// ASF.h

#include "Matrix.h"
#include <stdio.h>
#include <math.h>
#include <string.h>
#include "Point3.h"
#include <iostream.h>


#define PI 3.141596536


class Bone
{
	public:
		int		id;
		char	name[30];
		float   direction[3];
		float  length;					// distance to translate local origin
		float  orientation[3];			// angles to rotate local coordinate system
		char   axisOrder[10];			// order of roations (ignored for now)
		int    numberOfDOFs;			// number of DOFs of joint
		char   dof[3][10];				// names of DOFs (ignored for now)
		float  *dofPtr;					// pointer into dofValue list
		float  *dofValues[3];			// DOF values (from .AMC file)
		float  limit[3][3];				// limits on DOFs
		Bone   *next;					// linear linked list of bones
		Bone   *child;					// child of this bone
		Bone	  *sibling;				// sibling of this bone
		float  position[3];				// origin of local coordinate system
		Matrix tucs;					// (local) transformed unit coordinate system

		void printBoneNames(void);
		void printBone(Bone *);
		void printRoot(void);
		void printSubTree(int, Bone *,float *,Matrix,int,Bone *,FILE *);
		void printBoneHierarchy();
		void printBoneSubTree(int, Bone *);
	private:
};

class Root
{
	public:
		char   order[30];
		char   axisOrder[10];         
		float  *position[3];
		float  *orientation[3];
		Bone	*child;
};

//=====================================================
//
class ASFskeleton
{
	public:
		Bone	*bones;
		Root	root;
		FILE	*ASFfile;
		int		numberOfBones;
		int		numberOfFrames;
	
		int		getASF(void);
		int		getAMC(void);
		Bone	*findBone(char *);
		int     getNumberOfBones();
		int    splitString(char *,char *,char *);
		void	drawStickFigure(int frame,int inplace);
		void	drawStickSubFigure(int level, Bone* ,Point3 ,Matrix,int frame);


};