2]))

    ##  Project a 3D position onto the 2D view plane.
    def project(self, position: Vector):
        projection = self._projection_matrix
        view = self.getWorldTransformation().getInverse()

        position = position.preMultiply(view)
        position = position.preMultiply(projection)

        return position.x / position.z / 2.0, position.y / position.z / 2.0