/*
 * Copyright (c) 2011-2022, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *   POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef DART_GUI_OPENGLRENDERINTERFACE_HPP_
#define DART_GUI_OPENGLRENDERINTERFACE_HPP_

#include <list>
#include <vector>

#include "dart/gui/LoadOpengl.hpp"
#include "dart/gui/RenderInterface.hpp"

namespace dart {

namespace dynamics {
class Skeleton;
class BodyNode;
class Shape;
class ShapeFrame;
} // namespace dynamics

namespace gui {
class OpenGLRenderInterface : public RenderInterface
{
public:
  OpenGLRenderInterface()
    : mViewportX(0.0),
      mViewportY(0.0),
      mViewportWidth(0.0),
      mViewportHeight(0.0)
  {
  }
  virtual ~OpenGLRenderInterface() {}

  void initialize() override;
  void destroy() override;

  void setViewport(int _x, int _y, int _width, int _height) override;
  void getViewport(int& _x, int& _y, int& _width, int& _height) const override;

  void clear(const Eigen::Vector3d& _color) override;

  void setMaterial(
      const Eigen::Vector3d& _diffuse,
      const Eigen::Vector3d& _specular,
      double _cosinePow) override;
  void getMaterial(
      Eigen::Vector3d& _diffuse,
      Eigen::Vector3d& _specular,
      double& _cosinePow) const override;
  void setDefaultMaterial() override;

  void pushMatrix() override;
  void popMatrix() override;
  void pushName(int _id) override;
  void popName() override;

  void translate(const Eigen::Vector3d& _offset) override; // glTranslate
  void rotate(const Eigen::Vector3d& _axis, double _rad) override; // glRotate
  void transform(const Eigen::Isometry3d& _transform) override; // glMultMatrix
  void scale(const Eigen::Vector3d& _scale) override;           // glScale

  void compileList(dynamics::Skeleton* _skel);
  void compileList(dynamics::BodyNode* _node);
  void compileList(dynamics::Shape* _shape);
  GLuint compileList(const Eigen::Vector3d& _scale, const aiScene* _mesh);

  void drawSphere(double radius, int slices = 16, int stacks = 16) override;
  void drawMultiSphere(
      const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
      int slices = 16,
      int stacks = 16) override;
  void drawMultiSphereConvexHull(
      const std::vector<std::pair<double, Eigen::Vector3d>>& spheres,
      std::size_t subdivisions) override;
  void drawEllipsoid(const Eigen::Vector3d& _diameters) override;
  void drawCube(const Eigen::Vector3d& _size) override;
  void drawOpenCylinder(
      double baseRadius,
      double topRadius,
      double height,
      int slices = 16,
      int stacks = 16) override;
  void drawCylinder(
      double _radius,
      double _height,
      int slices = 16,
      int stacks = 16) override;
  void drawCapsule(double radius, double height) override;
  void drawCone(double radius, double height) override;
  void drawPyramid(double baseWidth, double baseDepth, double height) override;
  void drawMesh(const Eigen::Vector3d& _scale, const aiScene* _mesh) override;
  void drawSoftMesh(const aiMesh* mesh) override;
  void drawList(GLuint index) override;
  void drawLineSegments(
      const std::vector<Eigen::Vector3d>& _vertices,
      const common::aligned_vector<Eigen::Vector2i>& _connections) override;

  void setPenColor(const Eigen::Vector4d& _col) override;
  void setPenColor(const Eigen::Vector3d& _col) override;

  void setLineWidth(float _width) override;

  void saveToImage(
      const char* _filename, DecoBufferType _buffType = BT_Back) override;
  void readFrameBuffer(
      DecoBufferType _buffType, DecoColorChannel _ch, void* _pixels) override;

private:
  void color4_to_float4(const aiColor4D* c, float f[4]);
  void set_float4(float f[4], float a, float b, float c, float d);
  void applyMaterial(const struct aiMaterial* mtl);
  void recursiveRender(const struct aiScene* sc, const struct aiNode* nd);

  int mViewportX, mViewportY, mViewportWidth, mViewportHeight;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace gui
} // namespace dart

#endif // #ifndef DART_GUI_OPENGLRENDERINTERFACE_HPP_
