%  Daniel Kawano, Rose-Hulman Institute of Technology
%  Last modified:  Dec 29, 2017

function animate_iphone(x1, x2, x3, psi, theta, phi, dt, r1, r2, r3, pov)

%  Convert the displacements to cm:

x1 = x1*100;        %  cm
x2 = x2*100;        %  cm
x3 = x3*100;        %  cm

%  Load images for the front and back of an iPhone:    

load iphone_images.mat

%  Supply approximate length, width, and thickness measurements:

L = 5*(2.54);           %  cm
W = 2.5*(2.54);         %  cm
T = 0.25*(2.54);        %  cm

%  Set up the figure window:   

figure
set(gcf, 'color', 'w', 'name', 'iPhone toss animation')
plot3(0, 0, 0)
xlabel('\itx\rm_1 (cm)')
ylabel('\itx\rm_2 (cm)')
zlabel('\itx\rm_3 (cm)              ', 'rotation', 0)
axis equal
xlim([min(x1)-1.2*(L/2), max(x1)+1.2*(L/2)])
ylim([min(x2)-1.2*(L/2), max(x2)+1.2*(L/2)])
zlim([min(x3)-1.2*(L/2), max(x3)+1.2*(L/2)])
grid on

%  Set the view based on the user input: 

if strcmp(pov, 'default') == 1
   view(35, 20)
elseif strcmp(pov, 'top') == 1
   view(-180, 0)
elseif strcmp(pov, 'bottom') == 1
   view(0, 0)   
elseif strcmp(pov, 'left') == 1
   view(-90, 0)
elseif strcmp(pov, 'right') == 1
   view(90, 0)   
elseif strcmp(pov, 'front') == 1
   view(0, 90)
elseif strcmp(pov, 'back') == 1
   view(180, -90)   
else
   view(35, 20)
end

%  Define a rectangular box representing the iPhone:

[xbox, ybox, zbox] = meshgrid((W/2)*[-1, 1], (L/2)*[-1, 1], T/2);

%  Draw the iPhone, using the imported images for the front and back:

iphone = hgtransform;

iphone_front = surface(xbox, flipud(ybox), zbox, iphone_front_image, ...
                       'facecolor', 'texturemap', 'facealpha', 1, ...
                       'edgealpha', 1, 'parent', iphone); 

iphone_back = surface(fliplr(xbox), flipud(ybox), -zbox, ...
                      iphone_back_image, 'facecolor', 'texturemap', ...
                      'facealpha', 1, 'edgealpha', 1, 'parent', iphone); 

bottom = patch('xdata', (W/2)*[-1, -1, 1, 1], ...
               'ydata', (L/2)*[-1, -1, -1, -1], ...
               'zdata', (T/2)*[-1, 1, 1, -1], 'facecolor', 'w', ...
               'facealpha', 1, 'edgealpha', 1, 'parent', iphone);

top = patch('xdata', (W/2)*[-1, -1, 1, 1], 'ydata', (L/2)*[1, 1, 1, 1], ...
            'zdata', (T/2)*[-1, 1, 1, -1], 'facecolor', 'w', ...
            'facealpha', 1, 'edgealpha', 1, 'parent', iphone);

right = patch('xdata', (W/2)*[1, 1, 1, 1], ...
              'ydata', (L/2)*[1, 1, -1, -1], ...
              'zdata', (T/2)*[-1, 1, 1, -1], 'facecolor', 'w', ...
              'facealpha', 1, 'edgealpha', 1, 'parent', iphone);        

left = patch('xdata', -(W/2)*[1, 1, 1, 1], ...
             'ydata', (L/2)*[1, 1, -1, -1], ...
             'zdata', (T/2)*[-1, 1, 1, -1], 'facecolor', 'w', ...
             'facealpha', 1, 'edgealpha', 1, 'parent', iphone);  

%  Use the provided Euler angle sequence to specify the appropriate axes of
%  rotation:

sequence = [r1, r2, r3];

for k = 1:3
    if sequence(k) == 1
       rotation_axes(:,k) = [1, 0, 0]';
    elseif sequence(k) == 2
       rotation_axes(:,k) = [0, 1, 0]';
    else
       rotation_axes(:,k) = [0, 0, 1]';
    end
end

%  Display the iPhone in its initial position and orientation:

iphone.Matrix = makehgtform('translate', [x1(1), x2(1), x3(1)]', ...
                            'axisrotate', rotation_axes(:,1), psi(1), ...
                            'axisrotate', rotation_axes(:,2), theta(1), ...
                            'axisrotate', rotation_axes(:,3), phi(1));
drawnow

%  Animate the iPhone's motion by updating the figure with its current
%  location and orientation:

pause

% animation = VideoWriter(strcat('iphone-', pov, '-view.avi'));
% animation.FrameRate = round(1/dt)/3;
% open(animation);

for k = 1:length(psi)
    iphone.Matrix = makehgtform('translate', [x1(k), x2(k), x3(k)]', ...
                                'axisrotate', rotation_axes(:,1), psi(k), ...
                                'axisrotate', rotation_axes(:,2), theta(k), ...
                                'axisrotate', rotation_axes(:,3), phi(k));
    drawnow
    % writeVideo(animation, getframe(gcf));
end

% close(animation);