"""Jaw and piece profiles, cut from the collision meshes the physics actually uses.

The SO-101 fingers form a V that opens upward: the inner faces lean outward by a
few degrees. Pointing down with the fingertips just below a piece's head, the jaws
close on the head, the way a person pinches a piece. If the squeeze slips, the head
still rests on the tips, because the tip gap is narrower than the head.

All lengths in metres. Gripper frame: -z toward the fingertips, +x from the fixed
jaw toward the moving jaw, y across the finger width.
"""
from __future__ import annotations

from dataclasses import dataclass

import mujoco
import numpy as np

STEP = 0.0005            # profile sample spacing along the height
FINGER_BAND = 0.0045     # half-width of the finger strip that must clear the piece


def _triangles(m, d, geom_ids, frame_body):
    """Collision triangles (N, 3, 3) of `geom_ids`, in `frame_body`'s frame."""
    R = d.xmat[frame_body].reshape(3, 3)
    out = []
    for g in geom_ids:
        mid = m.geom_dataid[g]
        v = m.mesh_vert[m.mesh_vertadr[mid]:m.mesh_vertadr[mid] + m.mesh_vertnum[mid]].astype(float)
        f = m.mesh_face[m.mesh_faceadr[mid]:m.mesh_faceadr[mid] + m.mesh_facenum[mid]]
        w = v @ d.geom_xmat[g].reshape(3, 3).T + d.geom_xpos[g]
        out.append(((w - d.xpos[frame_body]) @ R)[f])
    return np.concatenate(out)


def section_extent(tris, heights, along, across, band):
    """Min and max of `along`·p over each horizontal section, restricted to |across·p| < band.

    Exact for the triangle soup: every triangle crossing a plane gives a segment,
    which is clipped to the band. Returns (lo, hi) arrays, NaN where empty.
    """
    lo = np.full(len(heights), np.nan)
    hi = np.full(len(heights), np.nan)
    z = tris[:, :, 2]
    zmin, zmax = z.min(1), z.max(1)
    for i, h in enumerate(heights):
        t = tris[(zmin <= h) & (zmax > h)]
        if not len(t):
            continue
        pts = []
        for a, b in ((0, 1), (1, 2), (2, 0)):
            pa, pb = t[:, a], t[:, b]
            cross = (pa[:, 2] - h) * (pb[:, 2] - h) < 0
            s = np.where(cross, (h - pa[:, 2]) / np.where(cross, pb[:, 2] - pa[:, 2], 1), np.nan)
            pts.append(pa[:, :2] + (pb[:, :2] - pa[:, :2]) * s[:, None])
        pts = np.stack(pts, 1)                          # (n, 3 edges, 2)
        ok = ~np.isnan(pts[:, :, 0])
        keep = ok.sum(1) == 2
        segs = pts[keep][ok[keep]].reshape(-1, 2, 2)    # (n, 2 endpoints, xy)
        u = segs @ along                                # (n, 2)
        w = segs @ across
        # Clip each segment to |w| <= band.
        w0, w1, u0, u1 = w[:, 0], w[:, 1], u[:, 0], u[:, 1]
        dw = np.where(np.abs(w1 - w0) < 1e-12, 1e-12, w1 - w0)
        ta = np.clip((-band - w0) / dw, 0, 1)
        tb = np.clip((band - w0) / dw, 0, 1)
        t0, t1 = np.minimum(ta, tb), np.maximum(ta, tb)
        inside = (t1 > t0) | ((np.abs(w0) <= band) & (np.abs(w1) <= band))
        t0 = np.where(np.abs(w1 - w0) < 1e-12, 0, t0)
        t1 = np.where(np.abs(w1 - w0) < 1e-12, 1, t1)
        if not inside.any():
            continue
        ua = u0 + (u1 - u0) * t0
        ub = u0 + (u1 - u0) * t1
        vals = np.concatenate([ua[inside], ub[inside]])
        lo[i], hi[i] = vals.min(), vals.max()
    return lo, hi


@dataclass
class Jaws:
    tip_z: float              # lowest fixed-fingertip point, gripper frame
    heights: np.ndarray       # sample heights above the tip
    fixed_inner: np.ndarray   # max x of the fixed finger (its inner face)
    fixed_outer: np.ndarray   # min x of the fixed finger
    jaw_tris: np.ndarray      # moving-jaw collision triangles, moving-jaw frame
    jaw_pos: np.ndarray       # moving-jaw frame origin in the gripper frame (q = 0)
    jaw_rot: np.ndarray
    jaw_axis: np.ndarray      # hinge axis, moving-jaw frame

    def moving_tris(self, q: float) -> np.ndarray:
        a = self.jaw_axis
        K = np.array([[0, -a[2], a[1]], [a[2], 0, -a[0]], [-a[1], a[0], 0]])
        Rq = np.eye(3) + np.sin(q) * K + (1 - np.cos(q)) * K @ K
        return (self.jaw_tris @ Rq.T) @ self.jaw_rot.T + self.jaw_pos

    def moving_profile(self, q: float, heights=None):
        """(inner, outer) x of the moving finger per height above the tip."""
        h = self.heights if heights is None else heights
        lo, hi = section_extent(self.moving_tris(q), self.tip_z + h,
                                np.array([1.0, 0]), np.array([0, 1.0]), FINGER_BAND)
        return lo, hi


def measure_jaws(m: mujoco.MjModel, top=0.06) -> Jaws:
    d = mujoco.MjData(m)
    gid = m.joint("gripper").id
    mujoco.mj_kinematics(m, d)
    gb, jb = m.body("gripper").id, m.body("moving_jaw_so101_v1").id
    fixed_geoms = [g for g in range(m.ngeom) if m.geom_bodyid[g] == gb and m.geom_group[g] == 3
                   and m.mesh(m.geom_dataid[g]).name.startswith("wrist_roll_follower")]
    jaw_geoms = [g for g in range(m.ngeom) if m.geom_bodyid[g] == jb and m.geom_group[g] == 3]
    fixed = _triangles(m, d, fixed_geoms, gb)
    jaw = _triangles(m, d, jaw_geoms, jb)
    Rg = d.xmat[gb].reshape(3, 3)
    # Express the moving jaw at q = 0 regardless of the model's default gripper angle.
    q0 = d.qpos[m.jnt_qposadr[gid]]
    a = m.jnt_axis[gid]
    K = np.array([[0, -a[2], a[1]], [a[2], 0, -a[0]], [-a[1], a[0], 0]])
    Rq0 = np.eye(3) + np.sin(q0) * K + (1 - np.cos(q0)) * K @ K
    jaw_rot = Rg.T @ d.xmat[jb].reshape(3, 3) @ Rq0.T
    jaw_pos = Rg.T @ (d.xpos[jb] - d.xpos[gb])
    tip_z = fixed[:, :, 2].min()
    heights = np.arange(STEP / 2, top, STEP)
    lo, hi = section_extent(fixed, tip_z + heights, np.array([1.0, 0]), np.array([0, 1.0]), FINGER_BAND)
    return Jaws(tip_z=tip_z, heights=heights, fixed_inner=hi, fixed_outer=lo,
                jaw_tris=jaw, jaw_pos=jaw_pos, jaw_rot=jaw_rot, jaw_axis=a.copy())


@dataclass
class PieceProfile:
    heights: np.ndarray      # sample heights above the base
    lo: np.ndarray           # min coordinate along the closing direction (NaN = no material)
    hi: np.ndarray           # max coordinate along the closing direction
    height: float


def piece_triangles(m: mujoco.MjModel, body: str) -> np.ndarray:
    """Collision triangles of a piece body in its own frame (base at z=0)."""
    d = mujoco.MjData(m)
    mujoco.mj_kinematics(m, d)
    bid = m.body(body).id
    geoms = [g for g in range(m.ngeom) if m.geom_bodyid[g] == bid and m.geom_group[g] == 3]
    return _triangles(m, d, geoms, bid)


def piece_profile(tris: np.ndarray, closing_dir) -> PieceProfile:
    """What the jaws see of a piece closing along `closing_dir` (unit xy, piece frame)."""
    u = np.asarray(closing_dir, float)
    v = np.array([-u[1], u[0]])
    height = float(tris[:, :, 2].max())
    heights = np.arange(STEP / 2, height, STEP)
    lo, hi = section_extent(tris, heights, u, v, FINGER_BAND)
    return PieceProfile(heights=heights, lo=lo, hi=hi, height=height)


@dataclass
class Grasp:
    tip_height: float        # fingertip height above the piece base
    center_x: float          # piece axis x in the gripper frame
    open_q: float            # gripper angle that clears the piece by the margin
    contact_q: float         # predicted gripper angle at first contact
    contact_height: float    # height above the base of first moving-jaw contact


def plan_grasp(jaws: Jaws, piece: PieceProfile, tip_height: float,
               fixed_gap=0.0008, open_margin=0.003) -> Grasp:
    """Put the piece `fixed_gap` off the fixed finger and find the jaw angles."""
    z = piece.heights
    sel = (z >= tip_height) & ~np.isnan(piece.hi)
    rel = z[sel] - tip_height
    fixed = np.interp(rel, jaws.heights, jaws.fixed_inner)
    center = float(np.max(fixed - piece.lo[sel]) + fixed_gap)
    right = center + piece.hi[sel]

    def clearance(q):
        inner, _ = jaws.moving_profile(q, rel)
        gap = np.where(np.isnan(inner), np.inf, inner - right)   # no finger at that height
        return float(gap.min()), int(gap.argmin())

    lo, hi = -0.25, 1.2
    for _ in range(30):
        mid = (lo + hi) / 2
        lo, hi = (lo, mid) if clearance(mid)[0] > 0 else (mid, hi)
    contact_q = hi
    at = clearance(contact_q)[1]
    lo, hi = contact_q, 1.2
    for _ in range(30):
        mid = (lo + hi) / 2
        lo, hi = (lo, mid) if clearance(mid)[0] > open_margin else (mid, hi)
    return Grasp(tip_height=tip_height, center_x=center, open_q=hi, contact_q=contact_q,
                 contact_height=float(z[sel][at]))