#ifndef BULLET_URDF_IMPORTER_H
#define BULLET_URDF_IMPORTER_H 

#include "URDFImporterInterface.h"

#include "UrdfRenderingInterface.h"

struct BulletURDFTexture
{
	int m_width;
	int m_height;
	unsigned char* textureData1;
	bool m_isCached;
};


///BulletURDFImporter can deal with URDF and (soon) SDF files
class BulletURDFImporter : public URDFImporterInterface
{
    
	struct BulletURDFInternalData* m_data;
    

public:

	BulletURDFImporter(struct GUIHelperInterface* helper, UrdfRenderingInterface* customConverter, double globalScaling=1, int flags=0);

	virtual ~BulletURDFImporter();


	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);

	//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
	virtual int getNumModels() const;
	virtual void activateModel(int modelIndex);
	virtual void setBodyUniqueId(int bodyId);
	virtual int getBodyUniqueId() const;
	const char* getPathPrefix();

	void printTree(); //for debugging
	
	virtual int getRootLinkIndex() const;
    
    virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
    
	virtual std::string getBodyName() const;

    virtual std::string getLinkName(int linkIndex) const;

	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;

	virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;

	virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
	
	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;

    virtual std::string getJointName(int linkIndex) const;
    
    virtual void  getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;

    virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
    virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;

    virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);

    virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;

    virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;

	class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const;

	virtual int getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const;

    ///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
    
	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
    
    virtual int getNumAllocatedCollisionShapes() const;
    virtual class btCollisionShape* getAllocatedCollisionShape(int index);

	virtual int getNumAllocatedMeshInterfaces() const;
	virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);

	virtual int getNumAllocatedTextures() const;
	virtual int getAllocatedTexture(int index) const;
	
	virtual void setEnableTinyRenderer(bool enable);
	void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct BulletURDFTexture>& texturesOut) const;


};


#endif //BULLET_URDF_IMPORTER_H