using System;
using System.Collections.Generic;
using UnityEngine;
using System.Collections;

[System.Serializable]
public class OptiTrackBoneMapping
{
    public string optiTrackBoneName;    // OptiTrack 본 이름 (예: "Hip", "Ab")
    public string fbxNodeName;          // FBX 노드 이름 (예: "001_Hips", "001_Spine")
    [HideInInspector]
    public Transform cachedTransform;   // 런타임 캐시
    public bool applyPosition = true;
    public bool applyRotation = true;
    public bool isMapped = false;       // 매핑 성공 여부
}

[DefaultExecutionOrder(-100)]
public class OptitrackSkeletonAnimator_Mingle : MonoBehaviour
{
    [Header("OptiTrack 설정")]
    [Tooltip("OptiTrackStreamingClient가 포함된 오브젝트")]
    public OptitrackStreamingClient StreamingClient;

    [Tooltip("Motive의 스켈레톤 에셋 이름")]
    public string SkeletonAssetName = "Skeleton1";

    [Header("본 매핑 (OptiTrack → FBX 노드)")]
    [Tooltip("자동 매핑 후 수동 조정 가능")]
    public List<OptiTrackBoneMapping> boneMappings = new List<OptiTrackBoneMapping>();

    [Header("디버그")]
    public bool logUnmappedBones = false;

    private OptitrackSkeletonDefinition m_skeletonDef;
    private string previousSkeletonName;

    [HideInInspector]
    public bool isSkeletonFound = false;

    // 에디터 디버그용 — 런타임에 Motive에서 실제로 수신된 본 목록
    [HideInInspector]
    public List<string> debugReceivedBoneNames = new List<string>();
    [HideInInspector]
    public int debugReceivedBoneCount = 0;

    private float updateInterval = 0.1f;

    // 본 ID → 매핑 인덱스 (빠른 룩업)
    private Dictionary<Int32, int> m_boneIdToMappingIndex = new Dictionary<Int32, int>();
    // 본 이름 → Transform 캐시 (전체 하이어라키)
    private Dictionary<string, Transform> m_allTransforms = new Dictionary<string, Transform>();

    // torn read 방지용 스냅샷 버퍼
    private Dictionary<Int32, Vector3> m_snapshotPositions = new Dictionary<Int32, Vector3>();
    private Dictionary<Int32, Quaternion> m_snapshotOrientations = new Dictionary<Int32, Quaternion>();

    // OptiTrack 본 이름 → FBX 노드 접미사 기본 매핑
    public static readonly Dictionary<string, string> DefaultOptiToFbxSuffix = new Dictionary<string, string>
    {
        // 몸통 (Motive 5본 스파인 체인)
        // Motive: Hip → Ab → Spine2 → Spine3 → Spine4 → Chest → Neck → Neck2 → Head
        // FBX:    Hips → Spine → Spine1 → Spine2 → Spine3 → Spine4 → Neck → Neck1 → Head
        {"Hip", "Hips"},
        {"Ab", "Spine"},
        {"Spine2", "Spine1"},
        {"Spine3", "Spine2"},
        {"Spine4", "Spine3"},
        {"Chest", "Spine4"},
        {"Neck", "Neck"},
        {"Neck2", "Neck1"},
        {"Head", "Head"},

        // 왼쪽 팔
        {"LShoulder", "LeftShoulder"},
        {"LUArm", "LeftArm"},
        {"LFArm", "LeftForeArm"},
        {"LHand", "LeftHand"},

        // 오른쪽 팔
        {"RShoulder", "RightShoulder"},
        {"RUArm", "RightArm"},
        {"RFArm", "RightForeArm"},
        {"RHand", "RightHand"},

        // 왼쪽 다리
        {"LThigh", "LeftUpLeg"},
        {"LShin", "LeftLeg"},
        {"LFoot", "LeftFoot"},
        {"LToe", "LeftToeBase"},

        // 오른쪽 다리
        {"RThigh", "RightUpLeg"},
        {"RShin", "RightLeg"},
        {"RFoot", "RightFoot"},
        {"RToe", "RightToeBase"},

        // 왼쪽 손가락
        {"LThumb1", "LeftHandThumb1"},
        {"LThumb2", "LeftHandThumb2"},
        {"LThumb3", "LeftHandThumb3"},
        {"LIndex1", "LeftHandIndex1"},
        {"LIndex2", "LeftHandIndex2"},
        {"LIndex3", "LeftHandIndex3"},
        {"LMiddle1", "LeftHandMiddle1"},
        {"LMiddle2", "LeftHandMiddle2"},
        {"LMiddle3", "LeftHandMiddle3"},
        {"LRing1", "LeftHandRing1"},
        {"LRing2", "LeftHandRing2"},
        {"LRing3", "LeftHandRing3"},
        {"LPinky1", "LeftHandPinky1"},
        {"LPinky2", "LeftHandPinky2"},
        {"LPinky3", "LeftHandPinky3"},

        // 오른쪽 손가락
        {"RThumb1", "RightHandThumb1"},
        {"RThumb2", "RightHandThumb2"},
        {"RThumb3", "RightHandThumb3"},
        {"RIndex1", "RightHandIndex1"},
        {"RIndex2", "RightHandIndex2"},
        {"RIndex3", "RightHandIndex3"},
        {"RMiddle1", "RightHandMiddle1"},
        {"RMiddle2", "RightHandMiddle2"},
        {"RMiddle3", "RightHandMiddle3"},
        {"RRing1", "RightHandRing1"},
        {"RRing2", "RightHandRing2"},
        {"RRing3", "RightHandRing3"},
        {"RPinky1", "RightHandPinky1"},
        {"RPinky2", "RightHandPinky2"},
        {"RPinky3", "RightHandPinky3"},
    };

    void Start()
    {
        BuildTransformCache();
        InitializeStreamingClient();

        if (StreamingClient != null)
        {
            StreamingClient.RegisterSkeleton(this, this.SkeletonAssetName);
        }

        // 에디터에서 세팅한 매핑의 Transform 캐시 갱신
        if (boneMappings.Count > 0)
        {
            RefreshTransformCache();
        }
        else
        {
            Debug.LogWarning("[OptiTrack] 본 매핑이 비어있습니다. Inspector에서 'FBX 분석 → 자동 매핑 생성' 버튼을 눌러주세요.", this);
        }

        StartCoroutine(CheckSkeletonConnectionPeriodically());
    }

    void Update()
    {
        if (StreamingClient == null)
        {
            InitializeStreamingClient();
            return;
        }

        // 스켈레톤 이름 변경 감지
        if (previousSkeletonName != SkeletonAssetName)
        {
            StreamingClient.RegisterSkeleton(this, SkeletonAssetName);
            m_skeletonDef = StreamingClient.GetSkeletonDefinitionByName(SkeletonAssetName);
            previousSkeletonName = SkeletonAssetName;
            if (m_skeletonDef != null)
                RebuildBoneIdMapping();
            return;
        }

        if (m_skeletonDef == null)
        {
            m_skeletonDef = StreamingClient.GetSkeletonDefinitionByName(SkeletonAssetName);
            if (m_skeletonDef == null)
                return;
            RebuildBoneIdMapping();
        }

        // 최신 스켈레톤 상태
        OptitrackSkeletonState skelState = StreamingClient.GetLatestSkeletonState(m_skeletonDef.Id);
        if (skelState == null)
            return;

        // torn read 방지 — 스냅샷 복사
        m_snapshotPositions.Clear();
        m_snapshotOrientations.Clear();
        foreach (var kvp in skelState.BonePoses)
        {
            m_snapshotPositions[kvp.Key] = kvp.Value.Position;
            m_snapshotOrientations[kvp.Key] = kvp.Value.Orientation;
        }

        // 각 본 업데이트 — Transform 직접 적용
        foreach (var bone in m_skeletonDef.Bones)
        {
            if (!m_boneIdToMappingIndex.TryGetValue(bone.Id, out int mappingIdx))
                continue;

            var mapping = boneMappings[mappingIdx];
            if (!mapping.isMapped || mapping.cachedTransform == null)
                continue;

            if (m_snapshotOrientations.TryGetValue(bone.Id, out Quaternion ori))
            {
                if (mapping.applyPosition && m_snapshotPositions.TryGetValue(bone.Id, out Vector3 pos))
                {
                    mapping.cachedTransform.localPosition = SnapPosition(pos);
                }

                if (mapping.applyRotation)
                {
                    mapping.cachedTransform.localRotation = SnapQuaternion(ori);
                }
            }
        }
    }

    /// <summary>
    /// 하이어라키의 모든 Transform을 이름으로 캐싱
    /// </summary>
    private void BuildTransformCache()
    {
        m_allTransforms.Clear();
        var allChildren = GetComponentsInChildren<Transform>(true);
        foreach (var t in allChildren)
        {
            if (!m_allTransforms.ContainsKey(t.name))
            {
                m_allTransforms[t.name] = t;
            }
        }
    }

    /// <summary>
    /// 기존 매핑의 Transform 캐시만 갱신
    /// </summary>
    private void RefreshTransformCache()
    {
        foreach (var mapping in boneMappings)
        {
            if (!string.IsNullOrEmpty(mapping.fbxNodeName) && m_allTransforms.TryGetValue(mapping.fbxNodeName, out Transform t))
            {
                mapping.cachedTransform = t;
                mapping.isMapped = true;
            }
        }
    }

    /// <summary>
    /// OptiTrack 본 ID → boneMappings 인덱스 매핑 구축
    /// </summary>
    private void RebuildBoneIdMapping()
    {
        m_boneIdToMappingIndex.Clear();
        debugReceivedBoneNames.Clear();
        if (m_skeletonDef == null) return;

        debugReceivedBoneCount = m_skeletonDef.Bones.Count;

        var nameToIdx = new Dictionary<string, int>();
        for (int i = 0; i < boneMappings.Count; i++)
        {
            if (!nameToIdx.ContainsKey(boneMappings[i].optiTrackBoneName))
                nameToIdx[boneMappings[i].optiTrackBoneName] = i;
        }

        int matchCount = 0;
        foreach (var bone in m_skeletonDef.Bones)
        {
            string boneName = bone.Name;
            string optiName = boneName.Contains("_") ? boneName.Substring(boneName.IndexOf('_') + 1) : boneName;

            // 디버그: Motive에서 수신된 모든 본 기록
            string parentInfo = m_skeletonDef.BoneIdToParentIdMap.TryGetValue(bone.Id, out Int32 parentId)
                ? $"parent={parentId}" : "root";
            debugReceivedBoneNames.Add($"[ID:{bone.Id}] {boneName} (suffix: {optiName}, {parentInfo})");

            if (nameToIdx.TryGetValue(optiName, out int idx))
            {
                m_boneIdToMappingIndex[bone.Id] = idx;
                matchCount++;
            }
            else if (logUnmappedBones)
            {
                Debug.LogWarning($"[OptiTrack] 매핑되지 않은 OptiTrack 본: {boneName} (suffix: {optiName})");
            }
        }

        Debug.Log($"[OptiTrack] 본 ID 매핑 완료: {matchCount}/{m_skeletonDef.Bones.Count} 매칭");
    }

    private void InitializeStreamingClient()
    {
        if (StreamingClient == null)
        {
            StreamingClient = FindAnyObjectByType<OptitrackStreamingClient>();
            if (StreamingClient != null)
                Debug.Log("OptiTrack Streaming Client를 찾았습니다.", this);
        }
    }

    private IEnumerator CheckSkeletonConnectionPeriodically()
    {
        while (true)
        {
            if (StreamingClient != null)
            {
                m_skeletonDef = StreamingClient.GetSkeletonDefinitionByName(SkeletonAssetName);

                if (m_skeletonDef != null)
                {
                    OptitrackSkeletonState skelState = StreamingClient.GetLatestSkeletonState(m_skeletonDef.Id);
                    bool wasFound = isSkeletonFound;
                    isSkeletonFound = (skelState != null);

                    if (isSkeletonFound && !wasFound)
                    {
                        StreamingClient.RegisterSkeleton(this, SkeletonAssetName);
                        previousSkeletonName = SkeletonAssetName;
                        RebuildBoneIdMapping();
                        Debug.Log($"[OptiTrack] 스켈레톤 '{SkeletonAssetName}' 연결 성공");
                    }
                }
                else
                {
                    isSkeletonFound = false;
                }
            }

            yield return new WaitForSeconds(updateInterval);
        }
    }

    // 소수점 4자리 이하 제거 (0.0001m = 0.1mm 미만 노이즈 제거)
    private const float POS_PRECISION = 10000f;
    private static Vector3 SnapPosition(Vector3 v)
    {
        return new Vector3(
            Mathf.Round(v.x * POS_PRECISION) / POS_PRECISION,
            Mathf.Round(v.y * POS_PRECISION) / POS_PRECISION,
            Mathf.Round(v.z * POS_PRECISION) / POS_PRECISION
        );
    }

    // 쿼터니언 소수점 5자리 이하 제거 + 정규화
    private const float ROT_PRECISION = 100000f;
    private static Quaternion SnapQuaternion(Quaternion q)
    {
        return new Quaternion(
            Mathf.Round(q.x * ROT_PRECISION) / ROT_PRECISION,
            Mathf.Round(q.y * ROT_PRECISION) / ROT_PRECISION,
            Mathf.Round(q.z * ROT_PRECISION) / ROT_PRECISION,
            Mathf.Round(q.w * ROT_PRECISION) / ROT_PRECISION
        ).normalized;
    }

    #region 외부 접근용 헬퍼

    // HumanBodyBones → OptiTrack 본 이름 매핑 (Humanoid 호환 레이어)
    public static readonly Dictionary<HumanBodyBones, string> HumanBoneToOptiName = new Dictionary<HumanBodyBones, string>
    {
        { HumanBodyBones.Hips, "Hip" },
        { HumanBodyBones.Head, "Head" },
        // 스파인/넥은 분배 처리되므로 1:1 매핑은 참고용
        { HumanBodyBones.Spine, "Ab" },
        { HumanBodyBones.Chest, "Chest" },
        { HumanBodyBones.Neck, "Neck" },
        // 왼쪽 팔
        { HumanBodyBones.LeftShoulder, "LShoulder" },
        { HumanBodyBones.LeftUpperArm, "LUArm" },
        { HumanBodyBones.LeftLowerArm, "LFArm" },
        { HumanBodyBones.LeftHand, "LHand" },
        // 오른쪽 팔
        { HumanBodyBones.RightShoulder, "RShoulder" },
        { HumanBodyBones.RightUpperArm, "RUArm" },
        { HumanBodyBones.RightLowerArm, "RFArm" },
        { HumanBodyBones.RightHand, "RHand" },
        // 왼쪽 다리
        { HumanBodyBones.LeftUpperLeg, "LThigh" },
        { HumanBodyBones.LeftLowerLeg, "LShin" },
        { HumanBodyBones.LeftFoot, "LFoot" },
        { HumanBodyBones.LeftToes, "LToe" },
        // 오른쪽 다리
        { HumanBodyBones.RightUpperLeg, "RThigh" },
        { HumanBodyBones.RightLowerLeg, "RShin" },
        { HumanBodyBones.RightFoot, "RFoot" },
        { HumanBodyBones.RightToes, "RToe" },
        // 왼쪽 손가락
        { HumanBodyBones.LeftThumbProximal, "LThumb1" },
        { HumanBodyBones.LeftThumbIntermediate, "LThumb2" },
        { HumanBodyBones.LeftThumbDistal, "LThumb3" },
        { HumanBodyBones.LeftIndexProximal, "LIndex1" },
        { HumanBodyBones.LeftIndexIntermediate, "LIndex2" },
        { HumanBodyBones.LeftIndexDistal, "LIndex3" },
        { HumanBodyBones.LeftMiddleProximal, "LMiddle1" },
        { HumanBodyBones.LeftMiddleIntermediate, "LMiddle2" },
        { HumanBodyBones.LeftMiddleDistal, "LMiddle3" },
        { HumanBodyBones.LeftRingProximal, "LRing1" },
        { HumanBodyBones.LeftRingIntermediate, "LRing2" },
        { HumanBodyBones.LeftRingDistal, "LRing3" },
        { HumanBodyBones.LeftLittleProximal, "LPinky1" },
        { HumanBodyBones.LeftLittleIntermediate, "LPinky2" },
        { HumanBodyBones.LeftLittleDistal, "LPinky3" },
        // 오른쪽 손가락
        { HumanBodyBones.RightThumbProximal, "RThumb1" },
        { HumanBodyBones.RightThumbIntermediate, "RThumb2" },
        { HumanBodyBones.RightThumbDistal, "RThumb3" },
        { HumanBodyBones.RightIndexProximal, "RIndex1" },
        { HumanBodyBones.RightIndexIntermediate, "RIndex2" },
        { HumanBodyBones.RightIndexDistal, "RIndex3" },
        { HumanBodyBones.RightMiddleProximal, "RMiddle1" },
        { HumanBodyBones.RightMiddleIntermediate, "RMiddle2" },
        { HumanBodyBones.RightMiddleDistal, "RMiddle3" },
        { HumanBodyBones.RightRingProximal, "RRing1" },
        { HumanBodyBones.RightRingIntermediate, "RRing2" },
        { HumanBodyBones.RightRingDistal, "RRing3" },
        { HumanBodyBones.RightLittleProximal, "RPinky1" },
        { HumanBodyBones.RightLittleIntermediate, "RPinky2" },
        { HumanBodyBones.RightLittleDistal, "RPinky3" },
    };

    /// <summary>
    /// HumanBodyBones enum으로 OptiTrack 매핑된 Transform 반환
    /// (Humanoid 호환 레이어 — sourceAnimator.GetBoneTransform() 대체)
    /// </summary>
    public Transform GetBoneTransform(HumanBodyBones bone)
    {
        if (HumanBoneToOptiName.TryGetValue(bone, out string optiName))
            return GetMappedTransform(optiName);
        return null;
    }

    // 스파인 체인 OptiTrack 이름 (Hips 제외, 순서대로)
    public static readonly string[] SpineChainOptiNames = { "Ab", "Spine2", "Spine3", "Spine4", "Chest" };
    // 넥 체인
    public static readonly string[] NeckChainOptiNames = { "Neck", "Neck2" };

    /// <summary>
    /// OptiTrack 본 이름으로 매핑된 Transform 반환
    /// </summary>
    public Transform GetMappedTransform(string optiTrackBoneName)
    {
        foreach (var mapping in boneMappings)
        {
            if (mapping.optiTrackBoneName == optiTrackBoneName && mapping.isMapped)
                return mapping.cachedTransform;
        }
        return null;
    }

    /// <summary>
    /// 스파인 체인의 모든 Transform을 순서대로 반환 (Ab → Spine2 → Spine3 → Spine4 → Chest)
    /// </summary>
    public List<Transform> GetSpineChainTransforms()
    {
        var chain = new List<Transform>();
        foreach (var name in SpineChainOptiNames)
        {
            Transform t = GetMappedTransform(name);
            if (t != null)
                chain.Add(t);
        }
        return chain;
    }

    /// <summary>
    /// 넥 체인의 모든 Transform을 순서대로 반환
    /// </summary>
    public List<Transform> GetNeckChainTransforms()
    {
        var chain = new List<Transform>();
        foreach (var name in NeckChainOptiNames)
        {
            Transform t = GetMappedTransform(name);
            if (t != null)
                chain.Add(t);
        }
        return chain;
    }

    /// <summary>
    /// 체인의 누적 로컬 회전을 계산 (각 본의 localRotation을 순서대로 곱함)
    /// </summary>
    public static Quaternion ComputeChainRotation(List<Transform> chain)
    {
        Quaternion total = Quaternion.identity;
        foreach (var t in chain)
        {
            total *= t.localRotation;
        }
        return total;
    }

    /// <summary>
    /// 초기 포즈(T-포즈) 캐싱 — Humanoid가 아니므로 직접 캐싱
    /// </summary>
    [HideInInspector] public Dictionary<string, Quaternion> restLocalRotations = new Dictionary<string, Quaternion>();
    [HideInInspector] public Dictionary<string, Vector3> restLocalPositions = new Dictionary<string, Vector3>();
    [HideInInspector] public bool isRestPoseCached = false;

    /// <summary>
    /// 현재 포즈를 기준 포즈(T-포즈)로 캐싱
    /// </summary>
    public void CacheRestPose()
    {
        restLocalRotations.Clear();
        restLocalPositions.Clear();

        foreach (var mapping in boneMappings)
        {
            if (mapping.isMapped && mapping.cachedTransform != null)
            {
                restLocalRotations[mapping.optiTrackBoneName] = mapping.cachedTransform.localRotation;
                restLocalPositions[mapping.optiTrackBoneName] = mapping.cachedTransform.localPosition;
            }
        }
        isRestPoseCached = true;
        Debug.Log($"[OptiTrack] 기준 포즈 캐싱 완료: {restLocalRotations.Count}개 본");
    }

    /// <summary>
    /// 캐싱된 기준 포즈로 복원 (T-포즈 복원)
    /// </summary>
    public void RestoreRestPose()
    {
        if (!isRestPoseCached) return;

        foreach (var mapping in boneMappings)
        {
            if (mapping.isMapped && mapping.cachedTransform != null)
            {
                if (restLocalRotations.TryGetValue(mapping.optiTrackBoneName, out Quaternion rot))
                    mapping.cachedTransform.localRotation = rot;
                if (restLocalPositions.TryGetValue(mapping.optiTrackBoneName, out Vector3 pos))
                    mapping.cachedTransform.localPosition = pos;
            }
        }
    }

    /// <summary>
    /// 특정 본의 기준 포즈 로컬 회전 반환
    /// </summary>
    public Quaternion GetRestLocalRotation(string optiTrackBoneName)
    {
        if (restLocalRotations.TryGetValue(optiTrackBoneName, out Quaternion rot))
            return rot;
        return Quaternion.identity;
    }

    #endregion
}