// The following ifdef block is the standard way of creating macros which make exporting 
// from a DLL simpler. All files within this DLL are compiled with the FAST2D_EXPORTS
// symbol defined on the command line. this symbol should not be defined on any project
// that uses this DLL. This way any other project whose source files include this file see 
// FAST2D_API functions as being imported from a DLL, whereas this DLL sees symbols
// defined with this macro as being exported.
#ifndef ___FAST2D_H___
#define ___FAST2D_H___

//#define FAST2D_DLL_MODE

#ifdef FAST2D_DLL_MODE
#ifdef FAST2D_EXPORTS
#define FAST2D_API __declspec(dllexport)
#else
#define FAST2D_API __declspec(dllimport)
#endif
#else
#define FAST2D_API
#endif

/***********************************************/
/******* Need Math Library *********************/
#include "CCMath.h"
/******* Need MAP Library *********************/
#include "CCMap.h"

#define MAX_F2DT 1000
#define F2DT8Size 11
#define F2DT8Size1 9
#define F2DT8Size2 6
#define F2DTLevels 3

typedef struct FAST2DTRACKSTACK_
{
	u32		Init;
	s16		InitMap[F2DT8Size*F2DT8Size + F2DT8Size1*F2DT8Size1 + F2DT8Size2*F2DT8Size2];
	float	X,Y;
	float	Norm[F2DTLevels];
	float	LastError;
	u32		Level;
} FAST2DTRACKSTACK;

#define DEFAULT_QFB_DX 5
#define DEFAULT_QFB_DY 5
#define MAX_QFB_DX 32
#define MAX_QFB_DY 32
#define MINIMALERRORDEFAULT 0.6f
#define PertinenceLimiteDownDefault 40.f
#define PertinenceBlend 0.6f
#define MAX_QFB (MAX_QFB_DX * MAX_QFB_DY)
#define TOLERANSAC_FIXE 7.0
#define TOLERANSAC_NOTFIXE 2.0
#define DISC_PIXEL (F2DT8Size - (F2DT8Size>>2))//3*F2DT8Size2)
#define MAX_FEATBOX 80

typedef struct Fast2DFeatureBox_
{
	u32 TrackerID[MAX_QFB];
	Vector FirstPos[MAX_QFB];
	float ParticlesPonderation[MAX_QFB];
	u32 IsInit;
	float Pertinence;
	float PertinenceLimiteDown;
	float X,Y,W,H,SearchX,SearchY;
	float YScale;
	float XScale;
	Vector LastMovesXYS;
	float Rotation;
	u32 DXSize,DYSize;
	/* SettingParrams */
	u8 ComputeScale:1;
	u8 ComputeRotation:1;
	u8 FixeMode:1;
	u8 LearningMode:1;
	u8 BigSearchBase:4;
	u8 DontMoveMode:1;
	u8 PausedMode:1;
	u32 ulNumberOfParticules;
	MATRIX LastTransforMatrix;
	float MINIMALERROR;
	float TOLERANCE;
} Fast2DFeatureBox;

// This class is exported from the Fast2D.dll
class FAST2D_API CFast2D {
public:
	CFast2D(void);
	// TODO: add your methods here.

	u32	Compute(MAP *CurrentMap,u32 Option);
	u32	Compute(MAP *CurrentMap,MAP16 *ZMap,u32 Option);

	u32	CreateFeatureBox(u32 Index, s32 X,s32 Y,s32 W, s32 H, float Rotation);
	u32 DestroyFeatureBox(u32 Index);

	// Set option for FAST2D.
	// "SCAL" for scale activation
	// "TURN" for rotation activation
	// "WIND" for set tracking radius outside featurebox
	void FeatureBoxSetParam(u32 Index,char *String , float Value);
	
	// Return moving vector (delta X,delta Y,delta SCALE).
	// Sould be called after Compute
	u32 FeatureBoxGetXYS(u32 Index,Vector *Result);
	// Return Scale X and Y
	// Sould be called after Compute
	u32 FeatureBoxGetSXSY(u32 Index,Vector *Result);
	// Return rotation angle 
	// Sould be called after Compute
	u32 FeatureBoxGetRot(u32 Index,float *Result);
	// Return quality of tracking between 0 and 1
	float FeatureBoxGetPertinence(u32 Index);
	// Return FULL MATRIX
	MATRIX *FeatureBoxGetMatrix(u32 Index);
	// process feature frame
	u32 FeatureBoxFrame(MAP *DebugMap,u32 Only4Clear);


private:
	static u32 FirstInit;
	static MAP16 MWork[F2DTLevels];
	static MAP16 MWork_Help[F2DTLevels];
	static MAP16 MWork_Help2[F2DTLevels];
	static FAST2DTRACKSTACK TRACKSTACK[MAX_F2DT];
	static s32 LeveledSize[F2DTLevels];
	static s32 LeveledDelta[F2DTLevels];
	
	static Fast2DFeatureBox FB_Table[MAX_FEATBOX];
	static u32 FB_init;
	static void DoFirstInit();

private:
	u32	New(float X ,float Y );
	void Destroy(u32 Index);
	
	float	CopyData(MAP16 *WORKMAP, s16 *pDst , s32 X , s32 Y , u32 Size , u32 ModeMule = 0);
	void	CopyDataRGBA(MAP *WORKMAP, s16 *pDst , s32 X , s32 Y , u32 Size , float Factor);
	void	UpdateData(u32 Index,float MergeF = 0.0f);
	void	BuildOneTrackData(MAP16 *WORKMAP , FAST2DTRACKSTACK *pDt , s32 X ,s32 Y);
	void	ComputeTrack(u32 i,u32 BigSearch);
	void	ComputeTrack(MAP16 *WORKMAP , FAST2DTRACKSTACK *pTrack,u32 BigSearch = 0);
	void	Set(u32 ID, Vector *pResult);
	u32		Get(u32 ID, Vector *pResult);
	float	GetError(u32 ID);
	float	GetNorm(u32 ID, u32 LVL);
	s32		GetSign(MAP *CurrentMap);

	// Feature
	u32		EvaluateNumber(u8 *Valid , u32 ulNumber);
	float	EvaluateError(u8 *Valid , u32 ulNumber, const Vector *Lastpos ,  const Vector *Newpos , MATRIX *Matrix23 , float Threshold = 100000000.0f);
	u32		ComputeGCXY(u8 *Valid ,  u32 ulNumber , const Vector *Positions , Vector *GCenter );
	float	ComputeGCScale(u8 *Valid ,  u32 ulNumber , const Vector *Lastpos ,  const Vector *Newpos , Vector *LastGC, Vector *NewGC , float *Scale , float *Angle);
	void	ComputeGCXYScale(u8 *Valid ,  u32 ulNumber , const Vector *Lastpos ,  const Vector *Newpos , Vector *YAxis,float *XScale,float *YScale);
	float	FeatureBoxRansac(u8 *Valid ,  u32 ulNumber , const Vector *LastPosition ,  const Vector *NewPosition , Vector *SpeedScaleDest , float *Rotation,Fast2DFeatureBox *pFB ,float LowLimit);
	void	FeatureBoxUpdateOne(u32 Index);
//	void	ComputeFullMatrix(u8 *Valid ,  u32 ulNumber , const Vector *Lastpos ,  const Vector *Newpos , Vector *LastGC, Vector *NewGC , float *Scale , float *Angle);
};

#endif