"use strict"; // 參考 https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Strict_mode
////////////////////////////////////////////////////////////////////////////////
// 機械手掌作業：加入第二個抓取器並連上控制
////////////////////////////////////////////////////////////////////////////////

var camera, scene, renderer;
var cameraControls, effectController;
var clock = new THREE.Clock();
var gridX = true;
var gridY = false;
var gridZ = false;
var axes = true;
var ground = true;
var arm, forearm, body, handLeft, handRight;

function fillScene() {
	scene = new THREE.Scene();
	scene.fog = new THREE.Fog( 0x808080, 2000, 4000 );

// 光源
	var ambientLight = new THREE.AmbientLight( 0x222222 );
	var light = new THREE.DirectionalLight( 0xFFFFFF, 1.0 );
	light.position.set( 200, 400, 500 );
	var light2 = new THREE.DirectionalLight( 0xFFFFFF, 1.0 );
	light2.position.set( -500, 250, -200 );
	scene.add(ambientLight);
	scene.add(light);
	scene.add(light2);

// 機器人的定義
	var robotHandLeftMaterial = new THREE.MeshPhongMaterial( { color: 0xCC3399, specular: 0xCC3399, shininess: 20 } );
	var robotHandRightMaterial = new THREE.MeshPhongMaterial( { color: 0xDD3388, specular: 0xDD3388, shininess: 20 } );
	var robotBaseMaterial = new THREE.MeshPhongMaterial( { color: 0x6E23BB, specular: 0x6E23BB, shininess: 20 } );
	var robotForearmMaterial = new THREE.MeshPhongMaterial( { color: 0xF4C154, specular: 0xF4C154, shininess: 100 } );
	var robotUpperArmMaterial = new THREE.MeshPhongMaterial( { color: 0x95E4FB, specular: 0x95E4FB, shininess: 100 } );

var torus = new THREE.Mesh(
		new THREE.TorusGeometry( 22, 15, 32, 32 ), robotBaseMaterial );
	torus.rotation.x = 90 * Math.PI/180;
	scene.add( torus );

forearm = new THREE.Object3D();
	var faLength = 80;

createRobotExtender( forearm, faLength, robotForearmMaterial );

arm = new THREE.Object3D();
	var uaLength = 120;

createRobotCrane( arm, uaLength, robotUpperArmMaterial );

// 移動前臂到上臂的終點
	forearm.position.y = uaLength;
	arm.add( forearm );

scene.add( arm );

var handLength = 38;

handLeft = new THREE.Object3D();
	createRobotGrabber( handLeft, handLength, robotHandLeftMaterial );
	// 移動手部到前臂的終點
	handLeft.position.y = faLength;
	forearm.add( handLeft );

// 你的程式寫在這裡
	// 加入第二個抓取器 handRight，它使用不同的顏色，定義如上
	// 另外需要編輯 render() 以開啟抓取器控制
}

function createRobotGrabber( part, length, material )
{
	var box = new THREE.Mesh(
		new THREE.CubeGeometry( 30, length, 4 ), material );
	box.position.y = length/2;
	part.add( box );
}

function createRobotExtender( part, length, material )
{
	var cylinder = new THREE.Mesh(
		new THREE.CylinderGeometry( 22, 22, 6, 32 ), material );
	part.add( cylinder );

var i;
	for ( i = 0; i < 4; i++ )
	{
		var box = new THREE.Mesh(
			new THREE.CubeGeometry( 4, length, 4 ), material );
		box.position.x = (i < 2) ? -8 : 8;
		box.position.y = length/2;
		box.position.z = (i%2) ? -8 : 8;
		part.add( box );
	}

cylinder = new THREE.Mesh(
		new THREE.CylinderGeometry( 15, 15, 40, 32 ), material );
	cylinder.rotation.x = 90 * Math.PI/180;
	cylinder.position.y = length;
	part.add( cylinder );
}

function createRobotCrane( part, length, material )
{
	var box = new THREE.Mesh(
		new THREE.CubeGeometry( 18, length, 18 ), material );
	box.position.y = length/2;
	part.add( box );

var sphere = new THREE.Mesh(
		new THREE.SphereGeometry( 20, 32, 16 ), material );
	// 把球體放在手臂末端
	sphere.position.y = length;
	part.add( sphere );
}

function init() {
	var canvasWidth = window.innerWidth;
	var canvasHeight = window.innerHeight;
	var canvasRatio = canvasWidth / canvasHeight;

// RENDERER
	renderer = new THREE.WebGLRenderer( { antialias: true } );
	renderer.gammaInput = true;
	renderer.gammaOutput = true;
	renderer.setSize(canvasWidth, canvasHeight);
	renderer.setClearColorHex( 0xAAAAAA, 1.0 );

// 攝影機
	camera = new THREE.PerspectiveCamera( 38, canvasRatio, 1, 10000 );

// 控制
	cameraControls = new THREE.OrbitAndPanControls(camera, renderer.domElement);
	camera.position.set(-49, 242,54);
	cameraControls.target.set(54, 106, 33);
	fillScene();
}

function addToDOM() {
	var container = document.getElementById('container');
	var canvas = container.getElementsByTagName('canvas');
	if (canvas.length>0) {
		container.removeChild(canvas[0]);
	}
	container.appendChild( renderer.domElement );
}

function animate() {
	window.requestAnimationFrame(animate);
	render();
}

function render() {
	var delta = clock.getDelta();
	cameraControls.update(delta);

if ( effectController.newGridX !== gridX || effectController.newGridY !== gridY || effectController.newGridZ !== gridZ || effectController.newGround !== ground || effectController.newAxes !== axes)
	{
		gridX = effectController.newGridX;
		gridY = effectController.newGridY;
		gridZ = effectController.newGridZ;
		ground = effectController.newGround;
		axes = effectController.newAxes;

fillScene();
		drawHelpers();
	}

arm.rotation.y = effectController.uy * Math.PI/180;	// 偏航角
	arm.rotation.z = effectController.uz * Math.PI/180;	// 滾轉角

forearm.rotation.y = effectController.fy * Math.PI/180;	// 偏航角
	forearm.rotation.z = effectController.fz * Math.PI/180;	// 滾轉角

// 在這裡加入 handRight 的偏航角與平移
	handLeft.rotation.z = effectController.hz * Math.PI/180;	// 偏航角
	handLeft.position.z = effectController.htz;	// 平移

renderer.render(scene, camera);
}

function setupGui() {
	effectController = {
		newGridX: gridX,
		newGridY: gridY,
		newGridZ: gridZ,
		newGround: ground,
		newAxes: axes,

uy: 70.0,
		uz: -15.0,

fy: 10.0,
		fz: 60.0,

hz: 30.0,
		htz: 12.0
	};

var gui = new dat.GUI();
	var h = gui.addFolder("格線顯示");
	h.add( effectController, "newGridX").name("顯示 XZ 格線");
	h.add( effectController, "newGridY" ).name("顯示 YZ 格線");
	h.add( effectController, "newGridZ" ).name("顯示 XY 格線");
	h.add( effectController, "newGround" ).name("顯示地面");
	h.add( effectController, "newAxes" ).name("顯示軸線");
	h = gui.addFolder("手臂角度");
	h.add(effectController, "uy", -180.0, 180.0, 0.025).name("上臂 Y");
	h.add(effectController, "uz", -45.0, 45.0, 0.025).name("上臂 Z");
	h.add(effectController, "fy", -180.0, 180.0, 0.025).name("前臂 Y");
	h.add(effectController, "fz", -120.0, 120.0, 0.025).name("前臂 Z");
	h.add(effectController, "hz", -45.0, 45.0, 0.025).name("手部 Z");
	h.add(effectController, "htz", 2.0, 17.0, 0.025).name("手部開闔");
}