from LinearAlgebra.Spherical import Spherical
from LinearAlgebra.Quaternion import Quaternion

class Thing:
    """! A thing is the basic building block"""
    class Type:
        """! Predefined thing types
        """
        Undetermined = 0x00
        # Sensor
        Switch = 0x01
        DistanceSensor = 0x02
        DirectionalSensor = 0x03
        TemperatureSensor = 0x04
        Animator = 0x40

    Position = 0x01
    Orientation = 0x02
    LinearVelocity = 0x04
    AngularVelocity = 0x08

    def __init__(self, owner = None, network_id = 0, thing_id = 0, type = Type.Undetermined, parent = None, name = None):
        """! Create a new thing """

        ## The participant owning this thing
        self.owner = owner
        ## The network ID of this thing
        ## @note This field will likely disappear in future versions
        self.network_id = network_id
        ## The ID of the thing
        self.id = thing_id
        ## The type of the thing
        self.type = type

        ## The parent thing
        self.parent = 0
        if parent is not None:
            self.parent_id = parent.id

        ## The name of the thing
        self.name = name
        ##  An URL pointing to the location where a model of the thing can be found
        self.model_url = None

        ## The position of the thing in local space, in meters
        self.position: Spherical = Spherical.zero
        ## The new orientation in local space
        self.orientation: Quaternion = Quaternion.identity
        ## The linear velocity of the thing in local space, in meters per second
        self.linear_velocity: Spherical = Spherical.zero
        ## The angular velocity of the thing in local space, in degrees per second
        self.angular_velocity: Spherical = Spherical.zero

        self.pose_updated = 0x00 # the bits indicate which fields have been updated

    
    def update(self, currentTime):
        pass

    def ProcessBinary(self, data):
        print('default binary processor')
        pass

    # allThings = set({ None })

    # @staticmethod
    # def Add(thing):
    #     thing.id = len(Thing.allThings)
    #     Thing.allThings.add(thing)
    
    # @staticmethod
    # def Get(network_id, thing_id):
    #     for thing in Thing.allThings:
    #         if thing is not None:
    #             if thing.network_id == network_id and thing.id == thing_id:
    #                 return thing
    #     return None

    # ## Update all things
    # @staticmethod
    # def UpdateAll(currentTime):
    #     for thing in list(Thing.allThings):
    #         if thing is not None:
    #             thing.update(currentTime)