import processing.serial.*;
import processing.opengl.*;
import toxi.geom.*;
import toxi.processing.*;

// NOTE: requires ToxicLibs to be installed in order to run properly.
// 1. Download from http://toxiclibs.org/downloads
// 2. Extract into [userdir]/Processing/libraries
//    (location may be different on Mac/Linux)
// 3. Run and bask in awesomeness

ToxiclibsSupport gfx;

Serial port;                         // The serial port
char[] teapotPacket = new char[14];  // InvenSense Teapot packet
int serialCount = 0;                 // current packet byte position
int aligned = 0;
int interval = 0;

float[] q = new float[4];
Quaternion quat = new Quaternion(1, 0, 0, 0);

float[] gravity = new float[3];
float[] euler = new float[3];
float[] ypr = new float[3];

void setup() {
    // 800px square viewport using OpenGL rendering
    size(800, 800, OPENGL);
    gfx = new ToxiclibsSupport(this);

    // setup lights and antialiasing
    lights();
    smooth();

    // display serial port list for debugging/clarity
    println(Serial.list());

    // get the first available port (use EITHER this OR the specific port code below)
    //String portName = "/dev/ttyUSB1";

    // get a specific serial port (use EITHER this OR the first-available code above)
    String portName = "COM38";

    // open the serial port
    port = new Serial(this, portName, 115200);

    // send single character to trigger DMP init/start
    // (expected by MPU6050_DMP6 example Arduino sketch)
    port.write('r');
}

void draw() {
    if (millis() - interval > 1000) {
        // resend single character to trigger DMP init/start
        // in case the MPU is halted/reset while applet is running
        port.write('r');
        interval = millis();
    }

fill(255, 255, 255, 200);

//Boat shape
noStroke();
beginShape();
rotate(PI);
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beginShape();
vertex(328.929, 52.615);
bezierVertex(328.929, 52.421, 328.19, 51.682, 327.288, 50.975);
bezierVertex(325.801, 49.809, 325.768, 49.842, 326.934, 51.329);
bezierVertex(328.159, 52.89, 328.929, 53.387, 328.929, 52.615);
endShape();
beginShape();
vertex(185.491, 38.438);
bezierVertex(186.133, 37.665, 186.447, 37.032, 186.189, 37.032);
bezierVertex(185.932, 37.032, 185.195, 37.665, 184.554, 38.438);
bezierVertex(183.912, 39.212, 183.597, 39.844, 183.855, 39.844);
bezierVertex(184.113, 39.844, 184.849, 39.212, 185.491, 38.438);
endShape();


    popMatrix();
}

void serialEvent(Serial port) {
    interval = millis();
    while (port.available() > 0) {
        int ch = port.read();
        print((char)ch);
        if (ch == '$') {serialCount = 0;} // this will help with alignment
        if (aligned < 4) {
            // make sure we are properly aligned on a 14-byte packet
            if (serialCount == 0) {
                if (ch == '$') aligned++; else aligned = 0;
            } else if (serialCount == 1) {
                if (ch == 2) aligned++; else aligned = 0;
            } else if (serialCount == 12) {
                if (ch == '\r') aligned++; else aligned = 0;
            } else if (serialCount == 13) {
                if (ch == '\n') aligned++; else aligned = 0;
            }
            //println(ch + " " + aligned + " " + serialCount);
            serialCount++;
            if (serialCount == 14) serialCount = 0;
        } else {
            if (serialCount > 0 || ch == '$') {
                teapotPacket[serialCount++] = (char)ch;
                if (serialCount == 14) {
                    serialCount = 0; // restart packet byte position

                    // get quaternion from data packet
                    q[0] = ((teapotPacket[2] << 8) | teapotPacket[3]) / 16384.0f;
                    q[1] = ((teapotPacket[4] << 8) | teapotPacket[5]) / 16384.0f;
                    q[2] = ((teapotPacket[6] << 8) | teapotPacket[7]) / 16384.0f;
                    q[3] = ((teapotPacket[8] << 8) | teapotPacket[9]) / 16384.0f;
                    for (int i = 0; i < 4; i++) if (q[i] >= 2) q[i] = -4 + q[i];

                    // set our toxilibs quaternion to new data
                    quat.set(q[0], q[1], q[2], q[3]);

                    /*
                    // below calculations unnecessary for orientation only using toxilibs

                    // calculate gravity vector
                    gravity[0] = 2 * (q[1]*q[3] - q[0]*q[2]);
                    gravity[1] = 2 * (q[0]*q[1] + q[2]*q[3]);
                    gravity[2] = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];

                    // calculate Euler angles
                    euler[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
                    euler[1] = -asin(2*q[1]*q[3] + 2*q[0]*q[2]);
                    euler[2] = atan2(2*q[2]*q[3] - 2*q[0]*q[1], 2*q[0]*q[0] + 2*q[3]*q[3] - 1);

                    // calculate yaw/pitch/roll angles
                    ypr[0] = atan2(2*q[1]*q[2] - 2*q[0]*q[3], 2*q[0]*q[0] + 2*q[1]*q[1] - 1);
                    ypr[1] = atan(gravity[0] / sqrt(gravity[1]*gravity[1] + gravity[2]*gravity[2]));
                    ypr[2] = atan(gravity[1] / sqrt(gravity[0]*gravity[0] + gravity[2]*gravity[2]));

                    // output various components for debugging
                    //println("q:\t" + round(q[0]*100.0f)/100.0f + "\t" + round(q[1]*100.0f)/100.0f + "\t" + round(q[2]*100.0f)/100.0f + "\t" + round(q[3]*100.0f)/100.0f);
                    //println("euler:\t" + euler[0]*180.0f/PI + "\t" + euler[1]*180.0f/PI + "\t" + euler[2]*180.0f/PI);
                    //println("ypr:\t" + ypr[0]*180.0f/PI + "\t" + ypr[1]*180.0f/PI + "\t" + ypr[2]*180.0f/PI);
                    */
                }
            }
        }
    }
}

void drawCylinder(float topRadius, float bottomRadius, float tall, int sides) {
    float angle = 0;
    float angleIncrement = TWO_PI / sides;
    beginShape(QUAD_STRIP);
    for (int i = 0; i < sides + 1; ++i) {
        vertex(topRadius*cos(angle), 0, topRadius*sin(angle));
        vertex(bottomRadius*cos(angle), tall, bottomRadius*sin(angle));
        angle += angleIncrement;
    }
    endShape();

    // If it is not a cone, draw the circular top cap
    if (topRadius != 0) {
        angle = 0;
        beginShape(TRIANGLE_FAN);

        // Center point
        vertex(0, 0, 0);
        for (int i = 0; i < sides + 1; i++) {
            vertex(topRadius * cos(angle), 0, topRadius * sin(angle));
            angle += angleIncrement;
        }
        endShape();
    }

    // If it is not a cone, draw the circular bottom cap
    if (bottomRadius != 0) {
        angle = 0;
        beginShape(TRIANGLE_FAN);

        // Center point
        vertex(0, tall, 0);
        for (int i = 0; i < sides + 1; i++) {
            vertex(bottomRadius * cos(angle), tall, bottomRadius * sin(angle));
            angle += angleIncrement;
        }
        endShape();
    }
}