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/*  Author: Ioan Sucan */

#ifndef GEOMETRIC_SHAPES_SHAPES_
#define GEOMETRIC_SHAPES_SHAPES_

#if __cplusplus <= 199711L
#error This header requires at least C++11
#endif

#include <cstdlib>
#include <vector>
#include <iostream>
#include <memory>
#include <string>

namespace octomap
{
class OcTree;
}

/** \brief Definition of various shapes. No properties such as
    position are included. These are simply the descriptions and
    dimensions of shapes. */
namespace shapes
{
/** \brief A list of known shape types */
enum ShapeType
{
  UNKNOWN_SHAPE,
  SPHERE,
  CYLINDER,
  CONE,
  BOX,
  PLANE,
  MESH,
  OCTREE
};

/* convert above enum to printable */
std::ostream& operator<<(std::ostream& ss, ShapeType type);

/** \brief A basic definition of a shape. Shapes are considered centered at origin */
class Shape
{
public:
  Shape();
  virtual ~Shape();

  /** \brief Create a copy of this shape */
  virtual Shape* clone() const = 0;

  /** \brief Print information about this shape */
  virtual void print(std::ostream& out = std::cout) const;

  /** \brief Uniformly scale this shape by a factor */
  void scale(double scale);

  /** \brief Add uniform padding to this shape */
  void padd(double padding);

  /** \brief Uniformly scale and padd this shape */
  virtual void scaleAndPadd(double scale, double padd) = 0;

  /** \brief Return a flag indicating whether this shape can be scaled and/or padded */
  virtual bool isFixed() const;

  /** \brief The type of the shape */
  ShapeType type;
};

/** \brief Definition of a sphere */
class Sphere : public Shape
{
public:
  Sphere();

  /** \brief The radius of the shpere */
  Sphere(double r);

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  void scaleAndPadd(double scale, double padd) override;
  Sphere* clone() const override;
  void print(std::ostream& out = std::cout) const override;

  /** \brief The radius of the sphere */
  double radius;
};

/** \brief Definition of a cylinder
 * Length is along z axis.  Origin is at center of mass. */
class Cylinder : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;

  Cylinder();

  /** \brief The radius and the length of the cylinder */
  Cylinder(double r, double l);

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  /**
   * \brief Scale this shape by a non-uniform factor.
   * \param scaleRadius Radius scaling factor.
   * \param scaleLength Cylinder length scaling factor.
   */
  void scale(double scaleRadius, double scaleLength);

  /**
   * \brief Add non-uniform padding to this shape.
   * \param paddRadius Radius padding (in meters).
   * \param paddLength Cylinder length padding (in meters).
   */
  void padd(double paddRadius, double paddLength);

  /**
   * \brief Scale this shape by a non-uniform factor and then add non-uniform padding.
   * \param scaleRadius Radius scaling factor.
   * \param scaleLength Cylinder length scaling factor.
   * \param paddRadius Radius padding (in meters).
   * \param paddLength Cylinder length padding (in meters).
   */
  void scaleAndPadd(double scaleRadius, double scaleLength, double paddRadius, double paddLength);

  void scaleAndPadd(double scale, double padd) override;
  Cylinder* clone() const override;
  void print(std::ostream& out = std::cout) const override;

  /** \brief The length of the cylinder */
  double length;

  /** \brief The radius of the cylinder */
  double radius;
};

/** \brief Definition of a cone
 * Tip is on positive z axis.  Center of base is on negative z axis.  Origin is
 * halway between tip and center of base. */
class Cone : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;

  Cone();
  Cone(double r, double l);

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  /**
   * \brief Scale this shape by a non-uniform factor.
   * \param scaleRadius Radius scaling factor.
   * \param scaleLength Cone length scaling factor.
   */
  void scale(double scaleRadius, double scaleLength);

  /**
   * \brief Add non-uniform padding to this shape.
   * \param paddRadius Radius padding (in meters).
   * \param paddLength Cone length padding (in meters).
   */
  void padd(double paddRadius, double paddLength);

  /**
   * \brief Scale this shape by a non-uniform factor and then add non-uniform padding.
   * \param scaleRadius Radius scaling factor.
   * \param scaleLength Cone length scaling factor.
   * \param paddRadius Radius padding (in meters).
   * \param paddLength Cone length padding (in meters).
   */
  void scaleAndPadd(double scaleRadius, double scaleLength, double paddRadius, double paddLength);

  void scaleAndPadd(double scale, double padd) override;
  Cone* clone() const override;
  void print(std::ostream& out = std::cout) const override;

  /** \brief The length (height) of the cone */
  double length;

  /** \brief The radius of the cone */
  double radius;
};

/** \brief Definition of a box
 * Aligned with the XYZ axes. */
class Box : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;

  Box();
  Box(double x, double y, double z);

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  /**
   * \brief Scale this shape by a non-uniform factor.
   * \param scaleX Scale in x-dimension.
   * \param scaleY Scale in y-dimension.
   * \param scaleZ Scale in z-dimension.
   */
  void scale(double scaleX, double scaleY, double scaleZ);

  /**
   * \brief Add non-uniform padding to this shape.
   * \param paddX Padding in x-dimension (in meters).
   * \param paddY Padding in y-dimension (in meters).
   * \param paddZ Padding in z-dimension (in meters).
   */
  void padd(double paddX, double paddY, double paddZ);

  /**
   * \brief Scale this shape by a non-uniform factor and then add non-uniform padding.
   * \param scaleX Scale in x-dimension.
   * \param scaleY Scale in y-dimension.
   * \param scaleZ Scale in z-dimension.
   * \param paddX Padding in x-dimension (in meters).
   * \param paddY Padding in y-dimension (in meters).
   * \param paddZ Padding in z-dimension (in meters).
   */
  void scaleAndPadd(double scaleX, double scaleY, double scaleZ, double paddX, double paddY, double paddZ);

  void scaleAndPadd(double scale, double padd) override;
  Box* clone() const override;
  void print(std::ostream& out = std::cout) const override;

  /** \brief x, y, z dimensions of the box (axis-aligned) */
  double size[3];
};

/** \brief Definition of a triangle mesh
 * By convention the "center" of the shape is at the origin.  For a mesh this
 * implies that the AABB of the mesh is centered at the origin.  Some methods
 * may not work with arbitrary meshes whose AABB is not centered at the origin.
 * Padding is not applied to vertices plainly coordinate-wise, but instead the
 * padding value is added to the length of the direction vector between centroid
 * and each vertex.
 * */
class Mesh : public Shape
{
public:
  using Shape::padd;
  using Shape::scale;

  Mesh();
  Mesh(unsigned int v_count, unsigned int t_count);
  ~Mesh() override;

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  /**
   * \brief Scale this shape by a non-uniform factor.
   * \param scaleX Scale in x-dimension.
   * \param scaleY Scale in y-dimension.
   * \param scaleZ Scale in z-dimension.
   */
  void scale(double scaleX, double scaleY, double scaleZ);

  /**
   * \brief Add non-uniform padding to this shape.
   * \param paddX Padding in x-dimension (in meters).
   * \param paddY Padding in y-dimension (in meters).
   * \param paddZ Padding in z-dimension (in meters).
   * \note Padding is not applied to vertices plainly coordinate-wise, but instead the
   * padding value is added to the length of the direction vector between centroid
   * and each vertex.
   */
  void padd(double paddX, double paddY, double paddZ);

  /**
   * \brief Scale this shape by a non-uniform factor and then add non-uniform padding.
   * \param scaleX Scale in x-dimension.
   * \param scaleY Scale in y-dimension.
   * \param scaleZ Scale in z-dimension.
   * \param paddX Padding in x-dimension (in meters).
   * \param paddY Padding in y-dimension (in meters).
   * \param paddZ Padding in z-dimension (in meters).
   * \note Padding is not applied to vertices plainly coordinate-wise, but instead the
   * padding value is added to the length of the direction vector between centroid
   * and each vertex.
   */
  void scaleAndPadd(double scaleX, double scaleY, double scaleZ, double paddX, double paddY, double paddZ);

  void scaleAndPadd(double scale, double padd) override;
  Mesh* clone() const override;
  void print(std::ostream& out = std::cout) const override;

  /** \brief Compute the normals of each triangle from its vertices via cross product. */
  void computeTriangleNormals();

  /** \brief Compute vertex normals by averaging from adjacent triangle normals, weighted using magnitude of
   * angles formed by adjacent triangles at the vertex.

     Calls computeTriangleNormals() if needed. */
  void computeVertexNormals();

  /** \brief Merge vertices that are very close to each other, up to a threshold*/
  void mergeVertices(double threshold);

  /** \brief The number of available vertices */
  unsigned int vertex_count;

  /** \brief The position for each vertex vertex k has values at
   * index (3k, 3k+1, 3k+2) = (x,y,z) */
  double* vertices;

  /** \brief The number of triangles formed with the vertices */
  unsigned int triangle_count;

  /** \brief The vertex indices for each triangle
   * triangle k has vertices at index (3k, 3k+1, 3k+2) = (v1, v2, v3) */
  unsigned int* triangles;

  /** \brief The normal to each triangle; unit vector represented
      as (x,y,z); If missing from the mesh, these vectors can be computed using computeTriangleNormals() */
  double* triangle_normals;

  /** \brief The normal to each vertex; unit vector represented
      as (x,y,z); If missing from the mesh, these vectors can be computed using computeVertexNormals()  */
  double* vertex_normals;
};

/** \brief Definition of a plane with equation ax + by + cz + d = 0 */
class Plane : public Shape
{
public:
  Plane();
  Plane(double pa, double pb, double pc, double pd);

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  Plane* clone() const override;
  void print(std::ostream& out = std::cout) const override;
  void scaleAndPadd(double scale, double padd) override;
  bool isFixed() const override;

  /** \brief The plane equation is ax + by + cz + d = 0 */
  double a, b, c, d;
};

/** \brief Representation of an octomap::OcTree as a Shape */
class OcTree : public Shape
{
public:
  OcTree();
  OcTree(const std::shared_ptr<const octomap::OcTree>& t);

  /** \brief The type of the shape, as a string */
  static const std::string STRING_NAME;

  OcTree* clone() const override;
  void print(std::ostream& out = std::cout) const override;
  void scaleAndPadd(double scale, double padd) override;
  bool isFixed() const override;

  std::shared_ptr<const octomap::OcTree> octree;
};

/** \brief Shared pointer to a Shape */
typedef std::shared_ptr<Shape> ShapePtr;

/** \brief Shared pointer to a const Shape */
typedef std::shared_ptr<const Shape> ShapeConstPtr;
}  // namespace shapes

#endif
