use nalgebra::geometry::{Point2, Point3};
use nalgebra::*;

use crate::util::Ray;

#[derive(Debug)]
pub struct Camera {
    matrix: Isometry3<f64>, // The transformation that stores the
    // position and orientation of the camera. (Not actually a matrix, but w/e)
    focal_length: f64,         // The distance from the camera origin to the canvas.
    canvas_size: Vector2<f64>, // The size of the canvas within the world space.

    pub image_size: Vector2<u64>, // The size of the final image in pixels.
}

impl Camera {
    // Constructs a new camera from a position and viewing direction.
    pub fn new_(
        pos: Point3<f64>,
        dir: Vector3<f64>,
        up: Vector3<f64>,
        focal_length: f64,
        aspect_ratio: f64,
        canvas_y: f64,
        image_y: u64,
    ) -> Self {
        let iso = Isometry3::face_towards(&pos, &(pos + dir), &up);
        Camera {
            matrix: iso,
            focal_length: focal_length,
            canvas_size: Vector2::new(canvas_y * aspect_ratio, canvas_y),
            image_size: Vector2::new((image_y as f64 * aspect_ratio) as u64, image_y),
        }
    }

    // Constructs a new camera from a position and viewing direction
    // (assuming the camera is oriented upright).
    pub fn new(
        pos: Point3<f64>,
        dir: Vector3<f64>,
        focal_length: f64,
        aspect_ratio: f64,
        canvas_y: f64,
        image_y: u64,
    ) -> Self {
        Camera::new_(
            pos,
            dir,
            Vector3::y(),
            focal_length,
            aspect_ratio,
            canvas_y,
            image_y,
        )
    }

    pub fn pos(&self) -> Point3<f64> {
        Point3::from(self.matrix.translation.vector)
    }

    // Takes a 2D point in the image space and
    // maps it to the 3D point on the canvas.
    fn project(&self, x: u64, y: u64) -> Point3<f64> {
        // convert point from raster coordinates to center-based coordinates
        let pixelndc = Point2::new(
            x as f64 + 0.5 - self.image_size.x as f64 * 0.5,
            -(y as f64 + 0.5) + self.image_size.y as f64 * 0.5,
        );

        let point: Point3<f64> = Point::from(
            pixelndc
                .coords
                .component_div(&self.image_size.map(|x| x as f64))
                .component_mul(&self.canvas_size)
                .fixed_resize(self.focal_length),
        );
        self.matrix * point
    }

    // Takes a 2D point in the image space and
    // returns a ray in the world space, for use in raytracing.
    pub fn raycast(&self, x: u64, y: u64) -> Ray {
        Ray::from_points(self.pos(), self.project(x, y))
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    fn round(point: Point3<f64>) -> Point3<f64> {
        Point::from(point.coords.map(|x| x.round()))
    }

    #[test]
    fn camera_pos() {
        let camera: Camera = Camera::new(
            Point3::new(-5.0, 0.0, 0.0),
            Vector3::new(1.0, 0.0, 0.0),
            1.0,
            1.0,
            2.0,
            800,
        );

        assert_eq!(camera.pos(), Point3::new(-5.0, 0.0, 0.0));
    }

    #[test]
    fn camera_matrix1() {
        let camera: Camera = Camera::new(
            Point3::new(-5.0, 0.0, 0.0),
            Vector3::new(1.0, 0.0, 0.0),
            1.0,
            1.0,
            2.0,
            800,
        );

        let point = Point3::new(0.0, 0.0, 4.0);
        let point = camera.matrix * point;
        let point = round(point); // round to avoid errors
        assert_eq!(point, Point3::new(-1.0, 0.0, 0.0));
    }

    #[test]
    fn camera_matrix2() {
        let camera: Camera = Camera::new(
            Point3::new(-5.0, 0.0, 0.0),
            Vector3::new(1.0, 0.0, 0.0),
            1.0,
            1.0,
            2.0,
            800,
        );

        let point = Point3::new(4.0, 0.0, 0.0);
        let point = camera.matrix * point;
        let point = round(point); // round to avoid errors
        assert_eq!(point, Point3::new(-5.0, 0.0, -4.0));
    }

    #[test]
    fn camera_project1() {
        let camera: Camera = Camera::new(
            Point3::new(-5.0, 0.0, 0.0),
            Vector3::new(1.0, 0.0, 0.0),
            1.0,
            1.0,
            2.0,
            800,
        );

        let point = camera.project(400, 400);
        let point = round(point); // round to avoid errors
        assert_eq!(point, Point3::new(-4.0, 0.0, 0.0));
    }

    #[test]
    fn camera_project2() {
        let camera: Camera = Camera::new(
            Point3::new(-5.0, 0.0, 0.0),
            Vector3::new(1.0, 0.0, 0.0),
            1.0,
            1.0,
            2.0,
            800,
        );

        let point = camera.project(0, 0);
        let point = round(point); // round to avoid errors
        assert_eq!(point, Point3::new(-4.0, 1.0, 1.0));
    }
}