#pragma once
#include <iostream>

#include <stdint.h>
#include <variant>
#include <optional>
#include <data/data_type.hpp>
#include <math/math_defs.h>

typedef enum {
    // PRIMITIVE_TYPE_CONSTANT,
    // PRIMITIVE_TYPE_PLANE,
    PRIMITIVE_TYPE_SPHERE,
    PRIMITIVE_TYPE_CYLINDER,
    PRIMITIVE_TYPE_CONE,
    PRIMITIVE_TYPE_BOX,
    // PRIMITIVE_TYPE_MESH,
    PRIMITIVE_TYPE_EXTRUDE_POLYLINE,
    PRIMITIVE_TYPE_EXTRUDE_HELIXLINE,
    PRIMITIVE_TYPE_MAX_COUNT
} primitive_type;

// // Placeholder, currently used to represent empty body
// typedef struct {
//     double value; // Use 0 to represent an empty body
// } constant_descriptor_t;

 // Plane descriptor
 typedef struct {
     //vector3d point;  // The base point of the plane
     //vector3d normal; // The normal of the plane
     vector2d local_aabb_min;
     vector2d local_aabb_max;
 } plane_descriptor_t;

// Sphere descriptor
typedef struct {
    vector3d center; // The center of the sphere
    double   radius; // The radius of the sphere
} sphere_descriptor_t;

// Cylinder descriptor
typedef struct {
    vector3d bottom_origin;  // The origin of bottom face of the cylinder
    double   radius;         // The radius of the cylinder
    double   height;         // The total height of the cylinder
    vector3d offset;         // The vector from the origion of bottom face to the origion of the top face
} cylinder_descriptor_t;

typedef struct {
    vector3d top_point;    // The origin of top face of the cone
    vector3d bottom_point; // The origin of bottom face of the cone
    double   radius1;      // The radius of the top face
    double   radius2;      // The radius of the bottom face
} cone_descriptor_t;

typedef struct {
    vector3d center;    // The center of the box
    vector3d half_size; // The { half_length, half_width, half_height} of the box
} box_descriptor_t;

// // Mesh descriptor
// typedef struct {
//     uint32_t begin_index;
//     uint32_t vertex_count;
// } polygon_face_descriptor_t;

// typedef struct {
//     uint32_t                   point_number; // The point number of the mesh
//     uint32_t                   face_number;  // The face number of the mesh
//     vector3d*            points;       // The points of the mesh
//     uint32_t*                  indices;      // The indices from face to point
//     polygon_face_descriptor_t* faces;        // Two-dimensional array, Use [begin index, length] to represent a face
// } mesh_descriptor_t;

// Extrude descriptor
// CAUTION: when looking into the polyline from -{reference_normal} direction, all points should be arranged in counter
// clockwise order
// CAUTION: iff {is_closed} is true, then {point_number} == {bulge_number} should be agreed; iff {is_closed} is false,
// then {point_number} == {bulge_number} + 1 should be agreed.
typedef struct {
    uint32_t  point_number;     // The point number of the polyline
    vector3d* points;           // The points of the polyline
    uint32_t  bulge_number;     // The bulge number of the polyline
    double*   bulges;           // The bulge of each edge
    vector3d  reference_normal; // The reference normal of the polyline
    bool      is_close;         // Whether the polyline is close
} polyline_descriptor_t;

typedef struct {
    vector3d axis_start;        // The start point of the helix line
    vector3d axis_end;          // The end point of the helix line
    double   radius;            // The radius of the helix line
    double   advance_per_round; // The advance per round of the helix line
    vector3d start_direction;   // The direction from axisStart to start of the helix line
    bool     is_righthanded;    // {axis_start -> axis_end} as upward direction
} helixline_descriptor_t;

// 独立的 Profile Descriptor
typedef struct {
    uint32_t  point_number;
    vector3d* points;
    uint32_t  bulge_number;
    double*   bulges;
    vector3d  reference_normal;
    bool      is_close;
} profile_descriptor_t; // (与 polyline_descriptor_t 完全相同)

// Axis Descriptor
typedef enum { AXIS_TYPE_POLYLINE, AXIS_TYPE_HELIXLINE } axis_type_t;

typedef struct {
    axis_type_t type;

    union {
        polyline_descriptor_t  polyline;
        helixline_descriptor_t helixline;
    } data;
} axis_descriptor_t;

// Note : In profiles, The first polyline is outer boundary, and the ohters is internal holes
typedef struct {
    uint32_t               profile_number; // The profiles number of the extruded solid
    polyline_descriptor_t* profiles;       // The profiles of the extruded solid
    polyline_descriptor_t  axis;           // The axis of the extruded solid
} extrude_polyline_descriptor_t;

typedef struct {
    uint32_t               profile_number; // The profiles number of the extruded solid
    polyline_descriptor_t* profiles;       // The profiles of the extruded solid
    helixline_descriptor_t axis;           // The axis of the extruded solid
} extrude_helixline_descriptor_t;

namespace descriptor_defaults
{
// @brief 单位平面：center=(0,0,0), r=1.0
inline constexpr plane_descriptor_t unit_plane{
    vector2d{-1, -1}, // local_aabb_min
    vector2d{1, 1}, // local_aabb_max
};

// @brief 单位球：center=(0,0,0), r=1.0
inline constexpr sphere_descriptor_t unit_sphere{
    vector3d{0, 0, 0},
    1.0
};

/// @brief 单位圆柱：底面原点在(0,0,0)，半径=1.0，高度=1.0
inline constexpr cylinder_descriptor_t unit_cylinder{
    {0.0, 0.0, 0.0}, // bottom_origin: 原点在(0,0,0)
    1.0, // radius: 半径为1.0
    1.0, // height: 高度为1.0
    {0.0, 0.0, 1.0}  // offset: 沿Z轴向上偏移1.0
};

/// @brief 单位正方形 profile
inline const polyline_descriptor_t unit_square_profile = [] {
    static const std::vector<vector3d> points = {
        //{-0.5, -0.5, 0.0},
        //{0.5,  -0.5, 0.0},
        //{0.5,  0.5,  0.0},
        //{-0.5, 0.5,  0.0}

        //{-1.5, -1.5, 0.0},
        //{1.5,  -1.5, 0.0},
        //{0.0,  6.0,  0.0}

        //{0.0, 0.430871,  -0.902414}, // 局部坐标: (1, 1)
        //{0.0, -0.430871, 0.902414 }, // 局部坐标: (-1, 1)
        //{2.0, -0.430871, 0.902414 }, // 局部坐标: (-1, -1)
        //{2.0, 0.430871,  -0.902414}  // 局部坐标: (1, -1)

        {0.0, 0.430871,  -0.902414},
        {0.0, -0.430871, 0.902414 },
        {2.0, 0.1,  -0.6},
        {2.0, 0.430871,  -0.902414}

        //{0.0, 0.430871,  -0.902414}, // 局部坐标: (1, 1)
        //{1.0, -0.430871, 0.902414 },
        //{6.0, 0.430871,  -0.902414}  // 局部坐标: (1, -1)
    };
    // static const std::vector<double> bulges = {0.4, -0.8, 1.0, -0.5};
    // static const std::vector<double> bulges = {-0.4, 0.8, 0.0, -0.5}; // polyline ERROR
    // static const std::vector<double> bulges = {0.0, 0.0, -0.5, 0.0}; // helixline ERROR
    static const std::vector<double> bulges = {0.0, 0.0, 1.0, 0.0}; // helixline ERROR
    polyline_descriptor_t            desc;
    desc.point_number     = 4;
    desc.points           = const_cast<vector3d*>(points.data());
    desc.bulge_number     = 4;
    desc.bulges           = const_cast<double*>(bulges.data());
    desc.reference_normal = {0, 0, 1};
    desc.is_close         = true;
    return desc;
}();

inline const std::vector<vector3d> unit_axis_points = {
    {0.0, 0.0, -0.5},
    {0.0, 6.0, 6.0 }
    //{4.0, 0.0, 1.0}
    //{4.0, 0.0, -1.0}
};

inline const std::vector<double> unit_axis_bulges = {0.0};

inline const polyline_descriptor_t unit_polyline_axis = [] {
    polyline_descriptor_t desc;
    desc.point_number     = 2;
    desc.points           = const_cast<vector3d*>(unit_axis_points.data());
    desc.bulge_number     = 1;
    desc.bulges           = const_cast<double*>(unit_axis_bulges.data());
    desc.reference_normal = {0, 1, 0}; // 注意 reference_normal 要垂直与 axis 所在平面
    desc.is_close         = false;
    return desc;
}();

inline const extrude_polyline_descriptor_t unit_extrude_polyline = [] {
    extrude_polyline_descriptor_t desc;
    desc.profile_number = 1;
    desc.profiles       = const_cast<polyline_descriptor_t*>(&unit_square_profile);
    desc.axis           = unit_polyline_axis;
    return desc;
}();

/// @brief 单位螺旋线:默认参数
inline constexpr helixline_descriptor_t unit_helix = {
    {0.0, 0.0, 0.0}, // axis_start
    {0.0, 0.0, 10.0}, // axis_end
    1.0, // radius
    3.0, // advance_per_round
    {1.0, 0.0, 0.0}, // start_direction
    true  // is_righthanded
};

/// @brief 单位拉伸 helixline
inline const extrude_helixline_descriptor_t unit_extrude_helixline = [] {
    extrude_helixline_descriptor_t desc;
    desc.profile_number = 1;
    desc.profiles       = const_cast<polyline_descriptor_t*>(&unit_square_profile);
    desc.axis           = unit_helix;
    return desc;
}();
} // namespace descriptor_defaults

namespace detail
{
template <typename T>
inline void hash_combine(size_t& seed, const T& val)
{
    seed ^= std::hash<T>{}(val) + 0x9e3779b9 + (seed << 6) + (seed >> 2);
}

template <>
struct hasher<polyline_descriptor_t> {
    size_t operator()(const polyline_descriptor_t& desc) const
    {
        size_t h = 0;
        hash_combine(h, desc.point_number);
        hash_combine(h, desc.bulge_number);
        hash_combine(h, desc.is_close);
        hash_combine(h, desc.reference_normal.x);
        hash_combine(h, desc.reference_normal.y);
        hash_combine(h, desc.reference_normal.z);

        // 点数据
        for (uint32_t i = 0; i < desc.point_number; ++i) {
            hash_combine(h, desc.points[i].x);
            hash_combine(h, desc.points[i].y);
            hash_combine(h, desc.points[i].z);
        }

        // Bulge 数据
        for (uint32_t i = 0; i < desc.bulge_number; ++i) { hash_combine(h, desc.bulges[i]); }
        return h;
    }
};

template <>
struct eq_compare<polyline_descriptor_t> {
    bool operator()(const polyline_descriptor_t& lhs, const polyline_descriptor_t& rhs) const
    {
        if (lhs.point_number != rhs.point_number) return false;
        if (lhs.bulge_number != rhs.bulge_number) return false;
        if (lhs.is_close != rhs.is_close) return false;
        if (lhs.reference_normal.x != rhs.reference_normal.x || lhs.reference_normal.y != rhs.reference_normal.y
            || lhs.reference_normal.z != rhs.reference_normal.z) {
            return false;
        }
        for (uint32_t i = 0; i < lhs.point_number; ++i) {
            if (lhs.points[i].x != rhs.points[i].x || lhs.points[i].y != rhs.points[i].y
                || lhs.points[i].z != rhs.points[i].z) {
                return false;
            }
        }
        for (uint32_t i = 0; i < lhs.bulge_number; ++i) {
            if (lhs.bulges[i] != rhs.bulges[i]) { return false; }
        }
        return true;
    }
};

template <>
struct hasher<helixline_descriptor_t> {
    size_t operator()(const helixline_descriptor_t& desc) const
    {
        size_t h = 0;
        hash_combine(h, desc.axis_start.x);
        hash_combine(h, desc.axis_start.y);
        hash_combine(h, desc.axis_start.z);
        hash_combine(h, desc.axis_end.x);
        hash_combine(h, desc.axis_end.y);
        hash_combine(h, desc.axis_end.z);
        hash_combine(h, desc.radius);
        hash_combine(h, desc.advance_per_round);
        hash_combine(h, desc.start_direction.x);
        hash_combine(h, desc.start_direction.y);
        hash_combine(h, desc.start_direction.z);
        hash_combine(h, desc.is_righthanded);
        return h;
    }
};

template <>
struct eq_compare<helixline_descriptor_t> {
    bool operator()(const helixline_descriptor_t& lhs, const helixline_descriptor_t& rhs) const
    {
        constexpr double eps = 1e-12;
        return std::abs(lhs.axis_start.x - rhs.axis_start.x) < eps && std::abs(lhs.axis_start.y - rhs.axis_start.y) < eps
               && std::abs(lhs.axis_start.z - rhs.axis_start.z) < eps && std::abs(lhs.axis_end.x - rhs.axis_end.x) < eps
               && std::abs(lhs.axis_end.y - rhs.axis_end.y) < eps && std::abs(lhs.axis_end.z - rhs.axis_end.z) < eps
               && std::abs(lhs.radius - rhs.radius) < eps && std::abs(lhs.advance_per_round - rhs.advance_per_round) < eps
               && std::abs(lhs.start_direction.x - rhs.start_direction.x) < eps
               && std::abs(lhs.start_direction.y - rhs.start_direction.y) < eps
               && std::abs(lhs.start_direction.z - rhs.start_direction.z) < eps && lhs.is_righthanded == rhs.is_righthanded;
    }
};

// Profile Descriptor Hash（复用 polyline 逻辑）
template <>
struct hasher<profile_descriptor_t> {
    size_t operator()(const profile_descriptor_t& desc) const
    {
        // profile_descriptor_t 和 polyline_descriptor_t 布局完全相同
        return hasher<polyline_descriptor_t>{}(*reinterpret_cast<const polyline_descriptor_t*>(&desc));
    }
};

template <>
struct eq_compare<profile_descriptor_t> {
    bool operator()(const profile_descriptor_t& lhs, const profile_descriptor_t& rhs) const
    {
        return eq_compare<polyline_descriptor_t>{}(*reinterpret_cast<const polyline_descriptor_t*>(&lhs),
                                                   *reinterpret_cast<const polyline_descriptor_t*>(&rhs));
    }
};

// Axis Descriptor Hash
template <>
struct hasher<axis_descriptor_t> {
    size_t operator()(const axis_descriptor_t& desc) const
    {
        size_t h = std::hash<int>{}(static_cast<int>(desc.type));

        if (desc.type == AXIS_TYPE_POLYLINE) {
            hash_combine(h, hasher<polyline_descriptor_t>{}(desc.data.polyline));
        } else if (desc.type == AXIS_TYPE_HELIXLINE) {
            hash_combine(h, hasher<helixline_descriptor_t>{}(desc.data.helixline));
        }

        return h;
    }
};

template <>
struct eq_compare<axis_descriptor_t> {
    bool operator()(const axis_descriptor_t& lhs, const axis_descriptor_t& rhs) const
    {
        if (lhs.type != rhs.type) return false;

        if (lhs.type == AXIS_TYPE_POLYLINE) {
            return eq_compare<polyline_descriptor_t>{}(lhs.data.polyline, rhs.data.polyline);
        } else if (lhs.type == AXIS_TYPE_HELIXLINE) {
            return eq_compare<helixline_descriptor_t>{}(lhs.data.helixline, rhs.data.helixline);
        }

        return true;
    }
};

template <>
struct hasher<plane_descriptor_t> {
    size_t operator()(const plane_descriptor_t& desc) const
    {
        size_t seed = 0;
        hash_combine(seed, desc.local_aabb_max.x);
        hash_combine(seed, desc.local_aabb_max.y);
        hash_combine(seed, desc.local_aabb_min.x);
        hash_combine(seed, desc.local_aabb_min.y);
        return seed;
    }
};

template <>
struct eq_compare<plane_descriptor_t> {
    bool operator()(const plane_descriptor_t& lhs, const plane_descriptor_t& rhs) const
    {
        constexpr double eps = 1e-12;
        return std::abs(lhs.local_aabb_max.x - rhs.local_aabb_max.x) < eps
               && std::abs(lhs.local_aabb_max.y - rhs.local_aabb_max.y) < eps
               && std::abs(lhs.local_aabb_min.x - rhs.local_aabb_min.x) < eps
               && std::abs(lhs.local_aabb_min.y - rhs.local_aabb_min.y) < eps;
    }
};


template <>
struct hasher<cylinder_descriptor_t> {
    size_t operator()(const cylinder_descriptor_t& desc) const
    {
        size_t seed = 0;
        hash_combine(seed, desc.bottom_origin.x);
        hash_combine(seed, desc.bottom_origin.y);
        hash_combine(seed, desc.bottom_origin.z);
        hash_combine(seed, desc.radius);
        hash_combine(seed, desc.height);
        hash_combine(seed, desc.offset.x);
        hash_combine(seed, desc.offset.y);
        hash_combine(seed, desc.offset.z);
        return seed;
    }
};

template <>
struct eq_compare<cylinder_descriptor_t> {
    bool operator()(const cylinder_descriptor_t& lhs, const cylinder_descriptor_t& rhs) const
    {
        constexpr double eps = 1e-12;
        return std::abs(lhs.radius - rhs.radius) < eps && std::abs(lhs.height - rhs.height) < eps;
    }
};

template <>
struct hasher<extrude_polyline_descriptor_t> {
    size_t operator()(const extrude_polyline_descriptor_t& desc) const
    {
        size_t h = 0;

        hash_combine(h, desc.profile_number);
        hash_combine(h, desc.axis.point_number);
        hash_combine(h, desc.axis.bulge_number);
        hash_combine(h, static_cast<int>(desc.axis.is_close));

        if (desc.profiles && desc.profile_number > 0) {
            const auto& p = desc.profiles[0];
            hash_combine(h, p.point_number);
            hash_combine(h, p.bulge_number);
            hash_combine(h, static_cast<int>(p.is_close));

            // 哈希所有点的坐标
            for (uint32_t i = 0; i < p.point_number; ++i) {
                hash_combine(h, p.points[i].x);
                hash_combine(h, p.points[i].y);
                hash_combine(h, p.points[i].z);
            }
        }
        // 哈希 axis 数据
        for (uint32_t i = 0; i < desc.axis.point_number; ++i) {
            hash_combine(h, desc.axis.points[i].x);
            hash_combine(h, desc.axis.points[i].y);
            hash_combine(h, desc.axis.points[i].z);
        }

        return h;
    }
};

// extrude_polyline_descriptor_t 的相等比较
template <>
struct eq_compare<extrude_polyline_descriptor_t> {
    bool operator()(const extrude_polyline_descriptor_t& lhs, const extrude_polyline_descriptor_t& rhs) const
    {
        // 比较指针地址
        if (lhs.profiles != rhs.profiles) return false;
        if (lhs.axis.points != rhs.axis.points) return false;
        if (lhs.axis.bulges != rhs.axis.bulges) return false;

        // 比较基本字段
        if (lhs.profile_number != rhs.profile_number) return false;
        if (lhs.axis.point_number != rhs.axis.point_number) return false;
        if (lhs.axis.bulge_number != rhs.axis.bulge_number) return false;
        if (lhs.axis.is_close != rhs.axis.is_close) return false;

        return true;
    }
};

// extrude_helixline_descriptor_t 的哈希
template <>
struct hasher<extrude_helixline_descriptor_t> {
    size_t operator()(const extrude_helixline_descriptor_t& desc) const
    {
        size_t h = 0;

        hash_combine(h, desc.profile_number);

        // 哈希所有 profiles
        for (uint32_t profile_idx = 0; profile_idx < desc.profile_number; ++profile_idx) {
            if (!desc.profiles) break;

            const auto& profile = desc.profiles[profile_idx];
            hash_combine(h, profile.point_number);
            hash_combine(h, profile.bulge_number);
            hash_combine(h, profile.is_close);

            // reference_normal
            hash_combine(h, profile.reference_normal.x);
            hash_combine(h, profile.reference_normal.y);
            hash_combine(h, profile.reference_normal.z);

            for (uint32_t i = 0; i < profile.point_number; ++i) {
                hash_combine(h, profile.points[i].x);
                hash_combine(h, profile.points[i].y);
                hash_combine(h, profile.points[i].z);
            }

            for (uint32_t i = 0; i < profile.bulge_number; ++i) { hash_combine(h, profile.bulges[i]); }
        }

        // 哈希 helixline axis（完整字段）
        hash_combine(h, desc.axis.axis_start.x);
        hash_combine(h, desc.axis.axis_start.y);
        hash_combine(h, desc.axis.axis_start.z);
        hash_combine(h, desc.axis.axis_end.x);
        hash_combine(h, desc.axis.axis_end.y);
        hash_combine(h, desc.axis.axis_end.z);
        hash_combine(h, desc.axis.radius);
        hash_combine(h, desc.axis.advance_per_round);

        // start_direction
        hash_combine(h, desc.axis.start_direction.x);
        hash_combine(h, desc.axis.start_direction.y);
        hash_combine(h, desc.axis.start_direction.z);

        hash_combine(h, desc.axis.is_righthanded);

        return h;
    }
};

// extrude_helixline_descriptor_t 的相等比较
template <>
struct eq_compare<extrude_helixline_descriptor_t> {
    bool operator()(const extrude_helixline_descriptor_t& lhs, const extrude_helixline_descriptor_t& rhs) const
    {
        constexpr double eps = 1e-12;

        if (lhs.profile_number != rhs.profile_number) return false;

        //
        // 比较所有 profiles
        for (uint32_t profile_idx = 0; profile_idx < lhs.profile_number; ++profile_idx) {
            const auto& lp = lhs.profiles[profile_idx];
            const auto& rp = rhs.profiles[profile_idx];

            if (lp.point_number != rp.point_number) return false;
            if (lp.bulge_number != rp.bulge_number) return false;
            if (lp.is_close != rp.is_close) return false;

            // reference_normal
            if (std::abs(lp.reference_normal.x - rp.reference_normal.x) > eps) return false;
            if (std::abs(lp.reference_normal.y - rp.reference_normal.y) > eps) return false;
            if (std::abs(lp.reference_normal.z - rp.reference_normal.z) > eps) return false;

            for (uint32_t i = 0; i < lp.point_number; ++i) {
                if (std::abs(lp.points[i].x - rp.points[i].x) > eps) return false;
                if (std::abs(lp.points[i].y - rp.points[i].y) > eps) return false;
                if (std::abs(lp.points[i].z - rp.points[i].z) > eps) return false;
            }

            for (uint32_t i = 0; i < lp.bulge_number; ++i) {
                if (std::abs(lp.bulges[i] - rp.bulges[i]) > eps) return false;
            }
        }

        // 比较 helixline axis（完整字段）
        if (std::abs(lhs.axis.axis_start.x - rhs.axis.axis_start.x) > eps) return false;
        if (std::abs(lhs.axis.axis_start.y - rhs.axis.axis_start.y) > eps) return false;
        if (std::abs(lhs.axis.axis_start.z - rhs.axis.axis_start.z) > eps) return false;
        if (std::abs(lhs.axis.axis_end.x - rhs.axis.axis_end.x) > eps) return false;
        if (std::abs(lhs.axis.axis_end.y - rhs.axis.axis_end.y) > eps) return false;
        if (std::abs(lhs.axis.axis_end.z - rhs.axis.axis_end.z) > eps) return false;
        if (std::abs(lhs.axis.radius - rhs.axis.radius) > eps) return false;
        if (std::abs(lhs.axis.advance_per_round - rhs.axis.advance_per_round) > eps) return false;

        // start_direction
        if (std::abs(lhs.axis.start_direction.x - rhs.axis.start_direction.x) > eps) return false;
        if (std::abs(lhs.axis.start_direction.y - rhs.axis.start_direction.y) > eps) return false;
        if (std::abs(lhs.axis.start_direction.z - rhs.axis.start_direction.z) > eps) return false;

        if (lhs.axis.is_righthanded != rhs.axis.is_righthanded) return false;

        return true;
    }
};

} // namespace descriptor_defaults