#ifndef SPIDER_H
#define SPIDER_H 1

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <Performer/pf/pfChannel.h>
#include <Performer/pf/pfEarthSky.h>
#include <Performer/pf/pfLightSource.h>
#include <Performer/pf/pfDCS.h>
#include <Performer/pf/pfEarthSky.h>
#include <Performer/pf/pfTraverser.h>
#include <Performer/pf/pfGeode.h>
#include <Performer/pr/pfLight.h>
#include <Performer/pfdu.h>
#include <Performer/pr.h>
#include <pfcave.h>
#include "spiderdata.h"

#define BOBSCALEX .3
#define BOBSCALEY .3
#define BOBSCALEZ .3
#define BOBZCONST .35

class Spider;

class Spider
	{
	public:
	Spider(pfGroup *parent, int newid, SpiderData * spdata[9])
		{
		Spider(parent, 0, 0, 0.6, newid, spdata);
		}

	Spider(pfGroup *parent, float newx, float newy, float newz, 
					int newid, SpiderData * spdata[9])
		{
		Spider(parent, newx, newy, newz, 
						BOBSCALEX, BOBSCALEY, BOBSCALEZ, newid, spdata);
		}

	Spider(pfGroup *parent, float newx, float newy, float newz,
					float newsx, float newsy, float newsz, int newid,
					SpiderData * spdata_holder[9])
		{
		spider_x = newx;
		spider_y = newy;
		spider_z = newz;
		spider_sx = newsx;
		spider_sy = newsy;
		spider_sz = newsz;
		idnum = newid;

		for( int r=0;r<9;r++)
			{
			sdata[r] = NULL;
			spdata_holder[r] = NULL;
			}

		// set defaults
		SPEED = .2;
		WALK_SPEED = 60;
		LEG_RT_AMT = 30;
	
		LEG0DELAY = 0;
		LEG1DELAY = 10;
		LEG2DELAY = 20;
		LEG3DELAY = 30;
	
		LEG4DELAY = 0;
		LEG5DELAY = 10;
		LEG6DELAY = 20;
		LEG7DELAY = 30;

		pfNode *obj;
		pfDCS *dcsbody;
		sdata[8] = 
				new SpiderData(WALK_SPEED, LEG_RT_AMT, 0, 
								spider_x, spider_y, spider_z,
								spider_sx,spider_sy,spider_sz);
		spdata_holder[8] = sdata[8];
		//printf("after new sdata 8: %d \n", sdata[8]);
	    
		// load spider body
	    dcsbody = new pfDCS; 
	    obj = pfdLoadFile("body.iv"); 
	    dcsbody->setTravFuncs(PFTRAV_APP, moveBody, NULL); 
		dcsbody->setTravData(PFTRAV_APP, sdata[8]);
		dcsbody->setScale(spider_sx,spider_sy,spider_sz);
	    dcsbody->addChild(obj); 
	    parent->addChild(dcsbody); 
		
		for (int i = 0; i < 8; i++)
			{
            pfDCS *dcs;
            dcs = new pfDCS; 
			sdata[i] = 
					new SpiderData(WALK_SPEED, LEG_RT_AMT, 0, 
									spider_x, spider_y, spider_z, 
									spider_sx,spider_sy,spider_sz);
			spdata_holder[i] = sdata[i];
			
			//printf("after new sdata %d: %d\n", i, sdata[i]);
            switch(i)
				{
            	case 0: obj = pfdLoadFile("leg0.iv");
					sdata[0]->setLegDelay( LEG0DELAY );
                	dcs->setTravFuncs(PFTRAV_APP, moveLeg0, NULL); 
					dcs->setTravData(PFTRAV_APP, sdata[0]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
                	break; 
                case 1: obj = pfdLoadFile("leg1.iv");
					sdata[1]->setLegDelay( LEG1DELAY );
                    dcs->setTravFuncs(PFTRAV_APP, moveLeg1, NULL); 
					dcs->setTravData(PFTRAV_APP, sdata[1]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
                    break; 
                case 2: obj = pfdLoadFile("leg2.iv"); 
					sdata[2]->setLegDelay( LEG2DELAY );
                    dcs->setTravFuncs(PFTRAV_APP, moveLeg2, NULL);  
					dcs->setTravData(PFTRAV_APP, sdata[2]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
					break; 
                case 3: obj = pfdLoadFile("leg3.iv"); 
					sdata[3]->setLegDelay( LEG3DELAY );
                    dcs->setTravFuncs(PFTRAV_APP, moveLeg3, NULL); 
					dcs->setTravData(PFTRAV_APP, sdata[3]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
                    break; 
                case 4: obj = pfdLoadFile("leg4.iv"); 
					sdata[4]->setLegDelay( LEG4DELAY );
                    dcs->setTravFuncs(PFTRAV_APP, moveLeg4, NULL); 
					dcs->setTravData(PFTRAV_APP, sdata[4]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
                    break; 
				case 5: obj = pfdLoadFile("leg5.iv");
					sdata[5]->setLegDelay( LEG5DELAY );
					dcs->setTravFuncs(PFTRAV_APP, moveLeg5, NULL);
					dcs->setTravData(PFTRAV_APP, sdata[5]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
					break;
                case 6: obj = pfdLoadFile("leg6.iv"); 
					sdata[6]->setLegDelay( LEG6DELAY );
                    dcs->setTravFuncs(PFTRAV_APP, moveLeg6, NULL); 
					dcs->setTravData(PFTRAV_APP, sdata[6]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
                    break; 
                case 7: obj = pfdLoadFile("leg7.iv"); 
					sdata[7]->setLegDelay( LEG7DELAY );
                    dcs->setTravFuncs(PFTRAV_APP, moveLeg7, NULL); 
					dcs->setTravData(PFTRAV_APP, sdata[7]);
					dcs->setScale(spider_sx,spider_sy,spider_sz);
                    break; 
                default: 
                    break; 
				}	
            dcs->addChild(obj);
            parent->addChild(dcs); 

			}
		//printf("Just before Spider() ends\n");
		//printInfo();
		}

	// main work is here
	static int moveBody(pfTraverser *trav, void * data)
		{
        // get a pointer to DCS node
        pfDCS *dcs = (pfDCS *) trav->getNode();
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rotz=0; 
		
		rotz = sd->getRotZ();
		z -= (1 - sd->getsz() )*BOBZCONST;

        dcs->setTrans(x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
		dcs->setRot( rotz, 0, 0 );
		
        return PFTRAV_CONT;  
		}
		
	static int moveLeg0(pfTraverser *trav, void * data)
		{
        pfDCS *dcs = (pfDCS *) trav->getNode();
		SpiderData * sd = (SpiderData*)data;

        float x=0,y=0,z=0,rot=0; 
		// do scaling
		x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
		//rot = -30+ sd->getleg_rt_amt(); 
        //rot = 0;
        float maxrotate = 30; 
		float rottmp = (pfGetTime()*sd->getwalk_speed()); 
		rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
            rot += rottmp; 
        else
            rot += maxrotate - rottmp ; 

		rot += sd->getRotZ();
		
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}
		
	static int moveLeg1(pfTraverser *trav, void * data)
		{
		pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to DCS
		SpiderData * sd = (SpiderData*)data;

        float x=0,y=0,z=0,rot=0; 
        //float x=0.1,y=-0.05,z=0,rot=0; 
		// do scaling
		x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
        //rot = -10+sd->getleg_rt_amt(); 
 		//rot = 20;
        float maxrotate = 30; 
 		float rottmp = (pfGetTime()*sd->getwalk_speed()); 
 		rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
                rot += rottmp; 
        else
                rot += maxrotate - rottmp ; 
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}

	static int moveLeg2(pfTraverser *trav, void *data) 
		{
        pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rot=0; 
        //float x=0.2,y=-0.05,z=0,rot=0;  
		x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
		//rot = 10+sd->getleg_rt_amt(); 
        float maxrotate = 30; 
        float rottmp = (pfGetTime()*sd->getwalk_speed()); 
        rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
                rot += rottmp; 
        else
                rot += maxrotate - rottmp ; 
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}
		
	static int moveLeg3(pfTraverser *trav, void *data) 
		{
        pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rot=0; 
        //float x=0.3,y=0,z=0,rot=0; 
		x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
        //rot = 30+sd->getleg_rt_amt(); 
        float maxrotate = 30; 
        float rottmp = (pfGetTime()*sd->getwalk_speed()); 
        rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
                rot += rottmp; 
        else
                rot += maxrotate - rottmp ; 
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}
		
	static int moveLeg4(pfTraverser *trav, void *data) 
		{	
        pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rot=0; 
        //float x=-0.15,y=0.24,z=0,rot=0; 
		x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
        //rot = -130+sd->getleg_rt_amt(); 
        float maxrotate = 30; 
        float rottmp = (pfGetTime()*sd->getwalk_speed()); 
        rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate;  
		if ( rottmp < maxrotate/2 )
                rot -= rottmp; 
        else
                rot -= maxrotate - rottmp ; 
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}
		
	static int moveLeg5(pfTraverser *trav, void *data) 
		{
        pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rot=0; 
        //float x=-0.1,y=0.24,z=0,rot=0; 
        x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
		//rot = -150+sd->getleg_rt_amt(); 
        float maxrotate = 30; 
        float rottmp = (pfGetTime()*sd->getwalk_speed()); 
        rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
                rot -= rottmp; 
        else
                rot -= maxrotate - rottmp ;
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}
		
	static int moveLeg6(pfTraverser *trav, void *data) 
		{
        pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rot=0; 
        //float x=-0.1,y=0.24,z=0,rot=0; 
        x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
		//rot = -170+sd->getleg_rt_amt(); 
        float maxrotate = 30; 
        float rottmp = (pfGetTime()*sd->getwalk_speed()); 
        rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
                rot -= rottmp; 
        else
                rot -= maxrotate - rottmp ; 
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}
		
	static int moveLeg7(pfTraverser *trav, void *data)
		{
        pfDCS *dcs = (pfDCS *) trav->getNode();  // get a pointer to
		SpiderData * sd = (SpiderData*)data;
        float x=0,y=0,z=0,rot=0; 
        //float x=-0.1,y=0.24,z=0,rot=0; 
        x *= sd->getsx();
		y *= sd->getsy();
		z *= sd->getsz();
		z -= (1 - sd->getsz() )*BOBZCONST;
		
		//rot = -190+sd->getleg_rt_amt(); 
        float maxrotate = 30; 
        float rottmp = (pfGetTime()*sd->getwalk_speed()); 
        rottmp += sd->getleg_delay(); 
        while (rottmp > maxrotate) rottmp -= maxrotate; 
        if ( rottmp < maxrotate/2 )
                rot -= rottmp; 
        else
                rot -= maxrotate - rottmp ; 
		rot += sd->getRotZ();
        dcs->setTrans( x+sd->getx(), y+sd->gety(), z+sd->getz() ); 
        dcs->setRot(rot,0,0); 
        return PFTRAV_CONT;  
		}

	void setLoc( float newx, float newy, float newz )
		{
		printf("------> I SHOULDN'T BE USED!!! <------\n");
		spider_x = newx;
		spider_y = newy;
		spider_z = newz;
		printInfo();

		// update spiderdata's
		for( int i = 0; i < 9; i++ )
			{
			//printf("before i: %d\n", i);
			sdata[i]->setLoc(spider_x,spider_y,spider_z);
			//printf("after i: %d\n\n", i);
			}
		}

	float getx() { return spider_x; }
	float gety() { return spider_y; }
	float getz() { return spider_z; }

	void printInfo()
		{
		printf("Spider: printInfo: spider: %d xyz %f %f %f\n", 
						idnum, spider_x, spider_y, spider_z);
		//for(int i=0;i<9;i++)
		//	{
			//printf("sdata[%d]: %d\n", i, sdata[i]);
			//printf("Calling sdata[%d]->printInfo()\n", i);
			//sdata[i]->printInfo();
		//	}
		}

	//// end main work 

	private:

	pfGroup *parent;

	float SPEED;
	float WALK_SPEED;
	float LEG_RT_AMT;

	float LEG0DELAY;
	float LEG1DELAY;
	float LEG2DELAY;
	float LEG3DELAY;

	float LEG4DELAY;
	float LEG5DELAY;
	float LEG6DELAY;
	float LEG7DELAY;

	float spider_x,spider_y,spider_z;

	float spider_sx,spider_sy,spider_sz;

	int idnum;

	SpiderData * sdata[9];

	};

#endif