#ifndef NAVMESHRENDERER_H
#define NAVMESHRENDERER_H



#include <unordered_set>
#include <Indoor/navMesh/NavMesh.h>
#include <Indoor/navMesh/NavMeshTriangle.h>
#include <Indoor/navMesh/NavMeshType.h>

#include <QPainter>
#include <QOpenGLWidget>

#include "../3D/misc/Renderable3D.h"
#include "../3D/misc/Shader.h"

class NavMeshRenderer {

private:

	// settings
	//GridRendererColorMode colorMode = GridRendererColorMode::SHOW_NODE_IMPORTANCE;
	bool showEdges = false;

	struct Color {
		float r,g,b;
		Color() : r(1), g(0), b(0) {;}
		Color(float r, float g, float b) : r(r), g(g), b(b) {;}
	};

	/** node color depending on the node's type. see ctor */
	Color colors[200];

public:

	/** ctor */
	NavMeshRenderer()  {

		colors[GridNode::TYPE_FLOOR] = Color(0.4, 0.4, 0.4);
		colors[GridNode::TYPE_STAIR] = Color(0,0,1);
		colors[GridNode::TYPE_ELEVATOR] = Color(0,0,1);
		colors[GridNode::TYPE_DOOR] = Color(0.0, 0.0, 0.0);

		colors[GridNode::TYPE_OUTDOOR] = Color(0.0, 0.5, 0.0);

	}


//	void setNodeColorMode(const GridRendererColorMode mode) {this->colorMode = mode;}
	void setShowEdges(const bool show) {this->showEdges = show;}


	/** render the given grid using GL commands */
	void render(const RenderSettings& rs, NM::NavMesh<NM::NavMeshTriangle>* navMesh, QOpenGLWidget* dst) {

		if (navMesh == nullptr) {return;}


		rs.shader->bind();
		rs.shader->setModelMatrix(QMatrix4x4());

		std::vector<float> vertices;
		std::vector<float> colors;

		for (const NM::NavMeshTriangle* tria : *navMesh) {

			Point3 color;

			switch (tria->getType()) {
				case (int) NM::NavMeshType::FLOOR_INDOOR:	color = Point3(0.8, 0.8, 0.8); break;
				case (int) NM::NavMeshType::FLOOR_OUTDOOR:	color = Point3(0.1, 0.8, 0.1); break;
				case (int) NM::NavMeshType::DOOR:			color = Point3(0.7, 0.7, 0.8); break;
				case (int) NM::NavMeshType::STAIR_LEVELED:	color = Point3(0.5, 0.5, 0.5); break;
				case (int) NM::NavMeshType::STAIR_SKEWED:	color = Point3(0.6, 0.6, 0.6); break;
			}

			vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z});
			vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z});
			vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z});

			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});

		}

		rs.shader->setVertices(vertices.data());
		rs.shader->setVertexColor(colors.data());
		glDrawArrays(GL_TRIANGLES, 0, vertices.size()/3);
		rs.shader->unsetVertices();
		rs.shader->unsetVertexColor();

		vertices.clear();
		colors.clear();

		for (const NM::NavMeshTriangle* tria : *navMesh) {

			Point3 color;

			switch (tria->getType()) {
				case (int) NM::NavMeshType::FLOOR_INDOOR:	color = Point3(0.6, 0.6, 0.6); break;
				case (int) NM::NavMeshType::FLOOR_OUTDOOR:	color = Point3(0.0, 0.6, 0.0); break;
				case (int) NM::NavMeshType::DOOR:			color = Point3(0.5, 0.5, 0.6); break;
				case (int) NM::NavMeshType::STAIR_LEVELED:	color = Point3(0.4, 0.4, 0.4); break;
				case (int) NM::NavMeshType::STAIR_SKEWED:	color = Point3(0.4, 0.4, 0.4); break;
			}

			const float o = 0.001f;
			vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z+o});
			vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z+o});

			vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z+o});
			vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z+o});

			vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z+o});
			vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z+o});

			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
			colors.insert(colors.end(), {color.x, color.y, color.z, 1});

		}

		rs.shader->setVertices(vertices.data());
		rs.shader->setVertexColor(colors.data());
		glDrawArrays(GL_LINES, 0, vertices.size()/3);
		rs.shader->unsetVertices();
		rs.shader->unsetVertexColor();

		rs.shader->release();


		/*

		TODO_GL

		glDisable(GL_LIGHTING);

		const float s = 2;

		glBegin(GL_TRIANGLES);
			for (const NM::NavMeshTriangle* tria : *navMesh) {



				switch (tria->getType()) {
					case (int) NM::NavMeshType::FLOOR_INDOOR:	glColor3f(0.8, 0.8, 0.8); break;
					case (int) NM::NavMeshType::FLOOR_OUTDOOR:	glColor3f(0.1, 0.8, 0.1); break;
					case (int) NM::NavMeshType::DOOR:			glColor3f(0.7, 0.7, 0.8); break;
					case (int) NM::NavMeshType::STAIR_LEVELED:	glColor3f(0.5, 0.5, 0.5); break;
					case (int) NM::NavMeshType::STAIR_SKEWED:	glColor3f(0.6, 0.6, 0.6); break;
				}

				glVertex3f(tria->getP1().x, tria->getP1().z, tria->getP1().y);
				glVertex3f(tria->getP2().x, tria->getP2().z, tria->getP2().y);
				glVertex3f(tria->getP3().x, tria->getP3().z, tria->getP3().y);

			}
		glEnd();


		glEnable(GL_MULTISAMPLE);
		//glEnable(GL_LINE_SMOOTH);

		glBegin(GL_LINES);
			//glColor3f(0.2,0.2,0.2);
			for (const NM::NavMeshTriangle* tria : *navMesh) {

				switch (tria->getType()) {
					case (int) NM::NavMeshType::FLOOR_INDOOR:	glColor3f(0.6, 0.6, 0.6); break;
					case (int) NM::NavMeshType::FLOOR_OUTDOOR:	glColor3f(0.0, 0.6, 0.0); break;
					case (int) NM::NavMeshType::DOOR:			glColor3f(0.5, 0.5, 0.6); break;
					case (int) NM::NavMeshType::STAIR_LEVELED:	glColor3f(0.4, 0.4, 0.4); break;
					case (int) NM::NavMeshType::STAIR_SKEWED:	glColor3f(0.4, 0.4, 0.4); break;
				}

				glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
				glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);

				glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
				glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);

				glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
				glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);

//				glBegin(GL_LINE_LOOP);
//				glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
//				glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
//				glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
//				glEnd();
			}

		glEnd();

		glEnable(GL_LIGHTING);


//		qp.drawText(20,20, "sdfsdkflsdfjasfklsdklfsdklfsdf");
//		qp.drawText(20,-20, "sdfsdkflsdfjasfklsdklfsdklfsdf");
//		qp.drawText(0.5,0.5, "sdfsdkflsdfjasfklsdklfsdklfsdf");
//		qp.end();

//		renderText(1,1,1, "123");

		const QString str1 = "Triangles: " + QString::number(navMesh->getNumTriangles());
		const QString str2 = "Size:      ~" + QString::number(navMesh->getNumTriangles() * sizeof(NM::NavMeshTriangle) / 1024) + " kB";

		glColor3f(0.0, 0.0, 0.0);
		dst->renderText(20,20, str1);
		dst->renderText(20,35, str2);

	//	dst->renderText(0,0, "2342342342342423423423423423423432");
	//	dst->renderText(0.1, 0.1, 0.1, "lsdfsdfsdfsdfsdfsdfsdfol");


		*/

	}

//	std::vector<MyNode> lint() {
//		std::vector<MyNode> vec;
//		lintStair(vec);
//		return vec;
//	}

//	void lintStair(std::vector<MyNode>& vec) {
//		for (MyNode& n1 : *grid) {
//			if (n1.getNumNeighbors() <= 5) { vec.push_back(n1);}
//		}
//	}

};

#endif // NAVMESHRENDERER_H