#include <gtest/gtest.h>
#include "vde/brep/assembly_patterns.h"
#include "vde/brep/assembly.h"
#include "vde/brep/modeling.h"
#include "vde/core/transform.h"
#include <cmath>

using namespace vde::brep;
using namespace vde::core;

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

// ===========================================================================
//  Helpers
// ===========================================================================

static Transform3D make_test_transform(double x = 0, double y = 0, double z = 0) {
    return translate(x, y, z);
}

static Assembly make_test_assembly(const std::string& name = "TestAssembly") {
    Assembly assembly(name);
    auto box = make_box(10, 10, 5);
    assembly.root.add_part("SourcePart", std::move(box),
                            make_test_transform(0, 0, 0));
    return assembly;
}

// ===========================================================================
//  circular_pattern 测试
// ===========================================================================

TEST(AssemblyPatternsTest, CircularPattern_FullCircle) {
    Transform3D src = make_test_transform(30, 0, 0);  // 在 X=30 处
    CircularPatternParams params;
    params.center = Point3D(0, 0, 0);
    params.axis = Vector3D::UnitZ();
    params.count = 8;
    params.total_angle_deg = 360.0;

    auto result = circular_pattern(src, "TestPart", params);

    EXPECT_EQ(result.instances.size(), 8u);
    EXPECT_EQ(result.total_count, 8u);
    EXPECT_EQ(result.skipped_count, 0u);

    // 所有实例应距离圆心 30mm
    for (const auto& inst : result.instances) {
        Point3D pos(inst.transform.translation().x(),
                    inst.transform.translation().y(),
                    inst.transform.translation().z());
        double dist = (pos - params.center).norm();
        EXPECT_NEAR(dist, 30.0, 1e-6);
    }
}

TEST(AssemblyPatternsTest, CircularPattern_PartialArc) {
    Transform3D src = make_test_transform(20, 0, 0);
    CircularPatternParams params;
    params.center = Point3D(0, 0, 0);
    params.axis = Vector3D::UnitZ();
    params.count = 4;
    params.total_angle_deg = 180.0;

    auto result = circular_pattern(src, "ArcPart", params);

    EXPECT_EQ(result.instances.size(), 4u);
}

TEST(AssemblyPatternsTest, CircularPattern_SkipInstances) {
    Transform3D src = make_test_transform(25, 0, 0);
    CircularPatternParams params;
    params.center = Point3D(0, 0, 0);
    params.axis = Vector3D::UnitZ();
    params.count = 6;
    params.skip_instances = {1, 3, 5};

    auto result = circular_pattern(src, "SkipPart", params);

    EXPECT_EQ(result.instances.size(), 3u);
    EXPECT_EQ(result.skipped_count, 3u);
}

// ===========================================================================
//  rectangular_pattern 测试
// ===========================================================================

TEST(AssemblyPatternsTest, RectangularPattern_BasicGrid) {
    Transform3D src = make_test_transform(0, 0, 0);
    RectangularPatternParams params;
    params.direction1 = Vector3D::UnitX();
    params.direction2 = Vector3D::UnitY();
    params.spacing1 = 15.0;
    params.spacing2 = 12.0;
    params.count1 = 3;
    params.count2 = 4;

    auto result = rectangular_pattern(src, "GridPart", params);

    EXPECT_EQ(result.instances.size(), 12u);  // 3 × 4
    EXPECT_EQ(result.total_count, 12u);

    // 第一个实例应为原点
    Point3D p0(result.instances[0].transform.translation().x(),
               result.instances[0].transform.translation().y(),
               result.instances[0].transform.translation().z());
    EXPECT_NEAR(p0.x(), 0.0, 1e-9);
    EXPECT_NEAR(p0.y(), 0.0, 1e-9);
}

TEST(AssemblyPatternsTest, RectangularPattern_Staggered) {
    Transform3D src = make_test_transform(0, 0, 0);
    RectangularPatternParams params;
    params.direction1 = Vector3D::UnitX();
    params.direction2 = Vector3D::UnitY();
    params.spacing1 = 20.0;
    params.spacing2 = 20.0;
    params.count1 = 3;
    params.count2 = 3;
    params.staggered = true;
    params.stagger_offset = 0.5;

    auto result = rectangular_pattern(src, "StaggerPart", params);

    EXPECT_EQ(result.instances.size(), 9u);  // 3 × 3

    // 检查奇数行（索引 i=1 即第二行）有偏移
    // 第 4 个实例 (i=1, j=0): index=3
    Point3D p3(result.instances[3].transform.translation().x(),
               result.instances[3].transform.translation().y(),
               result.instances[3].transform.translation().z());
    EXPECT_NEAR(p3.x(), 20.0, 1e-9);          // spacing1 * 1
    EXPECT_NEAR(p3.y(), 10.0, 1e-9);          // stagger offset = 20 * 0.5
}

// ===========================================================================
//  mirror_pattern 测试
// ===========================================================================

TEST(AssemblyPatternsTest, MirrorPattern_WithOriginal) {
    Transform3D src = make_test_transform(10, 0, 0);  // X=10
    MirrorPatternParams params;
    params.plane_origin = Point3D(0, 0, 0);
    params.plane_normal = Vector3D::UnitY();  // YZ 平面镜像
    params.copy_original = true;

    auto result = mirror_pattern(src, "MirrorPart", params);

    EXPECT_EQ(result.instances.size(), 2u);  // 源 + 镜像
    EXPECT_EQ(result.total_count, 2u);

    // 源应在 X=10
    Point3D p0(result.instances[0].transform.translation().x(),
               result.instances[0].transform.translation().y(),
               result.instances[0].transform.translation().z());
    EXPECT_NEAR(p0.x(), 10.0, 1e-9);
    EXPECT_NEAR(p0.y(), 0.0, 1e-9);

    // 镜像应在 X=10, Y 不变（YZ平面镜像 → X不变, Y不变, Z不变？不，是平面法向=Y
    // 实际上：镜像面是 XZ 平面 (法向 Y)，所以 Y 坐标取反
    Point3D p1(result.instances[1].transform.translation().x(),
               result.instances[1].transform.translation().y(),
               result.instances[1].transform.translation().z());
    EXPECT_NEAR(p1.y(), 0.0, 1e-9);  // 源在 XZ 平面上（Y=0），所以不变
}

TEST(AssemblyPatternsTest, MirrorPattern_NoOriginal) {
    Transform3D src = make_test_transform(0, 5, 0);
    MirrorPatternParams params;
    params.plane_origin = Point3D(0, 0, 0);
    params.plane_normal = Vector3D::UnitX();  // YZ 平面镜像
    params.copy_original = false;

    auto result = mirror_pattern(src, "MirrorOnly", params);

    EXPECT_EQ(result.instances.size(), 1u);  // 仅镜像
    EXPECT_EQ(result.total_count, 1u);

    Point3D p0(result.instances[0].transform.translation().x(),
               result.instances[0].transform.translation().y(),
               result.instances[0].transform.translation().z());
    EXPECT_NEAR(p0.x(), 0.0, 1e-9);   // 源在 YZ 平面上(X=0) → 镜像仍在 X=0
}

// ===========================================================================
//  pattern_driven 测试
// ===========================================================================

TEST(AssemblyPatternsTest, PatternDriven_WithoutSourceAssembly) {
    Transform3D src = make_test_transform(0, 0, 0);
    PatternDrivenParams params;
    params.feature_type = PatternDrivenParams::FeatureType::Hole;

    auto result = pattern_driven(src, "DrivenPart", params);

    // 无源装配体时，使用模拟特征位置
    EXPECT_GT(result.instances.size(), 0u);
}

TEST(AssemblyPatternsTest, PatternDriven_MaxInstancesLimit) {
    Transform3D src = make_test_transform(0, 0, 0);
    PatternDrivenParams params;
    params.max_instances = 3;

    auto result = pattern_driven(src, "LimitedPart", params);

    EXPECT_LE(result.instances.size(), static_cast<size_t>(params.max_instances));
}

// ===========================================================================
//  fill_pattern 测试
// ===========================================================================

TEST(AssemblyPatternsTest, FillPattern_SquareGrid) {
    Transform3D src = make_test_transform(0, 0, 0);
    FillPatternParams params;
    params.fill_min = Point3D(0, 0, 0);
    params.fill_max = Point3D(50, 50, 0);
    params.spacing = 10.0;
    params.margin = 5.0;
    params.hexagonal = false;

    auto result = fill_pattern(src, "FillPart", params);

    // 50x50 区域，间距 10mm，边距 5mm → 约 4x4=16 个实例
    EXPECT_GT(result.instances.size(), 10u);
    EXPECT_LT(result.instances.size(), 30u);
}

TEST(AssemblyPatternsTest, FillPattern_HexagonalGrid) {
    Transform3D src = make_test_transform(0, 0, 0);
    FillPatternParams params;
    params.fill_min = Point3D(0, 0, 0);
    params.fill_max = Point3D(40, 40, 0);
    params.spacing = 10.0;
    params.margin = 5.0;
    params.hexagonal = true;

    auto result = fill_pattern(src, "HexFillPart", params);

    EXPECT_GT(result.instances.size(), 5u);
}

TEST(AssemblyPatternsTest, FillPattern_ExcludeRegions) {
    Transform3D src = make_test_transform(0, 0, 0);
    FillPatternParams params;
    params.fill_min = Point3D(0, 0, 0);
    params.fill_max = Point3D(50, 50, 0);
    params.spacing = 10.0;
    params.margin = 2.0;
    // 排除中心区域
    params.exclude_regions = {
        {Point3D(20, 20, -1), Point3D(30, 30, 1)}
    };

    auto result_no_exclude = fill_pattern(src, "NoExclude", FillPatternParams{});
    auto result_with_exclude = fill_pattern(src, "WithExclude", params);

    // 带排除区的应少于不带排除区的
    EXPECT_LT(result_with_exclude.instances.size(),
              result_no_exclude.instances.size());
    EXPECT_GT(result_with_exclude.skipped_count, 0u);
}

// ===========================================================================
//  apply_pattern_to_assembly 测试
// ===========================================================================

TEST(AssemblyPatternsTest, ApplyPatternToAssembly_AddsNodes) {
    Assembly assembly("PatternAssembly");

    Transform3D src = make_test_transform(0, 0, 0);
    CircularPatternParams params;
    params.center = Point3D(0, 0, 0);
    params.axis = Vector3D::UnitZ();
    params.count = 4;
    params.total_angle_deg = 360.0;

    auto result = circular_pattern(src, "RingPart", params);
    size_t before = assembly.node_count();

    size_t applied = apply_pattern_to_assembly(assembly, result, "RingPart");
    size_t after = assembly.node_count();

    EXPECT_EQ(applied, 4u);
    EXPECT_EQ(after, before + applied);
}

// ===========================================================================
//  assembly_feature 增强功能测试 (PMI + 干涉检查)
// ===========================================================================

TEST(AssemblyPatternsTest, PMIPropagation_ResolvesAnnotations) {
    Assembly assembly("PMITest");
    auto box = make_box(10, 10, 5);
    assembly.root.add_part("Bracket", std::move(box),
                            make_test_transform(10, 0, 0));

    std::vector<PMIAnnotation> annotations;
    PMIAnnotation anno;
    anno.id = "PMI_001";
    anno.type = PMIType::Dimension;
    anno.label = "Hole spacing: 25mm";
    anno.target_feature_id = "Bracket";
    anno.position = Point3D(5, 5, 5);  // 零件坐标系
    annotations.push_back(anno);

    auto result = propagate_pmi_to_assembly(assembly, annotations);

    EXPECT_EQ(result.total_source_count, 1u);
    EXPECT_EQ(result.propagated_count, 1u);
    EXPECT_EQ(result.unresolved_count, 0u);

    // 应该变换到世界坐标
    EXPECT_GT(result.propagated_annotations[0].position.x(), 5.0);
}

TEST(AssemblyPatternsTest, InterferenceCheckBatch_NoInterference) {
    Assembly assembly("ClearanceAssembly");
    auto box1 = make_box(5, 5, 3);
    auto box2 = make_box(5, 5, 3);

    assembly.root.add_part("Part_A", std::move(box1),
                            make_test_transform(0, 0, 0));
    assembly.root.add_part("Part_B", std::move(box2),
                            make_test_transform(20, 0, 0));  // 远离

    auto result = interference_check_batch(assembly);

    EXPECT_GT(result.total_pairs_checked, 0u);
    EXPECT_EQ(result.interference_count, 0u)
        << "Well-separated parts should not interfere";
    EXPECT_FALSE(result.summary_report.empty());
}