# Copyright (c) 2015 Ultimaker B.V.
# Uranium is released under the terms of the LGPLv3 or higher.
from typing import List, Optional

from UM.Math.Matrix import Matrix
from UM.Math.Vector import Vector
from UM.Math.Quaternion import Quaternion
from UM.Math.AxisAlignedBox import AxisAlignedBox
from UM.Mesh.MeshData import MeshData

from UM.Signal import Signal, signalemitter
from UM.Mesh.MeshBuilder import MeshBuilder
from UM.Logger import Logger

from UM.Scene.SceneNodeDecorator import SceneNodeDecorator

from copy import deepcopy
import numpy


##  A scene node object.
#
#   These objects can hold a mesh and multiple children. Each node has a transformation matrix
#   that maps it it's parents space to the local space (it's inverse maps local space to parent).
#
#   SceneNodes can be "Decorated" by adding SceneNodeDecorator objects.
#   These decorators can add functionality to scene nodes.
#   \sa SceneNodeDecorator
#   \todo Add unit testing
@signalemitter
class SceneNode:
    class TransformSpace:
        Local = 1
        Parent = 2
        World = 3

    ##  Construct a scene node.
    #   \param parent The parent of this node (if any). Only a root node should have None as a parent.
    #   \param kwargs Keyword arguments.
    #                 Possible keywords:
    #                 - visible \type{bool} Is the SceneNode (and thus, all it's children) visible? Defaults to True
    #                 - name \type{string} Name of the SceneNode. Defaults to empty string.
    def __init__(self, parent: Optional["SceneNode"] = None, **kwargs):
        super().__init__()  # Call super to make multiple inheritance work.

        self._children = []     # type: List[SceneNode]
        self._mesh_data = None  # type: Optional[MeshData]

        # Local transformation (from parent to local)
        self._transformation = Matrix()  # type: Matrix

        # Convenience "components" of the transformation
        self._position = Vector()  # type: Vector
        self._scale = Vector(1.0, 1.0, 1.0)  # type: Vector
        self._shear = Vector(0.0, 0.0, 0.0)  # type: Vector
        self._mirror = Vector(1.0, 1.0, 1.0)  # type: Vector
        self._orientation = Quaternion()  # type: Quaternion

        # World transformation (from root to local)
        self._world_transformation = Matrix()  # type: Matrix

        # Convenience "components" of the world_transformation
        self._derived_position = Vector()  # type: Vector
        self._derived_orientation = Quaternion()  # type: Quaternion
        self._derived_scale = Vector()  # type: Vector

        self._parent = parent  # type: Optional[SceneNode]

        # Can this SceneNode be modified in any way?
        self._enabled = True  # type: bool
        # Can this SceneNode be selected in any way?
        self._selectable = False  # type: bool

        # Should the AxisAlignedBoundingBox be re-calculated?
        self._calculate_aabb = True  # type: bool

        # The AxisAligned bounding box.
        self._aabb = None  # type: Optional[AxisAlignedBox]
        self._bounding_box_mesh = None  # type: Optional[MeshData]

        self._visible = kwargs.get("visible", True)  # type: bool
        self._name = kwargs.get("name", "")  # type: str
        self._decorators = []  # type: List[SceneNodeDecorator]

        # Store custom settings to be compatible with Savitar SceneNode
        self._settings = {}

        ## Signals
        self.boundingBoxChanged.connect(self.calculateBoundingBoxMesh)
        self.parentChanged.connect(self._onParentChanged)

        if parent:
            parent.addChild(self)

    def __deepcopy__(self, memo):
        copy = SceneNode()
        copy.setTransformation(self.getLocalTransformation())
        copy.setMeshData(self._mesh_data)
        copy.setVisible(deepcopy(self._visible, memo))
        copy._selectable = deepcopy(self._selectable, memo)
        copy._name = deepcopy(self._name, memo)
        for decorator in self._decorators:
            copy.addDecorator(deepcopy(decorator, memo))

        for child in self._children:
            copy.addChild(deepcopy(child, memo))
        self.calculateBoundingBoxMesh()
        return copy

    ##  Set the center position of this node.
    #   This is used to modify it's mesh data (and it's children) in such a way that they are centered.
    #   In most cases this means that we use the center of mass as center (which most objects don't use)
    def setCenterPosition(self, center: Vector):
        if self._mesh_data:
            m = Matrix()
            m.setByTranslation(-center)
            self._mesh_data = self._mesh_data.getTransformed(m).set(center_position=center)
        for child in self._children:
            child.setCenterPosition(center)

    ##  \brief Get the parent of this node. If the node has no parent, it is the root node.
    #   \returns SceneNode if it has a parent and None if it's the root node.
    def getParent(self) -> Optional["SceneNode"]:
        return self._parent

    def getMirror(self) -> Vector:
        return self._mirror

    def setMirror(self, vector) -> Vector:
        self._mirror = vector

    ##  Get the MeshData of the bounding box
    #   \returns \type{MeshData} Bounding box mesh.
    def getBoundingBoxMesh(self) -> Optional[MeshData]:
        return self._bounding_box_mesh

    ##  (re)Calculate the bounding box mesh.
    def calculateBoundingBoxMesh(self):
        aabb = self.getBoundingBox()
        if aabb:
            bounding_box_mesh = MeshBuilder()
            rtf = aabb.maximum
            lbb = aabb.minimum

            bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z)  # Right - Top - Front
            bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z)  # Left - Top - Front

            bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z)  # Left - Top - Front
            bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z)  # Left - Bottom - Front

            bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z)  # Left - Bottom - Front
            bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z)  # Right - Bottom - Front

            bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z)  # Right - Bottom - Front
            bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z)  # Right - Top - Front

            bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z)  # Right - Top - Back
            bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z)  # Left - Top - Back

            bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z)  # Left - Top - Back
            bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z)  # Left - Bottom - Back

            bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z)  # Left - Bottom - Back
            bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z)  # Right - Bottom - Back

            bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z)  # Right - Bottom - Back
            bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z)  # Right - Top - Back

            bounding_box_mesh.addVertex(rtf.x, rtf.y, rtf.z)  # Right - Top - Front
            bounding_box_mesh.addVertex(rtf.x, rtf.y, lbb.z)  # Right - Top - Back

            bounding_box_mesh.addVertex(lbb.x, rtf.y, rtf.z)  # Left - Top - Front
            bounding_box_mesh.addVertex(lbb.x, rtf.y, lbb.z)  # Left - Top - Back

            bounding_box_mesh.addVertex(lbb.x, lbb.y, rtf.z)  # Left - Bottom - Front
            bounding_box_mesh.addVertex(lbb.x, lbb.y, lbb.z)  # Left - Bottom - Back

            bounding_box_mesh.addVertex(rtf.x, lbb.y, rtf.z)  # Right - Bottom - Front
            bounding_box_mesh.addVertex(rtf.x, lbb.y, lbb.z)  # Right - Bottom - Back

            self._bounding_box_mesh = bounding_box_mesh.build()

    ##  Handler for the ParentChanged signal
    #   \param node Node from which this event was triggered.
    def _onParentChanged(self, node: Optional["SceneNode"]):
        for child in self.getChildren():
            child.parentChanged.emit(self)

    ##  Signal for when a \type{SceneNodeDecorator} is added / removed.
    decoratorsChanged = Signal()

    ##  Add a SceneNodeDecorator to this SceneNode.
    #   \param \type{SceneNodeDecorator} decorator The decorator to add.
    def addDecorator(self, decorator: SceneNodeDecorator):
        if type(decorator) in [type(dec) for dec in self._decorators]:
            Logger.log("w", "Unable to add the same decorator type (%s) to a SceneNode twice.", type(decorator))
            return
        try:
            decorator.setNode(self)
        except AttributeError:
            Logger.logException("e", "Unable to add decorator.")
            return
        self._decorators.append(decorator)
        self.decoratorsChanged.emit(self)

    ##  Get all SceneNodeDecorators that decorate this SceneNode.
    #   \return list of all SceneNodeDecorators.
    def getDecorators(self) -> List[SceneNodeDecorator]:
        return self._decorators

    ##  Get SceneNodeDecorators by type.
    #   \param dec_type type of decorator to return.
    def getDecorator(self, dec_type) -> Optional[SceneNodeDecorator]:
        for decorator in self._decorators:
            if type(decorator) == dec_type:
                return decorator

    ##  Remove all decorators
    def removeDecorators(self):
        for decorator in self._decorators:
            decorator.clear()
        self._decorators = []
        self.decoratorsChanged.emit(self)

    ##  Remove decorator by type.
    #   \param dec_type type of the decorator to remove.
    def removeDecorator(self, dec_type: SceneNodeDecorator):
        for decorator in self._decorators:
            if type(decorator) == dec_type:
                decorator.clear()
                self._decorators.remove(decorator)
                self.decoratorsChanged.emit(self)
                break

    ##  Call a decoration of this SceneNode.
    #   SceneNodeDecorators add Decorations, which are callable functions.
    #   \param \type{string} function The function to be called.
    #   \param *args
    #   \param **kwargs
    def callDecoration(self, function: str, *args, **kwargs):
        for decorator in self._decorators:
            if hasattr(decorator, function):
                try:
                    return getattr(decorator, function)(*args, **kwargs)
                except Exception as e:
                    Logger.log("e", "Exception calling decoration %s: %s", str(function), str(e))
                    return None

    ##  Does this SceneNode have a certain Decoration (as defined by a Decorator)
    #   \param \type{string} function the function to check for.
    def hasDecoration(self, function: str) -> bool:
        for decorator in self._decorators:
            if hasattr(decorator, function):
                return True
        return False

    def getName(self) -> str:
        return self._name

    def setName(self, name: str):
        self._name = name

    ##  How many nodes is this node removed from the root?
    #   \return |tupe{int} Steps from root (0 means it -is- the root).
    def getDepth(self) -> int:
        if self._parent is None:
            return 0
        return self._parent.getDepth() + 1

    ##  \brief Set the parent of this object
    #   \param scene_node SceneNode that is the parent of this object.
    def setParent(self, scene_node: Optional["SceneNode"]):
        if self._parent:
            self._parent.removeChild(self)

        if scene_node:
            scene_node.addChild(self)

    ##  Emitted whenever the parent changes.
    parentChanged = Signal()

    ##  \brief Get the visibility of this node. The parents visibility overrides the visibility.
    #   TODO: Let renderer actually use the visibility to decide whether to render or not.
    def isVisible(self) -> bool:
        if self._parent is not None and self._visible:
            return self._parent.isVisible()
        else:
            return self._visible

    ##  Set the visibility of this SceneNode.
    def setVisible(self, visible: bool):
        self._visible = visible

    ##  \brief Get the (original) mesh data from the scene node/object.
    #   \returns MeshData
    def getMeshData(self) -> Optional[MeshData]:
        return self._mesh_data

    ##  \brief Get the transformed mesh data from the scene node/object, based on the transformation of scene nodes wrt root.
    #          If this node is a group, it will recursively concatenate all child nodes/objects.
    #   \returns MeshData
    def getMeshDataTransformed(self) -> Optional[MeshData]:
        return MeshData(vertices = self.getMeshDataTransformedVertices(), normals = self.getMeshDataTransformedNormals())

    ##  \brief Get the transformed vertices from this scene node/object, based on the transformation of scene nodes wrt root.
    #          If this node is a group, it will recursively concatenate all child nodes/objects.
    #   \return numpy.ndarray
    def getMeshDataTransformedVertices(self) -> numpy.ndarray:
        transformed_vertices = None
        if self.callDecoration("isGroup"):
            for child in self._children:
                tv = child.getMeshDataTransformedVertices()
                if transformed_vertices is None:
                    transformed_vertices = tv
                else:
                    transformed_vertices = numpy.concatenate((transformed_vertices, tv), axis = 0)
        else:
            transformed_vertices = self._mesh_data.getTransformed(self.getWorldTransformation()).getVertices()
        return transformed_vertices

    ##  \brief Get the transformed normals from this scene node/object, based on the transformation of scene nodes wrt root.
    #          If this node is a group, it will recursively concatenate all child nodes/objects.
    #   \return numpy.ndarray
    def getMeshDataTransformedNormals(self) -> numpy.ndarray:
        transformed_normals = None
        if self.callDecoration("isGroup"):
            for child in self._children:
                tv = child.getMeshDataTransformedNormals()
                if transformed_normals is None:
                    transformed_normals = tv
                else:
                    transformed_normals = numpy.concatenate((transformed_normals, tv), axis = 0)
        else:
            transformed_normals = self._mesh_data.getTransformed(self.getWorldTransformation()).getNormals()
        return transformed_normals

    ##  \brief Set the mesh of this node/object
    #   \param mesh_data MeshData object
    def setMeshData(self, mesh_data: Optional[MeshData]):
        self._mesh_data = mesh_data
        self._resetAABB()
        self.meshDataChanged.emit(self)

    ##  Emitted whenever the attached mesh data object changes.
    meshDataChanged = Signal()

    def _onMeshDataChanged(self):
        self.meshDataChanged.emit(self)

    ##  \brief Add a child to this node and set it's parent as this node.
    #   \params scene_node SceneNode to add.
    def addChild(self, scene_node: "SceneNode"):
        if scene_node not in self._children:
            scene_node.transformationChanged.connect(self.transformationChanged)
            scene_node.childrenChanged.connect(self.childrenChanged)
            scene_node.meshDataChanged.connect(self.meshDataChanged)

            self._children.append(scene_node)
            self._resetAABB()
            self.childrenChanged.emit(self)

            if not scene_node._parent is self:
                scene_node._parent = self
                scene_node._transformChanged()
                scene_node.parentChanged.emit(self)

    ##  \brief remove a single child
    #   \param child Scene node that needs to be removed.
    def removeChild(self, child: "SceneNode"):
        if child not in self._children:
            return

        child.transformationChanged.disconnect(self.transformationChanged)
        child.childrenChanged.disconnect(self.childrenChanged)
        child.meshDataChanged.disconnect(self.meshDataChanged)

        self._children.remove(child)
        child._parent = None
        child._transformChanged()
        child.parentChanged.emit(self)

        self._resetAABB()
        self.childrenChanged.emit(self)

    ##  \brief Removes all children and its children's children.
    def removeAllChildren(self):
        for child in self._children:
            child.removeAllChildren()
            self.removeChild(child)

        self.childrenChanged.emit(self)

    ##  \brief Get the list of direct children
    #   \returns List of children
    def getChildren(self) -> List["SceneNode"]:
        return self._children

    def hasChildren(self) -> bool:
        return True if self._children else False

    ##  \brief Get list of all children (including it's children children children etc.)
    #   \returns list ALl children in this 'tree'
    def getAllChildren(self) -> List["SceneNode"]:
        children = []
        children.extend(self._children)
        for child in self._children:
            children.extend(child.getAllChildren())
        return children

    ##  \brief Emitted whenever the list of children of this object or any child object changes.
    #   \param object The object that triggered the change.
    childrenChanged = Signal()

    ##  \brief Computes and returns the transformation from world to local space.
    #   \returns 4x4 transformation matrix
    def getWorldTransformation(self) -> Matrix:
        if self._world_transformation is None:
            self._updateTransformation()

        return deepcopy(self._world_transformation)

    ##  \brief Returns the local transformation with respect to its parent. (from parent to local)
    #   \retuns transformation 4x4 (homogenous) matrix
    def getLocalTransformation(self) -> Matrix:
        if self._transformation is None:
            self._updateTransformation()

        return deepcopy(self._transformation)

    def setTransformation(self, transformation: Matrix):
        self._transformation = deepcopy(transformation) # Make a copy to ensure we never change the given transformation
        self._transformChanged()

    ##  Get the local orientation value.
    def getOrientation(self) -> Quaternion:
        return deepcopy(self._orientation)

    def getWorldOrientation(self) -> Quaternion:
        return deepcopy(self._derived_orientation)

    ##  \brief Rotate the scene object (and thus its children) by given amount
    #
    #   \param rotation \type{Quaternion} A quaternion indicating the amount of rotation.
    #   \param transform_space The space relative to which to rotate. Can be any one of the constants in SceneNode::TransformSpace.
    def rotate(self, rotation: Quaternion, transform_space: int = TransformSpace.Local):
        if not self._enabled:
            return
        #self.LOG_QUATERNION( "409 rotate:: rotation", rotation )
        orientation_matrix = rotation.toMatrix()
        self.LOG_MATRIX( "411 rotate:: orientation_matrix", orientation_matrix )
        #self.LOG_VECTOR( "412 rotate:: self.getPosition()", self.getPosition() )

        if transform_space == SceneNode.TransformSpace.Local:
            self._transformation.multiply(orientation_matrix)
        elif transform_space == SceneNode.TransformSpace.Parent:
            self._transformation.preMultiply(orientation_matrix)
        elif transform_space == SceneNode.TransformSpace.World:
            self.LOG_MATRIX( "419 rotate:: self._transformation", self._transformation )
            inverse = self._world_transformation.getInverse()
            self.LOG_MATRIX( "421 rotate:: inverse", inverse )
            self.LOG_MATRIX( "422 rotate:: self._world_transformation", self._world_transformation )

            self.LOG_MATRIX( "424 rotate:: self._transformation", self._transformation )
            self.LOG_MATRIX( "425 rotate:: self._world_transformation.getInverse()", self._world_transformation.getInverse() )
            self._transformation.multiply(self._world_transformation.getInverse())

            self.LOG_MATRIX( "428 rotate:: self._transformation", self._transformation )
            self.LOG_MATRIX( "429 rotate:: orientation_matrix", orientation_matrix )
            self._transformation.multiply(orientation_matrix)

            self.LOG_MATRIX( "432 rotate:: self._transformation", self._transformation )
            self.LOG_MATRIX( "433 rotate:: self._world_transformation", self._world_transformation )
            self._transformation.multiply(self._world_transformation)

            self.LOG_MATRIX( "436 rotate:: self._transformation", self._transformation )

        self._transformChanged()

    ##  Set the local orientation of this scene node.
    #
    #   \param orientation \type{Quaternion} The new orientation of this scene node.
    #   \param transform_space The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
    def setOrientation(self, orientation: Quaternion, transform_space: int = TransformSpace.Local):
        if not self._enabled or orientation == self._orientation:
            return

        new_transform_matrix = Matrix()
        if transform_space == SceneNode.TransformSpace.World:
            if self.getWorldOrientation() == orientation:
                return
            new_orientation = orientation * (self.getWorldOrientation() * self._orientation.getInverse()).getInverse()
            orientation_matrix = new_orientation.toMatrix()
        else:  # Local
            orientation_matrix = orientation.toMatrix()

        euler_angles = orientation_matrix.getEuler()

        new_transform_matrix.compose(scale = self._scale, angles = euler_angles, translate = self._position, shear = self._shear)
        self._transformation = new_transform_matrix
        self._transformChanged()

    ##  Get the local scaling value.
    def getScale(self) -> Vector:
        return self._scale

    def getWorldScale(self) -> Vector:
        return self._derived_scale

    ##  Scale the scene object (and thus its children) by given amount
    #
    #   \param scale \type{Vector} A Vector with three scale values
    #   \param transform_space The space relative to which to scale. Can be any one of the constants in SceneNode::TransformSpace.
    def scale(self, scale: Vector, transform_space: int = TransformSpace.Local):
        if not self._enabled:
            return

        scale_matrix = Matrix()
        scale_matrix.setByScaleVector(scale)
        if transform_space == SceneNode.TransformSpace.Local:
            self._transformation.multiply(scale_matrix)
        elif transform_space == SceneNode.TransformSpace.Parent:
            self._transformation.preMultiply(scale_matrix)
        elif transform_space == SceneNode.TransformSpace.World:
            self._transformation.multiply(self._world_transformation.getInverse())
            self._transformation.multiply(scale_matrix)
            self._transformation.multiply(self._world_transformation)

        self._transformChanged()

    ##  Set the local scale value.
    #
    #   \param scale \type{Vector} The new scale value of the scene node.
    #   \param transform_space The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
    def setScale(self, scale: Vector, transform_space: int = TransformSpace.Local):
        if not self._enabled or scale == self._scale:
            return
        if transform_space == SceneNode.TransformSpace.Local:
            self.scale(scale / self._scale, SceneNode.TransformSpace.Local)
            return
        if transform_space == SceneNode.TransformSpace.World:
            if self.getWorldScale() == scale:
                return

            self.scale(scale / self._scale, SceneNode.TransformSpace.World)

    ##  Get the local position.
    def getPosition(self) -> Vector:
        return self._position

    ##  Get the position of this scene node relative to the world.
    def getWorldPosition(self) -> Vector:
        return self._derived_position

    ##  Translate the scene object (and thus its children) by given amount.
    #
    #   \param translation \type{Vector} The amount to translate by.
    #   \param transform_space The space relative to which to translate. Can be any one of the constants in SceneNode::TransformSpace.
    def translate(self, translation: Vector, transform_space: int = TransformSpace.Local):
        if not self._enabled:
            return
        translation_matrix = Matrix()
        translation_matrix.setByTranslation(translation)
        if transform_space == SceneNode.TransformSpace.Local:
            self._transformation.multiply(translation_matrix)
        elif transform_space == SceneNode.TransformSpace.Parent:
            self._transformation.preMultiply(translation_matrix)
        elif transform_space == SceneNode.TransformSpace.World:
            world_transformation = deepcopy(self._world_transformation)
            self._transformation.multiply(self._world_transformation.getInverse())
            self._transformation.multiply(translation_matrix)
            self._transformation.multiply(world_transformation)
        self._transformChanged()

    ##  Set the local position value.
    #
    #   \param position The new position value of the SceneNode.
    #   \param transform_space The space relative to which to rotate. Can be Local or World from SceneNode::TransformSpace.
    def setPosition(self, position: Vector, transform_space: int = TransformSpace.Local):
        if not self._enabled or position == self._position:
            return
        if transform_space == SceneNode.TransformSpace.Local:
            self.translate(position - self._position, SceneNode.TransformSpace.Parent)
        if transform_space == SceneNode.TransformSpace.World:
            if self.getWorldPosition() == position:
                return
            self.translate(position - self._derived_position, SceneNode.TransformSpace.World)

    ##  Signal. Emitted whenever the transformation of this object or any child object changes.
    #   \param object The object that caused the change.
    transformationChanged = Signal()

    ##  Rotate this scene node in such a way that it is looking at target.
    #
    #   \param target \type{Vector} The target to look at.
    #   \param up \type{Vector} The vector to consider up. Defaults to Vector.Unit_Y, i.e. (0, 1, 0).
    def lookAt(self, target: Vector, up: Vector = Vector.Unit_Y):
        if not self._enabled:
            return

        eye = self.getWorldPosition()
        f = (target - eye).normalized()
        up = up.normalized()
        s = f.cross(up).normalized()
        u = s.cross(f).normalized()

        m = Matrix([
            [ s.x,  u.x,  -f.x, 0.0],
            [ s.y,  u.y,  -f.y, 0.0],
            [ s.z,  u.z,  -f.z, 0.0],
            [ 0.0,  0.0,  0.0,  1.0]
        ])

        self.setOrientation(Quaternion.fromMatrix(m))

    ##  Can be overridden by child nodes if they need to perform special rendering.
    #   If you need to handle rendering in a special way, for example for tool handles,
    #   you can override this method and render the node. Return True to prevent the
    #   view from rendering any attached mesh data.
    #
    #   \param renderer The renderer object to use for rendering.
    #
    #   \return False if the view should render this node, True if we handle our own rendering.

    def LOG_MATRIX( self, str_matrix_name, matrix ):
        Logger.log("d", "\n ................................................................... " )

        Logger.log("d", "\n %s: ", str_matrix_name  )
        if( matrix != None ):
            Logger.log("d", "%f  %f  %f  %f", matrix.at(0,0),  matrix.at(0,1), matrix.at(0,2), matrix.at(0,3) )
            Logger.log("d", "%f  %f  %f  %f", matrix.at(1,0),  matrix.at(1,1), matrix.at(1,2), matrix.at(1,3) )
            Logger.log("d", "%f  %f  %f  %f", matrix.at(2,0),  matrix.at(2,1), matrix.at(2,2), matrix.at(2,3) )
            Logger.log("d", "%f  %f  %f  %f", matrix.at(3,0),  matrix.at(3,1), matrix.at(3,2), matrix.at(3,3) )
        else:
            Logger.log("d", "\n %s in None ", str_matrix_name )

        Logger.log("d", "................................................................... \n" )

    def render(self, renderer) -> bool:
        return False

    ##  Get whether this SceneNode is enabled, that is, it can be modified in any way.
    def isEnabled(self) -> bool:
        return self._enabled

    ##  Set whether this SceneNode is enabled.
    #   \param enable True if this object should be enabled, False if not.
    #   \sa isEnabled
    def setEnabled(self, enable: bool):
        self._enabled = enable

    ##  Get whether this SceneNode can be selected.
    #
    #   \note This will return false if isEnabled() returns false.
    def isSelectable(self) -> bool:
        return self._enabled and self._selectable

    ##  Set whether this SceneNode can be selected.
    #
    #   \param select True if this SceneNode should be selectable, False if not.
    def setSelectable(self, select: bool):
        self._selectable = select

    ##  Get the bounding box of this node and its children.
    def getBoundingBox(self) -> Optional[AxisAlignedBox]:
        if not self._calculate_aabb:
            return None
        if self._aabb is None:
            self._calculateAABB()
        return self._aabb

    ##  Set whether or not to calculate the bounding box for this node.
    #
    #   \param calculate True if the bounding box should be calculated, False if not.
    def setCalculateBoundingBox(self, calculate: bool):
        self._calculate_aabb = calculate

    boundingBoxChanged = Signal()

    def getShear(self) -> Vector:
        return self._shear

    def getSetting(self, key: str, default_value: str = "") -> str:
        return self._settings.get(key, default_value)

    def setSetting(self, key: str, value: str):
        self._settings[key] = value

    ##  private:
    def _transformChanged(self):
        self._updateTransformation()
        self._resetAABB()
        self.transformationChanged.emit(self)

        for child in self._children:
            child._transformChanged()

    def _updateTransformation(self):
        #self.LOG_VECTOR( "before decompose:  self._mirror", self._mirror )
        scale, shear, euler_angles, translation, mirror = self._transformation.decompose()
        self._position = translation
        self._scale = scale
        self._shear = shear
        self._mirror = mirror
        #self.LOG_VECTOR( "after decompose:  self._mirror", self._mirror )
        orientation = Quaternion()
        euler_angle_matrix = Matrix()
        euler_angle_matrix.setByEuler(euler_angles.x, euler_angles.y, euler_angles.z)
        orientation.setByMatrix(euler_angle_matrix)
        self._orientation = orientation
        if self._parent:
            self._world_transformation = self._parent.getWorldTransformation().multiply(self._transformation, copy = True)
        else:
            self._world_transformation = self._transformation

        world_scale, world_shear, world_euler_angles, world_translation, world_mirror = self._world_transformation.decompose()
        self._derived_position = world_translation
        self._derived_scale = world_scale

        world_euler_angle_matrix = Matrix()
        world_euler_angle_matrix.setByEuler(world_euler_angles.x, world_euler_angles.y, world_euler_angles.z)
        self._derived_orientation.setByMatrix(world_euler_angle_matrix)
        self._derived_orientation = -self._derived_orientation

    def _resetAABB(self):
        if not self._calculate_aabb:
            return
        self._aabb = None
        if self.getParent():
            self.getParent()._resetAABB()
        self.boundingBoxChanged.emit()

    def _calculateAABB(self):
        aabb = None
        if self._mesh_data:
            aabb = self._mesh_data.getExtents(self.getWorldTransformation())
        else:  # If there is no mesh_data, use a boundingbox that encompasses the local (0,0,0)
            position = self.getWorldPosition()
            aabb = AxisAlignedBox(minimum = position, maximum = position)

        for child in self._children:
            if aabb is None:
                aabb = child.getBoundingBox()
            else:
                aabb = aabb + child.getBoundingBox()
        self._aabb = aabb

    ##  String output for debugging.
    def __str__(self):
        name = self._name if self._name != "" else hex(id(self))
        return "<" + self.__class__.__qualname__ + " object: '" + name + "'>"