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#ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
#define DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_

#include <Eigen/Core>
#include <tinyxml2.h>

#include "dart/common/Optional.hpp"
#include "dart/math/MathTypes.hpp"
#include "dart/utils/mjcf/detail/Error.hpp"
#include "dart/utils/mjcf/detail/Types.hpp"

namespace dart {
namespace utils {
namespace MjcfParser {
namespace detail {

/// Intermediate raw data read from the XML file. For the details, see
/// http://www.mujoco.org/book/XMLreference.html#geom
struct GeomAttributes final
{
  /// Name of the geom
  std::optional<std::string> mName;

  /// Type of geometric shape
  GeomType mType{GeomType::SPHERE};

  int mConType{1};

  int mConAffinity{1};

  int mConDim{3};

  int mGroup{0};

  int mPriority{0};

  /// Geom size parameters
  Eigen::Vector3d mSize{Eigen::Vector3d::Zero()};

  Eigen::Vector4d mRGBA{Eigen::Vector4d(0.5, 0.5, 0.5, 1)};

  Eigen::Vector3d mFriction{Eigen::Vector3d(1, 0.005, 0.0001)};

  /// Mass
  std::optional<double> mMass;

  /// Material density used to compute the geom mass and inertia.
  double mDensity{1000};

  /// Weight used for averaging of contact parameters, and interacts with the
  /// priority attribute.
  double mSolMix{1};

  /// Distance threshold below which contacts are detected and included in the
  /// global array mjData.contact.
  double mMargin{0};

  /// This attribute is used to enable the generation of inactive contacts,
  /// i.e. contacts that are ignored by the constraint solver but are included
  /// in mjData.contact for the purpose of custom computations.
  double mGap{0};

  /// This attribute can only be used with capsule, cylinder, ellipsoid and
  /// box geoms. It provides an alternative specification of the geom length
  /// as well as the frame position and orientation.
  std::optional<Eigen::Vector6d> mFromTo;

  /// Position of the geom frame, in local or global coordinates as determined
  /// by the coordinate attribute of compiler.
  Eigen::Vector3d mPos{Eigen::Vector3d::Zero()};

  /// Quaternion
  Eigen::Quaterniond mQuat{Eigen::Quaterniond::Identity()};

  /// These are the quantities (x, y, z, a) mentioned above. The last number
  /// is the angle of rotation, in degrees or radians as specified by the
  /// angle attribute of compiler.
  std::optional<Eigen::Vector4d> mAxisAngle;

  /// Rotation angles around three coordinate axes.
  std::optional<Eigen::Vector3d> mEuler;

  /// The first 3 numbers are the X axis of the frame. The next 3 numbers are
  /// the Y axis of the frame, which is automatically made orthogonal to the X
  /// axis. The Z axis is then defined as the cross-product of the X and Y
  /// axes.
  std::optional<Eigen::Vector6d> mXYAxes;

  /// The Z axis of the frame
  std::optional<Eigen::Vector3d> mZAxis;

  std::optional<std::string> mHField;

  std::optional<std::string> mMesh;

  double mFitScale{1};
};

Errors appendGeomAttributes(
    GeomAttributes& attributes, tinyxml2::XMLElement* element);

} // namespace detail
} // namespace MjcfParser
} // namespace utils
} // namespace dart

#endif // #ifndef DART_UTILS_MJCF_DETAIL_GEOMATTRIBUTES_HPP_
