/*=========================================================================

   Library: iMSTK

   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
   & Imaging in Medicine, Rensselaer Polytechnic Institute.

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0.txt

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

=========================================================================*/

#pragma once

#include "imstkCollisionData.h"
#include "imstkDebugGeometryObject.h"

namespace imstk
{
///
/// \class CollisionDataDebugObject
///
/// \brief Class for visualizing CollisionData. Give it collision data and add it to the scene
/// This class intentionally does not automatically update it provides debugUpdate which may be
/// called by the user when appropriate (for debug purposes)
///
class CollisionDataDebugObject : public DebugGeometryObject
{
public:
    CollisionDataDebugObject() : DebugGeometryObject() { }
    virtual ~CollisionDataDebugObject() = default;

public:
    ///
    /// \brief Append visual representation to the debug meshes for the given contact and geometry
    ///
    void addCollisionElement(std::shared_ptr<PointSet> pointSet, const CollisionElement& elem);

    ///
    /// \brief Print the contact information
    ///
    void printContactInfo(const CollisionElement& elem);

    ///
    /// \brief Updates visual representation to the *current* cd (we don't use the built in
    /// update as its useful to call this in specific spots in code for debug purposes)
    ///
    void debugUpdate();

    ///
    /// \brief Set/Get the input collision data for which geometry is generated for
    ///
    ///@{
    void setInputCD(std::shared_ptr<CollisionData> cdData) { m_cdData = cdData; }
    std::shared_ptr<CollisionData> getInputCD() const { return m_cdData; }
    ///@}

    ///
    /// \brief Print collision contact data to stdout
    ///
    ///@{
    void setPrintContacts(const bool printContacts) { m_printContacts = printContacts; }
    bool getPrintContacts() const { return m_printContacts; }
    ///@}

    ///
    /// \brief Set the amount of simulation frames to cache data for, this is useful if you have
    /// numerous simulation frames per render and data doesn't persist from one to the next
    ///
    ///@{
    void setClearRate(const int clearRate) { m_clearRate = clearRate; }
    int getClearRate() const { return m_clearRate; }
    ///@}

    ///
    /// \brief If on, frames without collision data won't be counted for clear rate
    ///
    ///@{
    void setCountEmptyFrames(const bool countEmptyFrames) { m_countEmptyFrames = countEmptyFrames; }
    int getCountEmptyFrames() const { return m_countEmptyFrames; }
///@}

protected:
    std::shared_ptr<CollisionData> m_cdData = nullptr;
    bool m_printContacts    = false;
    int  m_clearRate        = 1;
    int  m_frameCounter     = 0;
    bool m_countEmptyFrames = true;
};
}