/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/core/pimpl.h>
#include <mrpt/opengl/CRenderizableShaderPoints.h>
#include <mrpt/opengl/CRenderizableShaderTriangles.h>
#include <mrpt/opengl/CRenderizableShaderWireFrame.h>
#include <mrpt/opengl/CSetOfTexturedTriangles.h>

#include <map>
#include <optional>

// Forward decls:
// clang-format off
struct aiScene;
struct aiNode;
namespace mrpt::opengl::internal { struct RenderElements; }
// clang-format on

namespace mrpt::opengl
{
/** This class can load & render 3D models in a number of different formats
 * (requires the library assimp).
 *  - All supported formats:
 * http://assimp.sourceforge.net/main_features_formats.html
 *  - Most common ones: AutoCAD DXF ( .dxf ), Collada ( .dae ), Blender 3D (
 * .blend ), 3ds Max 3DS ( .3ds ), 3ds Max ASE ( .ase ), Quake I ( .mdl ), Quake
 * II ( .md2 ), Quake III Mesh ( .md3 ), etc.
 *
 *  Models are loaded via CAssimpModel::loadScene()
 *
 * ![mrpt::opengl::CAssimpModel](preview_CAssimpModel.png)
 *
 * \sa opengl::Scene
 * \ingroup mrpt_opengl_grp
 */
class CAssimpModel :
    public CRenderizableShaderTriangles,
    public CRenderizableShaderWireFrame,
    public CRenderizableShaderPoints
{
  DEFINE_SERIALIZABLE(CAssimpModel, mrpt::opengl)

 public:
  /** @name Renderizable shader API virtual methods
   * @{ */
  void render(const RenderContext& rc) const override;
  void renderUpdateBuffers() const override;

  virtual shader_list_t requiredShaders() const override
  {
    // May use up to two shaders (triangles and lines):
    return {DefaultShaderID::WIREFRAME, DefaultShaderID::TRIANGLES_LIGHT, DefaultShaderID::POINTS};
  }
  void onUpdateBuffers_Wireframe() override;
  void onUpdateBuffers_Triangles() override;
  void onUpdateBuffers_Points() override;
  void onUpdateBuffers_all();  // special case for assimp
  void freeOpenGLResources() override
  {
    CRenderizableShaderTriangles::freeOpenGLResources();
    CRenderizableShaderWireFrame::freeOpenGLResources();
    CRenderizableShaderPoints::freeOpenGLResources();
  }
  void enqueueForRenderRecursive(
      const mrpt::opengl::TRenderMatrices& state,
      RenderQueue& rq,
      bool wholeInView,
      bool is1stShadowMapPass) const override;
  bool isCompositeObject() const override { return true; }
  /** @} */

  CAssimpModel();
  virtual ~CAssimpModel() override;

  /** Import flags for loadScene */
  struct LoadFlags
  {
    enum flags_t : uint32_t
    {
      /** See: aiProcessPreset_TargetRealtime_Fast */
      RealTimeFast = 0x0001,
      /** See: aiProcessPreset_TargetRealtime_Quality */
      RealTimeQuality = 0x0002,
      /** See: aiProcessPreset_TargetRealtime_MaxQuality */
      RealTimeMaxQuality = 0x0004,
      /** See: aiProcess_FlipUVs */
      FlipUVs = 0x0010,
      /** MRPT-specific: ignore materials and replace by the base class
       CRenderizable uniform color that was defined before calling
       loadScene(). \note (New in MRPT 2.5.0) */
      IgnoreMaterialColor = 0x0100,
      /** Displays messages on loaded textures, etc. */
      Verbose = 0x1000
    };
  };

  using filepath_t = std::string;

  /**  Loads a scene from a file in any supported file.
   * \exception std::runtime_error On any error during loading or importing
   * the file.
   */
  void loadScene(
      const std::string& file_name,
      const int flags = LoadFlags::RealTimeMaxQuality | LoadFlags::FlipUVs | LoadFlags::Verbose);

  /** Empty the object */
  void clear();

  /* Simulation of ray-trace. */
  bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

  mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const override;

  struct TInfoPerTexture
  {
    // indices in \a m_texturedObjects. string::npos for non-initialized
    // ones
    size_t id_idx = std::string::npos;
    mrpt::img::CImage img_rgb;
    std::optional<mrpt::img::CImage> img_alpha;
  };

  /** Read-only access to textured objects \note [New in MRPT 2.6.0] */
  auto texturedObjects() -> const std::vector<CSetOfTexturedTriangles::Ptr>&
  {
    return m_texturedObjects;
  }

 private:
  /** The interface to the file: */
  struct Impl;
  mrpt::pimpl<Impl> m_assimp_scene;

  /** Bounding box */
  mrpt::math::TPoint3D m_bbox_min{0, 0, 0}, m_bbox_max{0, 0, 0};

  filepath_t m_modelPath;

  mutable std::map<filepath_t, TInfoPerTexture> m_textureIdMap;

  // We define a textured object per texture image, and delegate texture
  // handling to that class:
  mutable std::vector<CSetOfTexturedTriangles::Ptr> m_texturedObjects;
  bool m_verboseLoad = false;
  bool m_ignoreMaterialColor = false;

  void recursive_render(
      const aiScene* sc,
      const aiNode* nd,
      const mrpt::poses::CPose3D& transf,
      mrpt::opengl::internal::RenderElements& re);
  void process_textures(const aiScene* scene);

  void after_load_model();

};  // namespace mrpt::opengl

}  // namespace mrpt::opengl
