Utils/CloudView3D/Inc/PointCloudGLWidget.h

#ifndef POINT_CLOUD_GL_WIDGET_H
#define POINT_CLOUD_GL_WIDGET_H

#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <QOpenGLBuffer>
#include <QOpenGLShaderProgram>
#include <QMatrix4x4>
#include <QVector3D>
#include <QQuaternion>
#include <QMouseEvent>
#include <QWheelEvent>
#include <QResizeEvent>
#include <deque>
#include <vector>

#include "CloudView3DTypes.h"
#include "VZNL_Types.h"

class QToolButton;
class QPushButton;
class QPinchGesture;
class QResizeEvent;

/**
 * @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 欧拉角旋转顺序
 */
enum class EulerRotationOrder
{
    ZYX,  // Yaw-Pitch-Roll（最常用）
    XYZ,  // Roll-Pitch-Yaw
    ZXY,  // Yaw-Roll-Pitch
    YXZ,  // Pitch-Roll-Yaw
    XZY,  // Roll-Yaw-Pitch
    YZX   // Pitch-Yaw-Roll
};

/**
 * @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 线段数据
 */
struct LineSegment
{
    float x1, y1, z1;  // 起点
    float x2, y2, z2;  // 终点
    float r, g, b;     // 颜色 (0-1)
    float lineWidth;   // 线宽，0 表示使用默认值（来自 RGBA 中 A > 1 的值）

    LineSegment() : x1(0), y1(0), z1(0), x2(0), y2(0), z2(0), r(1), g(1), b(1), lineWidth(0) {}
    LineSegment(float _x1, float _y1, float _z1, float _x2, float _y2, float _z2, float _r = 1.0f, float _g = 1.0f, float _b = 1.0f, float _lw = 0)
        : x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b), lineWidth(_lw) {}
};

/**
 * @brief 面片数据
 */
struct SurfaceQuad
{
    QVector3D p1, p2, p3, p4;
    float r, g, b, a;

    SurfaceQuad() : p1(), p2(), p3(), p4(), r(0.0f), g(0.8f), b(1.0f), a(0.5f) {}
    SurfaceQuad(const QVector3D& _p1,
                const QVector3D& _p2,
                const QVector3D& _p3,
                const QVector3D& _p4,
                float _r = 0.0f,
                float _g = 0.8f,
                float _b = 1.0f,
                float _a = 0.5f)
        : p1(_p1), p2(_p2), p3(_p3), p4(_p4), r(_r), g(_g), b(_b), a(_a) {}
};

struct BasicShapePoint
{
    float x, y, z;
    float r, g, b;
    float pointSize;

    BasicShapePoint() : x(0), y(0), z(0), r(1), g(1), b(1), pointSize(8.0f) {}
    BasicShapePoint(float _x,
                    float _y,
                    float _z,
                    float _r = 1.0f,
                    float _g = 1.0f,
                    float _b = 1.0f,
                    float _size = 8.0f)
        : x(_x), y(_y), z(_z), r(_r), g(_g), b(_b), pointSize(_size) {}
};

/**
 * @brief 姿态点数据
 *
 * 坐标系约定（右手坐标系）：
 * - X轴：红色，指向右
 * - Y轴：绿色，指向上
 * - Z轴：蓝色，指向观察者
 *
 * 欧拉角旋转顺序：ZYX（Yaw-Pitch-Roll）
 * - rz: 绕Z轴旋转（偏航角，Yaw）
 * - ry: 绕Y轴旋转（俯仰角，Pitch）
 * - rx: 绕X轴旋转（滚转角，Roll）
 */
struct PosePoint
{
    float x, y, z;        // 位置
    float rx, ry, rz;     // 欧拉角（度）
    float scale;          // 坐标系大小

    PosePoint() : x(0), y(0), z(0), rx(0), ry(0), rz(0), scale(10.0f) {}
    PosePoint(float _x, float _y, float _z, float _rx, float _ry, float _rz, float _scale = 10.0f)
        : x(_x), y(_y), z(_z), rx(_rx), ry(_ry), rz(_rz), scale(_scale) {}
};

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

public:
    // Controls are enabled by default for standalone CloudView3D users.
    // Embedders such as CloudView can disable them and provide their own UI.
    explicit PointCloudGLWidget(QWidget* parent = nullptr);
    PointCloudGLWidget(QWidget* parent, bool showControlButtons);
    ~PointCloudGLWidget() override;

    void setControlButtonsVisible(bool visible);
    bool controlButtonsVisible() const { return m_showControlButtons; }

    void addPointCloud(const PointCloudXYZ& cloud, const QString& name = "", bool resetView = true);
    void addPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "", bool resetView = true);
    /** 删除最早添加的一组点云，用于维护滚动显示窗口。 */
    bool removeOldestPointCloud();
    /** 删除最近添加的一组点云，用于回滚未完成的增量加载。 */
    bool removeNewestPointCloud();
    void clearPointClouds();
    void setPointCloudColor(PointCloudColor color);
    void setPointSize(float size);

    /** Enable Z-based pseudo-coloring for point clouds added without RGB data. */
    void setPseudoColorEnabled(bool enabled);
    bool isPseudoColorEnabled() const { return m_pseudoColorEnabled; }
    void setPseudoColorSettings(bool enabled, float period, const QVector3D& startColor, const QVector3D& endColor, bool defaultPalette);
    /** 设置伪彩循环周期（毫米）；同一 Z 在同一周期内颜色相同。 */
    void setPseudoColorPeriod(float period);
    float pseudoColorPeriod() const { return m_pseudoColorPeriod; }
    void setPseudoColorColorRange(const QVector3D& startColor,
                                  const QVector3D& endColor);
    QVector3D pseudoColorStartColor() const { return m_pseudoColorStartColor; }
    QVector3D pseudoColorEndColor() const { return m_pseudoColorEndColor; }
    /** 默认色带：颜色选择器色相条（S/V 最大）按固定周期循环。 */
    void setPseudoColorDefaultPalette(bool enabled);
    bool isPseudoColorDefaultPalette() const { return m_pseudoColorDefaultPalette; }
    /** Restore the reference palette and all of its default parameters. */
    void resetPseudoColorDefaults();
    static float defaultPseudoColorPeriod();
    static QVector3D defaultPseudoColorStartColor();
    static QVector3D defaultPseudoColorEndColor();
    void resetView();
    void fitToContent();
    void zoomIn();
    void zoomOut();

    void appendPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "");
    /** Append a chunk of an uncolored point cloud to the most recently added cloud. */
    void appendPointCloud(const PointCloudXYZ& cloud, const QString& name = "");
    /** 设置最近点云的完整源扫描线布局，保留已被过滤的尾部空线和空列。 */
    void setNewestPointCloudLineLayout(int totalLines, int pointsPerLine);
    /**
     * @brief 设置视角旋转角度（不改变缩放和平移）
     * @param rotX X轴旋转角度（俯仰）
     * @param rotY Y轴旋转角度（偏航）
     * @param rotZ Z轴旋转角度（滚转）
     */
    void setViewAngles(float rotX, float rotY, float rotZ = 0.0f);

    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 更新选中点的坐标
     * @param index 点索引（0或1）
     * @param x 新的X坐标
     * @param y 新的Y坐标
     * @param z 新的Z坐标
     */
    void updateSelectedPointCoord(int index, float x, float y, float z);

    /**
     * @brief 设置选中点（如果不存在则创建）
     * @param index 点索引（0或1）
     * @param x X坐标
     * @param y Y坐标
     * @param z Z坐标
     */
    void setSelectedPointCoord(int index, float x, float y, float z);

    /**
     * @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 设置欧拉角旋转顺序
     */
    void setEulerRotationOrder(EulerRotationOrder order) { m_eulerRotationOrder = order; }

    /**
     * @brief 获取欧拉角旋转顺序
     */
    EulerRotationOrder getEulerRotationOrder() const { return m_eulerRotationOrder; }

    /**
     * @brief 设置是否启用测距功能
     */
    void setMeasureDistanceEnabled(bool enabled) { m_measureDistanceEnabled = enabled; }

    /**
     * @brief 获取测距功能是否启用
     */
    bool isMeasureDistanceEnabled() const { return m_measureDistanceEnabled; }

    /**
     * @brief 获取选中线上的所有点坐标
     * @return 点坐标列表，每个元素为 (x, y, z)
     */
    QVector<QVector3D> getSelectedLinePoints() const;

    /**
     * @brief 设置列表高亮点（与选点功能区分）
     * @param point 点坐标，如果为空则清除高亮
     */
    void setListHighlightPoint(const QVector3D& point);

    /**
     * @brief 清除列表高亮点
     */
    void clearListHighlightPoint();

    /**
     * @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(); }

    /**
     * @brief 对所有点云应用 4x4 变换矩阵
     * @param matrix 4x4 变换矩阵
     */
    void transformAllClouds(const QMatrix4x4& matrix);

    /**
     * @brief 对所有点云中 Z 值小于阈值的点应用旋转矩阵
     * @param rotMatrix 旋转矩阵
     * @param zThreshold Z 轴阈值
     * @return 被旋转的点数
     */
    size_t rotateCloudsByZThreshold(const QMatrix4x4& rotMatrix, float zThreshold);

    /**
     * @brief 获取所有点云数据（按线分组），用于保存
     * @param scanLines 输出：每条扫描线的点列表
     * @return 总点数
     */
    size_t getAllCloudsByLines(std::vector<std::vector<SVzNL3DPosition>>& scanLines) const;

    /**
     * @brief 添加线段
     */
    void addLineSegments(const QVector<LineSegment>& segments);

    /**
     * @brief 清除所有线段
     */
    void clearLineSegments();

    /**
     * @brief 设置基础图形线段
     */
    void setBasicShapeSegments(const QVector<LineSegment>& segments);

    /**
     * @brief 追加基础图形线段
     */
    void appendBasicShapeSegments(const QVector<LineSegment>& segments);

    /**
     * @brief 追加基础图形面片
     */
    void appendBasicShapeSurfaces(const QVector<SurfaceQuad>& surfaces);
    void appendBasicShapePoints(const QVector<BasicShapePoint>& points);

    /**
     * @brief 清除基础图形线段
     */
    void clearBasicShapeSegments();

    /**
     * @brief 添加姿态点
     */
    void addPosePoints(const QVector<PosePoint>& poses);

    /**
     * @brief 清除所有姿态点
     */
    void clearPosePoints();

signals:
    void pointSelected(const SelectedPointInfo& point);
    void twoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance);
    void measurementFinished(const SelectedPointInfo& p1,
                             const SelectedPointInfo& p2,
                             float distance,
                             float dx,
                             float dy,
                             float dz);
    void lineSelected(const SelectedLineInfo& line);
    void viewAnglesChanged(float rotX, float rotY, float rotZ);

protected:
    bool event(QEvent* event) override;
    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;
    void mouseDoubleClickEvent(QMouseEvent* event) override;
    void keyPressEvent(QKeyEvent* event) override;
    void resizeEvent(QResizeEvent* event) override;

private:
    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）
        std::vector<int> pointInLineIndices; // 每个显示点在所属线中的索引（预计算，支持不等长线）
        bool hasColor;
        bool pseudoColor;
        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）

        // 自定义点大小分组（RGBA 中 A > 1 的点按大小分组）
        struct PointSizeGroup {
            float pointSize;              // 点大小
            std::vector<size_t> indices;  // 该大小的点在顶点数组中的索引（顶点索引 = indices[i] * 3）
        };
        std::vector<PointSizeGroup> customPointSizeGroups;
        bool hasCustomPointSizes;

        // VBO 缓冲区
        QOpenGLBuffer vertexBuffer;  // 顶点 VBO
        QOpenGLBuffer colorBuffer;   // 颜色 VBO
        bool vboCreated;             // VBO 是否已创建

        PointCloudData()
            : hasColor(false), pseudoColor(false), hasLineInfo(false), colorIndex(0)
            , totalLines(0), pointsPerLine(0)
            , hasCustomPointSizes(false)
            , vertexBuffer(QOpenGLBuffer::VertexBuffer)
            , colorBuffer(QOpenGLBuffer::VertexBuffer)
            , vboCreated(false)
        {}

        // 移动构造函数（QOpenGLBuffer 不支持拷贝）
        PointCloudData(PointCloudData&& other) noexcept
            : vertices(std::move(other.vertices))
            , colors(std::move(other.colors))
            , lineIndices(std::move(other.lineIndices))
            , originalIndices(std::move(other.originalIndices))
            , pointInLineIndices(std::move(other.pointInLineIndices))
            , hasColor(other.hasColor)
            , pseudoColor(other.pseudoColor)
            , hasLineInfo(other.hasLineInfo)
            , name(std::move(other.name))
            , colorIndex(other.colorIndex)
            , totalLines(other.totalLines)
            , pointsPerLine(other.pointsPerLine)
            , customPointSizeGroups(std::move(other.customPointSizeGroups))
            , hasCustomPointSizes(other.hasCustomPointSizes)
            , vertexBuffer(QOpenGLBuffer::VertexBuffer)
            , colorBuffer(QOpenGLBuffer::VertexBuffer)
            , vboCreated(false)
        {
            // VBO 需要在 GL 上下文中重建，标记为未创建
            other.vboCreated = false;
        }

        PointCloudData& operator=(PointCloudData&& other) noexcept
        {
            if (this != &other) {
                // 释放自身 VBO
                if (vboCreated) {
                    vertexBuffer.destroy();
                    colorBuffer.destroy();
                    vboCreated = false;
                }
                vertices = std::move(other.vertices);
                colors = std::move(other.colors);
                lineIndices = std::move(other.lineIndices);
                originalIndices = std::move(other.originalIndices);
                pointInLineIndices = std::move(other.pointInLineIndices);
                hasColor = other.hasColor;
                pseudoColor = other.pseudoColor;
                hasLineInfo = other.hasLineInfo;
                name = std::move(other.name);
                colorIndex = other.colorIndex;
                totalLines = other.totalLines;
                pointsPerLine = other.pointsPerLine;
                customPointSizeGroups = std::move(other.customPointSizeGroups);
                hasCustomPointSizes = other.hasCustomPointSizes;
                // VBO 需要重建
                other.vboCreated = false;
            }
            return *this;
        }

        // 禁止拷贝
        PointCloudData(const PointCloudData&) = delete;
        PointCloudData& operator=(const PointCloudData&) = delete;
    };

    void computeBoundingBox();
    void updateProjection(const QMatrix4x4& modelView);
    float fittedCameraDistance(float padding = 1.05f) const;
    float minimumCameraDistance() const;
    QVector3D colorForIndex(int colorIndex) const;
    SelectedPointInfo pickPoint(int screenX, int screenY);
    void drawSelectedPoints();
    void drawMeasurementLine();
    void drawAxis();

    void drawSelectedLine();     // 绘制选中的线
    void drawLineSegments();     // 绘制线段
    void drawBasicShapeSurfaces(); // 绘制基础图形面片
    void drawBasicShapeSegments(); // 绘制基础图形
    void drawBasicShapePoints();
    void drawLineSegmentList(const QVector<LineSegment>& segments);
    void drawPosePoints();       // 绘制姿态点
    void drawAxisLabels();       // 绘制坐标轴 XYZ 标注
    QVector3D pseudoColorForZ(float z) const;
    void rebuildPseudoColors(PointCloudData& data, size_t firstVertex);
    void updatePseudoColors();
    void createControlButtons();
    void updateControlButtonGeometry();
    void uploadToVBO(PointCloudData& data);    // 上传数据到 VBO
    void releaseVBO(PointCloudData& data);     // 释放 VBO 资源

    std::deque<PointCloudData> m_pointClouds;

    // GLES2 shader 渲染
    bool ensureShader();
    void drawCloud(PointCloudData& data, float pointSize);
    void drawPrimitives(const QMatrix4x4& mvp,
                        const float* positions,
                        int vertexCount,
                        GLenum mode,
                        const float* colors,
                        const QVector3D& uniformColor,
                        float pointSize,
                        float alpha,
                        bool depthTest);
    void resetRenderState();

    // 覆盖控件：左侧竖向视图按钮 / 左下角旋转角度 / 右侧缩放
    void createOverlayControls();
    void repositionOverlayControls();
    void showViewAngleDialog();
    void updateViewAngleDisplay();
    bool handlePinchGesture(QPinchGesture* gesture);

    QMatrix4x4 m_projection;
    QMatrix4x4 m_view;
    QMatrix4x4 m_model;
    QMatrix4x4 m_mvp;  // 当前帧的模型视图投影矩阵（点云主渲染用）

    // GLES2 shader 渲染资源
    QOpenGLShaderProgram* m_shader;
    QOpenGLBuffer m_dynamicVbo;  // 动态叠加图元（选中点/线/轴/姿态等）的临时 VBO
    bool m_shaderReady;
    GLint m_mvpLocation;
    GLint m_positionLocation;
    GLint m_colorLocation;
    GLint m_pointSizeLocation;
    GLint m_alphaLocation;
    GLint m_useVertexColorLocation;
    GLint m_uniformColorLocation;

    float m_distance;
    float m_pinchStartDistance;
    float m_rotationX;
    float m_rotationY;
    float m_rotationZ;
    QQuaternion m_rotation;  // 使用四元数存储旋转状态
    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;

    bool m_pseudoColorEnabled;
    float m_pseudoColorPeriod;
    QVector3D m_pseudoColorStartColor;
    QVector3D m_pseudoColorEndColor;
    bool m_pseudoColorDefaultPalette;

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

    // 列表高亮点（与选点功能区分）
    bool m_hasListHighlightPoint;
    QVector3D m_listHighlightPoint;

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

    // 线段和姿态点数据
    QVector<LineSegment> m_lineSegments;
    QVector<LineSegment> m_basicShapeSegments;
    QVector<SurfaceQuad> m_basicShapeSurfaces;
    QVector<BasicShapePoint> m_basicShapePoints;
    QVector<PosePoint> m_posePoints;

    bool m_showControlButtons;
    QWidget* m_controlPanel;

    // 覆盖控件
    QWidget* m_viewToolbar;          // 左侧竖向视图按钮容器
    QVector<QToolButton*> m_viewButtons;
    QPushButton* m_viewAngleButton;  // 左下角旋转角度显示按钮
    
    QToolButton* m_zoomInButton;
    QToolButton* m_zoomOutButton;
};

#endif // POINT_CLOUD_GL_WIDGET_H