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#ifndef DART_UTILS_VSKPARSER_HPP_
#define DART_UTILS_VSKPARSER_HPP_

#include "dart/common/ResourceRetriever.hpp"
#include "dart/common/Uri.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/math/Constants.hpp"

namespace dart {
namespace utils {

namespace VskParser {
/// Options struct is additional information that helps building a skeleton
/// that can be used in kinematics or dynamics simulation. VSK file format
/// itself doesn't provide essential properties for it such as body's shape,
/// mass, and inertia.
struct Options
{
  /// Resource retriever. LocalResourceRetriever is used if it's nullptr.
  common::ResourceRetrieverPtr retrieverOrNullptr;

  /// The default shape for body node is ellipsoid. The size of ellipsoid of
  /// each body node are determined by the relative transformation from a body
  /// node and its child body node. defaultEllipsoidSize is used for body
  /// nodes that don't have child body node.
  Eigen::Vector3d defaultEllipsoidSize;

  /// Ratio of shorter radii of each ellipsoid to the longest radius where
  /// the longest radius is the distance between a body and its child body
  /// node.
  double thicknessRatio;

  /// Density of each ellipsoid that are used to compute mass.
  double density;

  /// Lower limit of joint position
  double jointPositionLowerLimit;

  /// Upper limit of joint position
  double jointPositionUpperLimit;

  /// Joint damping coefficient
  double jointDampingCoefficient;

  /// Joint Coulomb friction
  double jointFriction;

  /// Remove end BodyNodes with no Shape segment
  bool removeEndBodyNodes;

  /// Constructor
  Options(
      const common::ResourceRetrieverPtr& retrieverOrNullptr = nullptr,
      const Eigen::Vector3d& defaultEllipsoidSize
      = Eigen::Vector3d::Constant(0.05),
      double thicknessRatio = 0.35,
      double density = 1e+3,
      double jointPositionLowerLimit = -math::constantsd::pi(),
      double jointPositionUpperLimit = +math::constantsd::pi(),
      double jointDampingCoefficient = 0.1,
      double jointFriction = 0.0,
      bool removeEndBodyNodes = false);
};

/// Read Skeleton from VSK file
dynamics::SkeletonPtr readSkeleton(
    const common::Uri& fileUri, Options options = Options());

} // namespace VskParser

} // namespace utils
} // namespace dart

#endif // #ifndef DART_UTILS_VSKPARSER_HPP_
