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#
#  This program is free software; you can redistribute it and/or
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#  as published by the Free Software Foundation; either version 2
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#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#  GNU General Public License for more details.
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#  along with this program; if not, write to the Free Software Foundation,
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import bpy

from . import pcdparser


def create_and_link_mesh(name, points):
    """
    Create a blender mesh and object called name from a list of
    *points* and link it in the current scene.
    """

    mesh = bpy.data.meshes.new(name)
    mesh.from_pydata(points, [], [])

    # update mesh to allow proper display
    mesh.validate()
    mesh.update()

    scene = bpy.context.scene

    obj = bpy.data.objects.new(name, mesh)
    scene.objects.link(obj)
    obj.select = True


def import_pcd(filepath, name="new_pointcloud"):
    parser = pcdparser.PCDParser.factory(filepath, pcdparser.PointXYZ)
    parser.parseFile()
    points = parser.getPoints()

    blender_points = []
    for point in points:
        blender_points.append((point.x, point.y, point.z))

    create_and_link_mesh(name, blender_points)
  

def export_pcd(filepath):
    obj = bpy.context.active_object

    # apply object transformation and modifiers
    mesh = obj.to_mesh(bpy.context.scene, True, "PREVIEW")
    objmat = obj.matrix_world
    
    points = []
    for vert in mesh.vertices:
        co = objmat * vert.co
        point = pcdparser.PointXYZ()
        point.x = co.x
        point.y = co.y
        point.z = co.z
        points.append(point)

    writer = pcdparser.PCDWriter(points)
    writer.write(filepath)


