/*
	This program is used to transform the Deneb Robotics part format to
	to VRML2 file. The text, texture, curve and surface are not 
	translated. 

        Usage:   part2vrml2  deneb_file  vrml_file

	To compile, cc -o part2vrml2 part2vrml2.c

	Qiming Wang
	Visualization and Virtual Reality Group
	Information Technology Lab
	NIST	
*/

#include <stdio.h>
#include <strings.h>
#define  NUMBER_COLOR 32

typedef struct {
	char name[20];
	int old_c;
	float new_c[3];
} table;
table table_data[] = { {"white", 4, {1., 1., 1.}},
			{"grey", 5, {0.5, 0.5, 0.5}},
			{"black", 6, {0.1,0.1,0.1}},
			{"red", 7, {1., 0., 0.}},
			{"green", 8, {0.,0.,0.}},
			{"blue", 9, {0., 0., 1.}},
			{"yellow", 10, {1., 1., 0.}},
			{"cyan", 11, {0., 1., 1.}},
			{"purple", 12, {0.53, 0.12, 0.47}},
			{"orange", 13, {1., 0.5, 0.}},
			{"magenta", 14, {1., 0., 1.}},
			{"cherry", 15, {0.74, 0.56, 0.56}},
			{"light blue", 16, {0., 0., 0.75}},
			{"brown", 17, {0.65, 0.16, 0.16}},
			{"lime", 18, {0.20, 0.8, 0.2}},
			{"tan", 19, {0.85, 0.58, 0.44}},
			{"all black", 20, {0.,0.,0}},
			{"grey-75", 21, {0.75,0.75,0.75}},
			{"slate grey", 22, {0.18, 0.31, 0.31}},
			{"teal", 23, {0.2, 0.2, 0.8}},
			{"dodger blue", 24, {0.26, 0.43, 0.26}},
			{"cobalt", 25, {0.14, 0.14, 0.56}},
			{"dark plum", 26, {0.92, 0.68, 0.92}},
			{"brass", 27, {0.71, 0.65, 0.25}},
			{"color25", 28, {0.85, 0.58,0.44}},
			{"color26", 29, {0.20,0.20, 0.8}},
			{"color27", 30, {1.,1.,1.}},
			{"color28", 31, {0.20,0.20,0.8}},
			{"color29", 32, {0.74, 0.56, 0.56}},
			{"color30", 33, {0.92, 0.68, 0.92}},
			{"color31", 34, {1.,1.,1.}},
			{"color32", 35, {0.,0.,0.}},
			};
			
void t_color();
void trans_text(FILE *inp_file, FILE *out_file)
{
	char string[100];
	float x, y, z, width;
	float rx, ry, rz, rr;
	float size, slant, aspect, unkown;
	int color, i1, i2, i;
	float rgb[3];

	fgets(string, 100, inp_file);
	for (i=0; i<100; i++)
		if (string[i]=='\n') string[i]='\0';
	fscanf(inp_file, "%f %f %f\n", &x, &y, &z);
	fscanf(inp_file, "%f %f %f %f\n", &rx, &ry, &rz, &rr);
	fscanf(inp_file, "%f %f %f %f\n", &size, &slant, &aspect, &unkown);
	fscanf(inp_file, "%d %d %d\n", &color, &i1, &i2);
	t_color(color, rgb);
	width = strlen(string)*size*aspect*0.7;

	fprintf(out_file, "	Separator {\n");
	fprintf(out_file, "		Material {\n");
	fprintf(out_file, "			diffuseColor %f %f %f\n",
				rgb[0], rgb[1], rgb[2]);
	fprintf(out_file, "		}\n");	
	fprintf(out_file, " 		Translation {\n");
	fprintf(out_file, "			translation %f %f %f\n",x,y,z);
	fprintf(out_file, " 		}\n");
/*	fprintf(out_file, "		Rotation {\n");
	fprintf(out_file, "			rotation %f %f %f\n",rx,ry,rz);
	fprintf(out_file, "		}\n");*/
	fprintf(out_file, "		FontStyle {\n");
	fprintf(out_file, "			size %f\n", size);
	fprintf(out_file, "		}\n");
	fprintf(out_file, "		AsciiText {\n");
	fprintf(out_file, "			string \"%s\"\n", string);
	fprintf(out_file, "			width %f\n", width);
	fprintf(out_file, "		}\n	}\n");
}
	

main( int argc, char **argv)
{
	FILE *file, *out_file;
	int version, n_coorsys, n_curve, n_surface, n_obj;
	int color_index, n_point, n_line, n_poly, n_seg, n_text, n_texture, i,j,k;
	int *n_index, *nn_index;
	float coor[4][3], color[3];
	float **points;
	int **lines, **segs;
	int **polys, **nn_polys;
	char s[100], out_filename[50],star[1];
	int zero, number, number1, number2, nn_line;
	
	file = fopen(argv[1], "r");
	out_file = fopen(argv[2], "w");

	fprintf(out_file, "#VRML V2.0 utf8\n\n");

	fprintf(out_file, "Transform {\n");
	fprintf(out_file, "   scale 0.001 0.001 0.001\n");
	fprintf(out_file, "   rotation 1 0 0 -1.57\n");
	fprintf(out_file, "   children [\n");
	 
/*  read version and number of coordinate system */
	fscanf(file, "%d\n", &version);
/*      if (version > 11) {
		printf("This is not version 11, exit\n");
		exit();
	}
*/

	fscanf(file, "%d\n", &n_coorsys);
	for( i=0; i<n_coorsys; i++) {
		for (j=0; j<4; j++) 
			fscanf(file, "%f %f %f\n", &coor[j][0], &coor[j][1],
			&coor[j][2]);
	}

/*  curves  */
	fscanf(file, "%d\n", &n_curve);
	if (n_curve != 0) {
	   printf("number of curve > 0, stop\n"); exit();
	}

/*  surface */
	fscanf(file, "%d\n", &n_surface);
	if (n_surface != 0) {
	   printf("number of surface > 0, stop\n"); exit();
	}

	fscanf(file, "%d\n", &n_obj);
	for (i=0; i<n_obj; i++) {
		fscanf(file, "%d\n", &color_index);
		if (version == 12) fscanf(file, "%s\n", star);
		fscanf(file, "%d\n", &n_point);
/*  read points data */
		points = (float **)malloc(n_point * sizeof(float *));
		for (j=0; j<n_point; j++) {
			points[j] = (float *)malloc(3 * sizeof(float));
			fscanf(file, "%f %f %f\n", &points[j][0],
				&points[j][1], &points[j][2]);
			/*printf("%f %f %f\n", points[j][0], points[j][1], points[j][2]);*/
		}

/*  read line segments */
		fscanf(file, "%d\n", &n_line);
		/*printf("n_line=%d\n", n_line);*/
		lines = (int **)malloc(n_line * sizeof(int *));
		for (j=0; j<n_line; j++) {
			lines[j] = (int *)malloc(sizeof(int)*2);
			fscanf(file, "%d %d\n", &lines[j][0], &lines[j][1]);
			/*printf("%d %d\n", lines[j][0], lines[j][1]);*/
		}

		if (version == 12) {
			fscanf(file, "%d\n", &n_seg);
			segs = (int **)malloc(n_seg * sizeof(int *));
			for (j=0; j<n_seg; j++) {
				segs[j] = (int *)malloc(sizeof(int)*2);
				fscanf(file, "%d %d\n", &segs[j][0], &segs[j][1]);
			}
		}
/* read polygon information */
		fscanf(file, "%d\n", &n_poly);
		/*printf("n_poly=%d\n", n_poly);*/
		polys = (int **)malloc(n_poly*sizeof(int *));
		n_index = (int *)malloc(n_poly*sizeof(int));
		for (j=0; j<n_poly; j++) {
			fscanf(file, "%d", &n_index[j]);
			polys[j] = (int *)malloc(sizeof(int)*n_index[j]);
			/*printf("%d \n", n_index[j]);*/
			for (k=0; k<n_index[j]; k++) {
				fscanf(file, "%d", &polys[j][k]);
				/*printf("%d \n", polys[j][k]);*/
			}
			fscanf(file, "\n");
		}


/*    for version 12 to deal with poly */
		if (version == 12) {
			nn_polys = (int **)malloc(n_poly*sizeof(int *));
			nn_index = (int *)malloc(n_poly*sizeof(int));
			for (j=0; j<n_poly; j++) {
				nn_index[j] = 0;
		  		nn_polys[j]=(int *)malloc(sizeof(int)*n_index[j]);
				/*printf("1111\n");*/ 
			for (k=0; k<n_index[j]; k++) {
				nn_line = abs(polys[j][k]);
				/*printf("%d\n", nn_line);*/
				number1 = segs[nn_line-1][0];
				number2 = segs[nn_line-1][1];
				if (polys[j][k]<0) 
					nn_polys[j][nn_index[j]]=number2;
				else	
					nn_polys[j][nn_index[j]]=number1;

				/*printf("%d, %d\n", nn_index[j], nn_polys[j][nn_index[j]]);*/
				nn_index[j]=nn_index[j]+1;
			}

			}
		}

		fscanf(file, "%d\n", &n_text);
		for (k=0; k<n_text; k++)
			trans_text(file, out_file);

/*		for (j=0; j<5; j++) {
			fgets(s, 100, file);
		if (n_text > 0) {
			printf("number of text > 0, text information lost\n");
		}
*/
		if (version >= 11) {
		fscanf(file, "%d\n", &n_texture);
		for (j=0; j<n_texture; j++)
			fgets(s, 100, file);
		if (n_texture > 0)
			printf("texture information lost\n");
		}

/*  now to output object */

	        fprintf(out_file, "   Transform  {\n");
 		fprintf(out_file, "    children [\n");
        	fprintf(out_file, "      Shape {\n");
/*  get color from table */
		t_color(color_index, color);
        	fprintf(out_file, "         appearance Appearance {\n");
		fprintf(out_file, "            material Material { \n");
        	fprintf(out_file, "	          diffuseColor  %f %f %f\n", 
			color[0],color[1],color[2]);
        	fprintf(out_file, "            }\n");
		fprintf(out_file, "         }\n");	
		
		if (n_poly > 0 ) {
 		  fprintf(out_file, "         geometry IndexedFaceSet {\n");
		  fprintf(out_file, "            coord Coordinate {\n");
        	  fprintf(out_file, "		    point [\n");
        	  for (j=0; j<n_point; j++)
                	fprintf(out_file, "                  %f %f %f,\n", 
				points[j][0], points[j][1], points[j][2]);

        	  fprintf(out_file, "               ]\n");
        	  fprintf(out_file, "            }\n");


		  fprintf(out_file, "            coordIndex [\n");
			if (version == 12) 
				for (j=0; j<n_poly; j++) {
					fprintf(out_file, "               ");
					for (k=0; k<nn_index[j]; k++)
						fprintf(out_file, "%d,", nn_polys[j][k]);
					fprintf(out_file, "-1,\n");
				}
			else
				for (j=0; j<n_poly; j++) {
					fprintf(out_file, "               ");
					for (k=0; k<n_index[j]; k++)
						fprintf(out_file, "%d,", polys[j][k]);
					fprintf(out_file, "-1,\n");
				}
			fprintf(out_file, "            ]\n");
		  fprintf(out_file, "         }\n");
		}

		if (n_line > 0) {
		  fprintf(out_file, "         geometry IndexedLineSet {\n");
		  fprintf(out_file, " 	         coord Coordinate {\n");
        	  fprintf(out_file, "		    point [\n");
        	  for (j=0; j<n_point; j++)
                	fprintf(out_file, "                  %f %f %f,\n", 
				points[j][0], points[j][1], points[j][2]);

        	  fprintf(out_file, "               ]\n");
        	  fprintf(out_file, "            }\n");

		  fprintf(out_file, "            coordIndex [\n");
			for (j=0; j<n_line; j++) 
				fprintf(out_file, "               %d,%d,-1,\n", 
					lines[j][0], lines[j][1]);
			fprintf(out_file, "            ]\n");
		  fprintf(out_file, "         }\n");
		}
		fprintf(out_file, "      }\n");
   		fprintf(out_file, "    ]\n");
		fprintf(out_file, "   },\n");
	}
	fprintf(out_file, "   ]\n");
	fprintf(out_file, "}\n");

}

void t_color(int den_color, float vrml_color[3])
{
	int i;

	if (den_color == -2) {
			vrml_color[0] = 0.;
			vrml_color[1] = 1.;
			vrml_color[2] = 1.;
			return;
	}
	for (i=0; i<NUMBER_COLOR; i++) {
		if (table_data[i].old_c == den_color) {
			vrml_color[0] = table_data[i].new_c[0];
			vrml_color[1] = table_data[i].new_c[1];
			vrml_color[2] = table_data[i].new_c[2];
			return;
		}	
	}
	printf("color is not correct\n"); exit();
}