using System;
using System.Collections.Generic;
using Hi.Disp;
using Hi.Geom;
using Hi.Mech.Topo;

namespace Sample.Mech
{
    /// <summary>
    /// Demonstrates the creation and visualization of mechanical assemblies with kinematic linkages.
    /// Shows how to build coordinate systems, establish kinematic relationships, and capture visual output.
    /// </summary>
    /// <remarks>
    /// ### Source Code
    /// [!code-csharp[SampleCode](~/../Hi.Sample/Mech/DemoTopo1.cs)]
    /// </remarks>
    public static class DemoTopo1
    {
        /// <summary>
        /// Creates a demonstration assembly with kinematic linkages.
        /// Builds a mechanical assembly with multiple anchors and branches, including both static and dynamic transformations.
        /// </summary>
        /// <returns>A tuple containing the assembly and root anchor</returns>
        static (Asmb asmb,Anchor root) GetDemoAsmb()
        {
            #region DocSite.DemoTopo1
            //build coordinate systems and the assembly.
            Asmb asmb = new Asmb { Name = "Mech" };
            Anchor O = new Anchor(asmb, "O");
            Anchor O1 = new Anchor(asmb, "O1");
            Anchor X = new Anchor(asmb, "X");
            Anchor Z = new Anchor(asmb, "Z");
            Anchor B = new Anchor(asmb, "B");

            //build kinematic link
            Branch.Attach(O, O1, new StaticTranslation(new Vec3d(0, 0, 80)));
            Branch brnX = Branch.Attach(O1, X, new DynamicTranslation(new Vec3d(1, 0, 0)));
            Branch brnZ = Branch.Attach(X, Z, new DynamicTranslation(new Vec3d(0, 0, 1)));
            Branch brnB = Branch.Attach(Z, B, new DynamicRotation(new Vec3d(0, 1, 0), 0, new Vec3d(-100, 0, 0)));

            //drive the dynamic transformation by single value for each branch.
            brnX.Step = 200;
            brnZ.Step = 100;
            brnB.Step = MathUtil.ToRad(-60);

            //Get and show the transform matrices relative to O.
            Dictionary<Anchor, Mat4d> matMap = asmb.GetMat4dMap(O);
            Console.WriteLine("Transform Matrix relative to O:");
            foreach (KeyValuePair<Anchor, Mat4d> keyValue in matMap)
                Console.WriteLine($"{keyValue.Key.Name} : {keyValue.Value}");
            #endregion

            return (asmb,O);
        }
        
        /// <summary>
        /// Captures the assembly visualization and saves it to a file.
        /// Initializes the display engine, sets up the assembly visualization with an isometric view, and saves a snapshot to a bitmap file.
        /// </summary>
        /// <param name="src">A tuple containing the assembly and root anchor for visualization</param>
        static void SnapshotToFile((Asmb asmb, Anchor root) src)
        {
            //all the drawing function has to call DispEngine.Init() before using.
            DispEngine.Init();
            DispEngine.EnableSuppressDefaultLogo = true;

            using (DispEngine dispEngine = new DispEngine(
                src.asmb.GetAsmbDraw(src.root)))
            {
                dispEngine.SetViewToIsometricView();
                dispEngine.Snapshot("DemoTopo1.bmp", 680, 480);
            }
            Console.WriteLine("Snapshot file output.");

            DispEngine.FinishDisp();
        }
        static void Main()
        {
            SnapshotToFile(GetDemoAsmb());
        }
    }
}