#ifndef POINT_CLOUD_GL_WIDGET_H
#define POINT_CLOUD_GL_WIDGET_H

#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <QMatrix4x4>
#include <QVector3D>
#include <QMouseEvent>
#include <QWheelEvent>
#include <vector>

#include "PointCloudConverter.h"

/**
 * @brief 点云显示颜色枚举
 */
enum class PointCloudColor
{
    White,
    Red,
    Green,
    Blue,
    Yellow,
    Cyan,
    Magenta,
    Original
};

/**
 * @brief 选中的点信息
 */
struct SelectedPointInfo
{
    bool valid;
    size_t index;
    float x, y, z;
    int cloudIndex;
    int lineIndex;        // 所属线索引
    int pointIndexInLine; // 点在线中的索引

    SelectedPointInfo() : valid(false), index(0), x(0), y(0), z(0), cloudIndex(-1), lineIndex(-1), pointIndexInLine(-1) {}
};

/**
 * @brief 选线模式
 */
enum class LineSelectMode
{
    Vertical,   // 纵向选线（同一条扫描线）
    Horizontal  // 横向选线（所有线的相同索引点）
};

/**
 * @brief 选中的线信息
 */
struct SelectedLineInfo
{
    bool valid;
    int cloudIndex;       // 点云索引
    int lineIndex;        // 线索引（纵向选线时使用）
    int pointIndex;       // 点索引（横向选线时使用）
    int pointCount;       // 该线上的点数
    LineSelectMode mode;  // 选线模式

    SelectedLineInfo() : valid(false), cloudIndex(-1), lineIndex(-1), pointIndex(-1), pointCount(0), mode(LineSelectMode::Vertical) {}
};

/**
 * @brief 点云 OpenGL 渲染控件
 */
class PointCloudGLWidget : public QOpenGLWidget, protected QOpenGLFunctions
{
    Q_OBJECT

public:
    explicit PointCloudGLWidget(QWidget* parent = nullptr);
    ~PointCloudGLWidget() override;

    void addPointCloud(const PointCloudXYZ& cloud, const QString& name = "");
    void addPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "");
    void clearPointClouds();
    void setPointCloudColor(PointCloudColor color);
    void setPointSize(float size);
    void resetView();
    QVector<SelectedPointInfo> getSelectedPoints() const { return m_selectedPoints; }
    SelectedLineInfo getSelectedLine() const { return m_selectedLine; }
    void clearSelectedPoints();
    void clearSelectedLine();
    float calculateDistance(const SelectedPointInfo& p1, const SelectedPointInfo& p2);

    /**
     * @brief 通过线索引选择线（纵向）
     */
    bool selectLineByIndex(int lineIndex);

    /**
     * @brief 通过点索引选择横向线（所有线的相同索引点）
     */
    bool selectHorizontalLineByIndex(int pointIndex);

    /**
     * @brief 设置选线模式
     */
    void setLineSelectMode(LineSelectMode mode) { m_lineSelectMode = mode; }

    /**
     * @brief 获取第一个点云的数据（用于旋转和保存）
     */
    bool getFirstCloudData(PointCloudXYZ& cloud) const;

    /**
     * @brief 替换第一个点云（用于显示旋转后的数据）
     */
    void replaceFirstCloud(const PointCloudXYZ& cloud, const QString& name);

    /**
     * @brief 获取点云数量
     */
    size_t getCloudCount() const { return m_pointClouds.size(); }

signals:
    void pointSelected(const SelectedPointInfo& point);
    void twoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance);
    void lineSelected(const SelectedLineInfo& line);

protected:
    void initializeGL() override;
    void resizeGL(int w, int h) override;
    void paintGL() override;
    void mousePressEvent(QMouseEvent* event) override;
    void mouseMoveEvent(QMouseEvent* event) override;
    void mouseReleaseEvent(QMouseEvent* event) override;
    void wheelEvent(QWheelEvent* event) override;

private:
    void computeBoundingBox();
    void setCurrentColor(PointCloudColor color);
    void setColorByIndex(int colorIndex);  // 根据索引设置颜色
    SelectedPointInfo pickPoint(int screenX, int screenY);
    void drawSelectedPoints();
    void drawMeasurementLine();
    void drawAxis();
    void drawSelectedLine();     // 绘制选中的线

    struct PointCloudData
    {
        std::vector<float> vertices;
        std::vector<float> colors;
        std::vector<int> lineIndices;      // 每个点所属的线索引
        std::vector<int> originalIndices;  // 每个显示点在原始点云中的索引（用于计算原始index）
        bool hasColor;
        bool hasLineInfo;                  // 是否有线信息
        QString name;
        int colorIndex;  // 点云颜色索引
        int totalLines;  // 总线数
        int pointsPerLine; // 每线点数（网格化点云）
    };
    std::vector<PointCloudData> m_pointClouds;

    QMatrix4x4 m_projection;
    QMatrix4x4 m_view;
    QMatrix4x4 m_model;

    float m_distance;
    float m_rotationX;
    float m_rotationY;
    QVector3D m_center;
    QVector3D m_pan;
    QVector3D m_minBound;
    QVector3D m_maxBound;

    QPoint m_lastMousePos;
    bool m_leftButtonPressed;
    bool m_rightButtonPressed;
    bool m_middleButtonPressed;

    PointCloudColor m_currentColor;
    float m_pointSize;

    LineSelectMode m_lineSelectMode;
    QVector<SelectedPointInfo> m_selectedPoints;
    SelectedLineInfo m_selectedLine;
    static const int MAX_SELECTED_POINTS = 2;

    int m_colorIndex;  // 颜色轮换索引
    static const int COLOR_COUNT = 7;  // 可用颜色数量
};

#endif // POINT_CLOUD_GL_WIDGET_H