#ifndef FLOORPLANMESH_H
#define FLOORPLANMESH_H

#include "Obstacle3.h"

namespace Ray3D {

	/**
	 * meshed version of the floorplan
	 */
	struct FloorplanMesh {

		std::vector<Obstacle3D> elements;

		/** DEBUG: convert to .obj file code for exporting */
		std::string toOBJ() {

			int nVerts = 1;
			int nObjs = 0;
			std::string res;

			// write each obstacle
			for (const Obstacle3D& o : elements) {

				// write the vertices
				for (const Triangle3& t : o.triangles) {
					res += "v " + std::to_string(t.p1.x) + " " + std::to_string(t.p1.y) + " " + std::to_string(t.p1.z) + "\n";
					res += "v " + std::to_string(t.p2.x) + " " + std::to_string(t.p2.y) + " " + std::to_string(t.p2.z) + "\n";
					res += "v " + std::to_string(t.p3.x) + " " + std::to_string(t.p3.y) + " " + std::to_string(t.p3.z) + "\n";
				}

				// create a new group
				res += "g elem_" + std::to_string(++nObjs) + "\n";

				// write the group's faces
				for (size_t i = 0; i < o.triangles.size(); ++i) {
					res += "f " + std::to_string(nVerts+0) + " " + std::to_string(nVerts+1) + " " + std::to_string(nVerts+2) + "\n";
					nVerts += 3;
				}

			}

			// done
			return res;

		}

		/** convert to .ply file format */
		std::string toPLY() const {

			std::stringstream res;
			res << "ply\n";
			res << "format ascii 1.0\n";

			int faces = 0;
			int vertices = 0;
			for (const Obstacle3D& obs : elements) {
				vertices += obs.triangles.size() * 3;
				faces += obs.triangles.size();
			}

			// material
			std::vector<Material> mats = {

				Material(0,128,0,255),		// ground outdoor
				Material(64,64,64,255),		// ground outdoor
				Material(255,96,96,255),	// stair

				Material(128,128,128,255),	// concrete
				Material(64,128,255,64),	// glass
				Material(200,200,200,255),	// default

			};

			res << "element material " << mats.size() << "\n";
			res << "property uchar red\n";
			res << "property uchar green\n";
			res << "property uchar blue\n";
			res << "property uchar alpha\n";

			res << "element vertex " << vertices << "\n";
			res << "property float x\n";
			res << "property float y\n";
			res << "property float z\n";
			res << "property float nx\n";
			res << "property float ny\n";
			res << "property float nz\n";
			res << "property int material_index\n";
			res << "property uchar red\n";
			res << "property uchar green\n";
			res << "property uchar blue\n";
			res << "property uchar alpha\n";

			res << "element face " << faces << "\n";
			res << "property list uchar int vertex_indices\n";

			res << "end_header\n";



			for (const Material& mat : mats) {
				res << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << "\n";
			}

			for (const Obstacle3D& obs : elements) {
				const int matIdx = getMaterial(obs);
				const Material& mat = mats[matIdx];
				for (const Triangle3& tria : obs.triangles) {
					const Point3 n = cross(tria.p2-tria.p1, tria.p3-tria.p1).normalized();
					res << tria.p1.x << " " << tria.p1.y << " " << tria.p1.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << "\n";
					res << tria.p2.x << " " << tria.p2.y << " " << tria.p2.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a <<"\n";
					res << tria.p3.x << " " << tria.p3.y << " " << tria.p3.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a <<"\n";
				}
			}

			int vidx = 0;
			for (const Obstacle3D& obs : elements) {
				for (const Triangle3& tria : obs.triangles) {
					(void) tria;
					res << "3 " << vidx++ << " " << vidx++ << " " << vidx++ << "\n";
				}
			}

			// done
			return res.str();

		}

		struct Material {
			int r, g, b, a;
			Material(int r, int g, int b, int a) : r(r), g(g), b(b), a(a) {;}
		};

		int getMaterial(const Obstacle3D& o) const {
			if (o.type == Obstacle3D::Type::GROUND_OUTDOOR)	{return 0;}
			if (o.type == Obstacle3D::Type::GROUND_INDOOR)	{return 1;}
			if (o.type == Obstacle3D::Type::STAIR)			{return 2;}

			if (o.mat == Floorplan::Material::CONCRETE)		{return 3;}
			if (o.mat == Floorplan::Material::GLASS)		{return 4;}
			return 5;
		}

	//	Color getColor(const Obstacle3D& o) const {
	//		if (o.type == Obstacle3D::Type::GROUND_OUTDOOR)	{return Color(0,128,0,255);}
	//		if (o.type == Obstacle3D::Type::GROUND_INDOOR)	{return Color(64,64,64,255);}
	//		if (o.mat == Floorplan::Material::CONCRETE)		{return Color(128,128,128,255);}
	//		if (o.mat == Floorplan::Material::GLASS)		{return Color(128,128,255,64);}
	//		return Color(200,200,200,255);
	//	}

	};

}

#endif // FLOORPLANMESH_H