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/* Author: Ioan Sucan */

#ifndef GEOMETRIC_SHAPES_MESH_OPERATIONS_
#define GEOMETRIC_SHAPES_MESH_OPERATIONS_

#include "geometric_shapes/shapes.h"
#include <eigen_stl_containers/eigen_stl_containers.h>
#include <vector>

// forward declaration of aiScene (caller needs to include assimp if aiScene is used)
class aiScene;

namespace shapes
{
/** \brief Load a mesh from a set of vertices.

    Triangles are constructed using index values from the triangles vector.
    Triangle k has vertices at index values triangles[3k], triangles[3k+1], triangles[3k+2] */
Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d& vertices, const std::vector<unsigned int>& triangles);

/** \brief Load a mesh from a set of vertices.

    Every 3 vertices are considered a triangle. Repeating vertices are identified and
    the set of triangle indices is constructed. The normal at each triangle is also computed */
Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d& source);

/** \brief Load a mesh from a resource that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromResource(const std::string& resource);

/** \brief Load a mesh from a resource that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromResource(const std::string& resource, const Eigen::Vector3d& scale);

/** \brief Load a mesh from a binary stream that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromBinary(const char* buffer, std::size_t size, const std::string& assimp_hint = std::string());

/** \brief Load a mesh from a resource that contains a mesh that can be loaded by assimp */
Mesh* createMeshFromBinary(const char* buffer, std::size_t size, const Eigen::Vector3d& scale,
                           const std::string& assimp_hint = std::string());

/** \brief Load a mesh from an assimp datastructure */
Mesh* createMeshFromAsset(const aiScene* scene, const Eigen::Vector3d& scale,
                          const std::string& assimp_hint = std::string());

/** \brief Load a mesh from an assimp datastructure */
Mesh* createMeshFromAsset(const aiScene* scene, const std::string& assimp_hint = std::string());

/** \brief Construct a mesh from a primitive shape that is NOT already a mesh. This call allocates a new object. */
Mesh* createMeshFromShape(const Shape* shape);

/** \brief Construct a mesh from a box */
Mesh* createMeshFromShape(const Box& box);

/** \brief Construct a mesh from a sphere */
Mesh* createMeshFromShape(const Sphere& sphere);

/** \brief Construct a mesh from a cylinder */
Mesh* createMeshFromShape(const Cylinder& cylinder);

/** \brief Construct a mesh from a cone */
Mesh* createMeshFromShape(const Cone& cone);

/** \brief Write the mesh to a buffer in STL format */
void writeSTLBinary(const Mesh* mesh, std::vector<char>& buffer);
}  // namespace shapes

#endif
