#ifndef NAVMESHDEBUG_H
#define NAVMESHDEBUG_H

#include "NavMesh.h"

#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
#include "../math/distribution/Normal.h"

namespace NM {

	class NavMeshTriangleDijkstra;

	/**
	 * debug plot NavMeshes
	 */
	class NavMeshDebug {

	public:

		K::Gnuplot gp;
		K::GnuplotSplot plot;
		K::GnuplotSplotElementLines lines;
		K::GnuplotSplotElementPoints border;
		K::GnuplotSplotElementColorPoints particles;
		K::GnuplotSplotElementLines pathEstimated;
		K::GnuplotSplotElementColorPoints distances;
		K::GnuplotSplotElementLines shortestPath;

	private:

		K::GnuplotFill gFill[6] = {
			K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#0000ff"), 1),	// unknown
			K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#999999"), 1),	// indoor
			K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#44ffee"), 1),	// outdoor
			K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666699"), 1),	// door
			K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#444444"), 1),	// stairs_level
			K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666666"), 1)	// stairs_skewed
		};

	public:

		NavMeshDebug() {
			gp << "set view equal xy\n";
			plot.add(&lines); lines.setShowPoints(true);
			plot.add(&border);
			plot.add(&particles); particles.setPointType(7); particles.setPointSize(0.2);
			plot.add(&pathEstimated); pathEstimated.getStroke().setWidth(2); pathEstimated.setShowPoints(false); pathEstimated.getStroke().getColor().setHexStr("#00ff00");
			plot.add(&distances); distances.setPointSize(0.75); distances.setPointType(7);
			plot.add(&shortestPath); shortestPath.getStroke().setWidth(3);
		}

		void draw() {
			gp.draw(plot);
			gp.flush();
		}

		template <typename T> void showParticles(const std::vector<T>& particles) {
			this->particles.clear();
			double min = +999;
			double max = -999;
			for (const T& p : particles) {
				const K::GnuplotPoint3 p3(p.state.pos.pos.x, p.state.pos.pos.y, p.state.pos.pos.z);
				const double prob = std::pow(p.weight, 0.25);
				this->particles.add(p3, prob);
				if (prob > max) {max = prob;}
				if (prob < min) {min = prob;}
			}
			plot.getAxisCB().setRange(min, max + 0.000001);
		}


		template <typename Tria> void addMesh(NavMesh<Tria>& nm) {

			K::GnuplotStroke gStroke = K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#666600"));

			const BBox3 bbox = nm.getBBox();

			border.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z));
			border.add(K::GnuplotPoint3(bbox.getMax().x,bbox.getMax().y,bbox.getMax().z));
	//		lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(bbox.getMax().x, 0, 0));
	//		lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,bbox.getMax().y,0));
	//		lines.addSegment(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,0,bbox.getMax().z));

			//stairs in eigene group? vlt gehen dann auch die dellen weg?

			for (const Tria* tria : nm) {
				const uint8_t type = tria->getType();
				if (type < 0 || type > 5) {
					throw std::runtime_error("out of type-bounds");
				}
				K::GnuplotObjectPolygon* pol = new K::GnuplotObjectPolygon(gFill[type], gStroke);
				pol->add(K::GnuplotCoordinate3(tria->getP1().x, tria->getP1().y, tria->getP1().z, K::GnuplotCoordinateSystem::FIRST));
				pol->add(K::GnuplotCoordinate3(tria->getP2().x, tria->getP2().y, tria->getP2().z, K::GnuplotCoordinateSystem::FIRST));
				pol->add(K::GnuplotCoordinate3(tria->getP3().x, tria->getP3().y, tria->getP3().z, K::GnuplotCoordinateSystem::FIRST));
				pol->close();
				pol->setZIndex(tria->getP3().z);
				plot.getObjects().add(pol);

				//for (int i = 0; i < nm.getNumNeighbors(tria); ++i) {
				//	const Tria* o = nm.getNeighbor(tria, i);
				//	const Point3 p1 = tria->getCenter();
				//	const Point3 p2 = o.getCenter();
				//	//lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
				//}

				for (const NavMeshTriangle* o : *tria) {
					const Point3 p1 = tria->getCenter();
					const Point3 p2 = o->getCenter();
				//	lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
				}

			}

			plot.getObjects().reOrderByZIndex();

		}

		template <typename Tria> void addDijkstra(NavMesh<Tria>& mesh) {

			distances.clear();

			// ensure Tria extends NavMeshTriangleDijkstra
			StaticAssert::AinheritsB<Tria, NavMeshTriangleDijkstra>();

			NavMeshRandom<Tria> rnd = mesh.getRandom();

			for (int i = 0; i < 5000; ++i) {
				NavMeshLocation<Tria> loc = rnd.draw();
				float v = loc.tria->interpolate(loc.pos, loc.tria->spFromP1.distance, loc.tria->spFromP2.distance, loc.tria->spFromP3.distance);
				distances.add(K::GnuplotPoint3(loc.pos.x, loc.pos.y, loc.pos.z), v);
			}


//			Distribution::Uniform<float> dist (-0.5, +0.5);
//			for (const Tria* t : mesh) {
//				const Point3 posC = t->getCenter();
//				distances.add(K::GnuplotPoint3(posC.x+dist.draw(), posC.y+dist.draw(), posC.z), t->distAtCenter);
//				const Point3 pos1 = t->getP1();
//				distances.add(K::GnuplotPoint3(pos1.x+dist.draw(), pos1.y+dist.draw(), pos1.z), t->distAtP1);
//				const Point3 pos2 = t->getP2();
//				distances.add(K::GnuplotPoint3(pos2.x+dist.draw(), pos2.y+dist.draw(), pos2.z), t->distAtP2);
//				const Point3 pos3 = t->getP3();
//				distances.add(K::GnuplotPoint3(pos3.x+dist.draw(), pos3.y+dist.draw(), pos3.z), t->distAtP3);
//			}

		}

		template <typename Tria> void addDijkstra(std::vector<NM::NavMeshLocation<Tria>>& path) {
			shortestPath.clear();
			for (auto& e : path) {
				K::GnuplotPoint3 gp(e.pos.x, e.pos.y, e.pos.z);
				shortestPath.add(gp);
			}
		}




		void setGT(const Point3 pt) {
			gp << "set arrow 31337 from " << pt.x << "," << pt.y << "," << (pt.z+1.4) << " to " << pt.x << "," << pt.y << "," << pt.z << " front \n";
		}

		void setCurPos(const Point3 pt) {
			gp << "set arrow 31338 from " << pt.x << "," << pt.y << "," << (pt.z+0.9) << " to " << pt.x << "," << pt.y << "," << pt.z << " lw 2 lc 'green' front \n";
		}

	};

}

#endif // NAVMESHDEBUG_H