#!/usr/bin/env python3
"""
Run convex decomposition for meshes in one raw asset and generate MuJoCo include files.

Outputs follow the repository derived-asset convention:

  assets/<source>/derived/convex_decompositions/<category>/<asset_id>_<variant>/

The generated MJCF files are intentionally split:

  - mjcf/convex_assets_include.xml: include at MJCF root/top level.
  - mjcf/convex_geoms_include.xml: include inside the body that should receive collision geoms.
  - mjcf/convex_collision_include.xml: standalone convenience include with a wrapper body.
"""

import argparse
import csv
import hashlib
import inspect
import json
import re
import sys
import xml.etree.ElementTree as ET
from datetime import date
from pathlib import Path


ROOT = Path(__file__).resolve().parents[1]
MANIFEST = ROOT / "manifest" / "assets.jsonl"


def parse_simple_yaml(path: Path):
    data = {}
    current_key = None
    for raw in path.read_text().splitlines():
        if not raw.strip() or raw.lstrip().startswith("#"):
            continue
        if raw.startswith("  - ") and current_key:
            data.setdefault(current_key, []).append(raw.strip()[2:].strip())
            continue
        if ":" in raw and not raw.startswith(" "):
            key, value = raw.split(":", 1)
            key = key.strip()
            value = value.strip()
            current_key = key
            if value == "":
                data[key] = []
            elif value in {"[]", "{}"}:
                data[key] = [] if value == "[]" else {}
            else:
                data[key] = value.strip('"').strip("'")
    return data


def yaml_scalar(value):
    if isinstance(value, bool):
        return "true" if value else "false"
    if value is None:
        return "null"
    if isinstance(value, (int, float)):
        return str(value)
    text = str(value)
    if text == "":
        return '""'
    if any(ch in text for ch in [":", "#", "{", "}", "[", "]", ",", '"', "'", "\n"]) or text.startswith(" ") or text.endswith(" "):
        return json.dumps(text, ensure_ascii=False)
    return text


def dump_yaml(mapping, indent=0):
    lines = []
    pad = " " * indent
    for key, value in mapping.items():
        if isinstance(value, dict):
            lines.append(f"{pad}{key}:")
            lines.extend(dump_yaml(value, indent + 2))
        elif isinstance(value, list):
            if not value:
                lines.append(f"{pad}{key}: []")
            else:
                lines.append(f"{pad}{key}:")
                for item in value:
                    if isinstance(item, dict):
                        lines.append(f"{pad}  -")
                        lines.extend(dump_yaml(item, indent + 4))
                    else:
                        lines.append(f"{pad}  - {yaml_scalar(item)}")
        else:
            lines.append(f"{pad}{key}: {yaml_scalar(value)}")
    return lines


def sha256_file(path: Path):
    h = hashlib.sha256()
    with path.open("rb") as f:
        for chunk in iter(lambda: f.read(1024 * 1024), b""):
            h.update(chunk)
    return h.hexdigest()


def rounded_list(values, digits=8):
    return [round(float(v), digits) for v in values]


def mesh_stats(mesh):
    extents = rounded_list(mesh.bounding_box.extents)
    center = rounded_list(mesh.bounding_box.centroid)
    bbox_volume = float(extents[0] * extents[1] * extents[2])
    volume = None
    try:
        volume = float(mesh.volume)
    except Exception:
        volume = None
    area = None
    try:
        area = float(mesh.area)
    except Exception:
        area = None
    return {
        "bbox_extents": extents,
        "bbox_center": center,
        "bbox_volume": round(bbox_volume, 12),
        "mesh_volume": round(volume, 12) if volume is not None else None,
        "surface_area": round(area, 12) if area is not None else None,
        "num_vertices": int(len(mesh.vertices)),
        "num_faces": int(len(mesh.faces)),
    }


def safe_name(text: str):
    text = Path(text).stem if "/" in text else text
    text = re.sub(r"[^0-9A-Za-z_]+", "_", text)
    text = re.sub(r"_+", "_", text).strip("_")
    if not text:
        text = "mesh"
    if text[0].isdigit():
        text = f"m_{text}"
    return text


def rel_to_root(path: Path):
    return path.resolve().relative_to(ROOT).as_posix()


def require_raw_asset(raw_asset_dir: Path):
    raw_asset_dir = raw_asset_dir.resolve()
    try:
        raw_rel = raw_asset_dir.relative_to(ROOT / "assets")
    except ValueError as exc:
        raise SystemExit("raw_asset_dir must be under this repository's assets/ directory") from exc

    parts = raw_rel.parts
    if len(parts) < 5 or parts[1] != "raw":
        raise SystemExit("raw_asset_dir must be under assets/<source>/raw/<asset_type>/<category>/<asset_id>")
    return raw_asset_dir, parts[0], parts[2], parts[3], parts[4]


def discover_meshes(raw_asset_dir: Path, patterns):
    meshes = []
    for pattern in patterns:
        meshes.extend(raw_asset_dir.glob(pattern))
    meshes = sorted({p.resolve() for p in meshes if p.is_file()})
    return meshes


def resolve_mesh_args(raw_asset_dir: Path, mesh_args, patterns):
    if mesh_args:
        meshes = []
        for item in mesh_args:
            path = Path(item).expanduser()
            if not path.is_absolute():
                path = raw_asset_dir / path
            if not path.exists():
                raise SystemExit(f"mesh does not exist: {path}")
            meshes.append(path.resolve())
        return meshes
    meshes = discover_meshes(raw_asset_dir, patterns)
    if not meshes:
        raise SystemExit(
            "no mesh found. Pass --mesh relative/or/absolute/path.obj, "
            "or adjust --mesh-glob. Default globs search visuals/ and meshes/."
        )
    return meshes


def import_deps():
    try:
        import coacd  # type: ignore
        import trimesh  # type: ignore
    except ModuleNotFoundError as exc:
        missing = exc.name
        raise SystemExit(
            f"missing Python dependency: {missing}\n"
            "Install before running real decomposition, for example:\n"
            "  pip install trimesh coacd\n"
        ) from exc
    return coacd, trimesh


def coacd_version(coacd):
    return getattr(coacd, "__version__", "unknown")


def filter_coacd_params(coacd, params):
    try:
        sig = inspect.signature(coacd.run_coacd)
    except (TypeError, ValueError):
        return {k: v for k, v in params.items() if v is not None}
    valid = set(sig.parameters)
    if any(p.kind == inspect.Parameter.VAR_KEYWORD for p in sig.parameters.values()):
        return {k: v for k, v in params.items() if v is not None}
    return {k: v for k, v in params.items() if v is not None and k in valid}


def run_coacd_for_mesh(mesh_path: Path, output_dir: Path, params):
    coacd, trimesh = import_deps()

    # Convex decomposition only needs geometry. Skipping materials avoids a
    # Pillow dependency for textured OBJ files from sources such as RoboCasa.
    loaded = trimesh.load(mesh_path, skip_materials=True)
    if isinstance(loaded, trimesh.Scene):
        meshes = []
        for node_name in loaded.graph.nodes_geometry:
            transform, geometry_name = loaded.graph[node_name]
            geom = loaded.geometry[geometry_name].copy()
            geom.visual = trimesh.visual.ColorVisuals(geom)
            geom.apply_transform(transform)
            meshes.append(geom)
        if not meshes:
            raise RuntimeError(f"no mesh geometry in scene: {mesh_path}")
        mesh = trimesh.util.concatenate(meshes)
    else:
        mesh = loaded
        mesh.visual = trimesh.visual.ColorVisuals(mesh)

    if mesh.is_empty:
        raise RuntimeError(f"empty mesh: {mesh_path}")

    coacd_mesh = coacd.Mesh(mesh.vertices, mesh.faces)
    kwargs = filter_coacd_params(coacd, params)
    parts = coacd.run_coacd(coacd_mesh, **kwargs)

    output_dir.mkdir(parents=True, exist_ok=True)
    outputs = []
    for i, part in enumerate(parts):
        vertices, faces = part
        part_mesh = trimesh.Trimesh(vertices, faces)
        part_path = output_dir / f"part_{i:03d}.obj"
        part_mesh.export(part_path)
        outputs.append((part_path, mesh_stats(part_mesh)))

    return outputs, coacd_version(coacd), kwargs


def xml_escape(value):
    return (
        str(value)
        .replace("&", "&amp;")
        .replace('"', "&quot;")
        .replace("<", "&lt;")
        .replace(">", "&gt;")
    )


def write_xml_files(mjcf_dir: Path, asset_id: str, part_records, class_name: str, rgba: str, group: str, contype: str, conaffinity: str):
    mjcf_dir.mkdir(parents=True, exist_ok=True)

    asset_lines = [
        "<!-- Include this file at MJCF root/top level so mesh assets are defined. -->",
        "<mujocoinclude>",
        "  <asset>",
    ]
    for rec in part_records:
        asset_lines.append(f'    <mesh name="{xml_escape(rec["mesh_name"])}" file="{xml_escape(rec["file_from_mjcf"])}"/>')
    asset_lines.extend(["  </asset>", "</mujocoinclude>", ""])
    (mjcf_dir / "convex_assets_include.xml").write_text("\n".join(asset_lines))

    geom_attrs = []
    if class_name:
        geom_attrs.append(f'class="{xml_escape(class_name)}"')
    if rgba:
        geom_attrs.append(f'rgba="{xml_escape(rgba)}"')
    if group:
        geom_attrs.append(f'group="{xml_escape(group)}"')
    if contype:
        geom_attrs.append(f'contype="{xml_escape(contype)}"')
    if conaffinity:
        geom_attrs.append(f'conaffinity="{xml_escape(conaffinity)}"')
    common = " ".join(geom_attrs)
    common = f" {common}" if common else ""

    geom_lines = [
        "<!-- Include this file inside the target body to add convex collision geoms. -->",
        "<mujocoinclude>",
    ]
    for rec in part_records:
        geom_lines.append(f'  <geom type="mesh" mesh="{xml_escape(rec["mesh_name"])}"{common}/>')
    geom_lines.extend(["</mujocoinclude>", ""])
    (mjcf_dir / "convex_geoms_include.xml").write_text("\n".join(geom_lines))

    body_name = safe_name(f"{asset_id}_convex_collision")
    combo_lines = [
        "<!-- Convenience include for preview or standalone loading.",
        "     For integration into an existing object, include convex_assets_include.xml at root",
        "     and convex_geoms_include.xml inside the target body instead. -->",
        "<mujocoinclude>",
        '  <include file="convex_assets_include.xml"/>',
        "  <worldbody>",
        f'    <body name="{xml_escape(body_name)}">',
        '      <include file="convex_geoms_include.xml"/>',
        "    </body>",
        "  </worldbody>",
        "</mujocoinclude>",
        "",
    ]
    (mjcf_dir / "convex_collision_include.xml").write_text("\n".join(combo_lines))


def append_manifest(row):
    MANIFEST.parent.mkdir(parents=True, exist_ok=True)
    existing = []
    if MANIFEST.exists():
        existing = [line for line in MANIFEST.read_text().splitlines() if line.strip()]
    path = row["path"]
    for line in existing:
        try:
            old = json.loads(line)
        except json.JSONDecodeError:
            continue
        if old.get("path") == path:
            raise SystemExit(f"manifest already contains path: {path}")
    with MANIFEST.open("a") as f:
        f.write(json.dumps(row, ensure_ascii=False, sort_keys=True) + "\n")


def parse_args():
    parser = argparse.ArgumentParser(
        description="Run CoACD convex decomposition and generate MuJoCo include files."
    )
    parser.add_argument("raw_asset_dir", help="Raw asset directory under assets/<source>/raw/...")
    parser.add_argument(
        "--mesh",
        action="append",
        default=[],
        help="Mesh path to decompose. Can be relative to raw_asset_dir or absolute. Repeatable.",
    )
    parser.add_argument(
        "--mesh-glob",
        action="append",
        default=["visuals/*.obj", "visuals/*.stl", "meshes/*.obj", "meshes/*.stl"],
        help="Glob relative to raw_asset_dir used when --mesh is omitted. Repeatable.",
    )
    parser.add_argument("--variant", default="coacd_v1", help="Derived asset suffix.")
    parser.add_argument("--overwrite", action="store_true", help="Allow writing into an existing derived directory.")
    parser.add_argument("--register-manifest", action="store_true", help="Append the derived asset to manifest/assets.jsonl.")
    parser.add_argument("--class-name", default="convex_collision", help="MJCF geom class name. Empty string disables class attr.")
    parser.add_argument("--rgba", default="0.8 0.2 0.2 0.35", help="MJCF geom rgba.")
    parser.add_argument("--group", default="0", help="MJCF geom group. Empty string disables group attr.")
    parser.add_argument("--contype", default="", help="MJCF geom contype. Empty string uses MuJoCo default.")
    parser.add_argument("--conaffinity", default="", help="MJCF geom conaffinity. Empty string uses MuJoCo default.")
    parser.add_argument("--threshold", type=float, default=0.05, help="CoACD concavity threshold.")
    parser.add_argument("--max-convex-hull", type=int, default=-1, help="CoACD max convex hull count; -1 means CoACD default/unlimited.")
    parser.add_argument("--preprocess-mode", default="auto", choices=["auto", "on", "off"], help="CoACD preprocess mode.")
    parser.add_argument("--preprocess-resolution", type=int, default=50, help="CoACD preprocess resolution.")
    parser.add_argument("--resolution", type=int, default=2000, help="CoACD sampling/resolution parameter.")
    parser.add_argument("--mcts-nodes", type=int, default=20, help="CoACD MCTS node count.")
    parser.add_argument("--mcts-iterations", type=int, default=150, help="CoACD MCTS iteration count.")
    parser.add_argument("--mcts-max-depth", type=int, default=3, help="CoACD MCTS max depth. Higher values can create finer splits.")
    parser.add_argument("--pca", action="store_true", help="Enable CoACD PCA mode.")
    parser.add_argument("--no-merge", action="store_true", help="Disable CoACD merge step. This can keep more/smaller convex parts.")
    parser.add_argument("--decimate", action="store_true", help="Enable CoACD decimation.")
    parser.add_argument("--max-ch-vertex", type=int, default=256, help="Maximum vertices per convex hull.")
    parser.add_argument("--extrude", action="store_true", help="Enable CoACD extrusion.")
    parser.add_argument("--extrude-margin", type=float, default=0.01, help="CoACD extrusion margin.")
    parser.add_argument("--apx-mode", default="ch", choices=["ch", "box"], help="CoACD approximation mode.")
    parser.add_argument("--real-metric", action="store_true", help="Enable CoACD real_metric option if supported.")
    parser.add_argument("--seed", type=int, default=0, help="CoACD random seed if supported.")
    return parser.parse_args()


def main():
    args = parse_args()
    raw_asset_dir, source, _raw_asset_type, category, source_asset_id = require_raw_asset(Path(args.raw_asset_dir))
    raw_meta_path = raw_asset_dir / "metadata.yaml"
    raw_meta = parse_simple_yaml(raw_meta_path) if raw_meta_path.exists() else {}

    meshes = resolve_mesh_args(raw_asset_dir, args.mesh, args.mesh_glob)
    derived_asset_id = f"{source_asset_id}_{args.variant}"
    derived_dir = ROOT / "assets" / source / "derived" / "convex_decompositions" / category / derived_asset_id

    if derived_dir.exists() and not args.overwrite:
        raise SystemExit(f"destination already exists: {derived_dir}. Use --overwrite only if you intend to replace files inside it.")
    work_dir = derived_dir
    if not args.overwrite:
        work_dir = derived_dir.parent / f".{derived_dir.name}.tmp"
        if work_dir.exists():
            raise SystemExit(f"temporary output already exists from a previous failed run: {work_dir}")

    # Fail before creating derived files if the real decomposition backend is unavailable.
    import_deps()

    (work_dir / "meshes").mkdir(parents=True, exist_ok=True)
    (work_dir / "mjcf").mkdir(parents=True, exist_ok=True)
    (work_dir / "logs").mkdir(parents=True, exist_ok=True)

    coacd_params = {
        "threshold": args.threshold,
        "max_convex_hull": None if args.max_convex_hull < 0 else args.max_convex_hull,
        "preprocess_mode": args.preprocess_mode,
        "preprocess_resolution": args.preprocess_resolution,
        "resolution": args.resolution,
        "mcts_nodes": args.mcts_nodes,
        "mcts_iterations": args.mcts_iterations,
        "mcts_max_depth": args.mcts_max_depth,
        "pca": args.pca,
        "merge": not args.no_merge,
        "decimate": args.decimate,
        "max_ch_vertex": args.max_ch_vertex,
        "extrude": args.extrude,
        "extrude_margin": args.extrude_margin,
        "apx_mode": args.apx_mode,
        "seed": args.seed,
        "real_metric": args.real_metric,
    }

    inputs_log = []
    outputs_log = []
    part_records = []
    actual_tool_version = "unknown"
    actual_params = {}

    for mesh_path in meshes:
        mesh_stem = safe_name(mesh_path.stem)
        out_dir = work_dir / "meshes" / mesh_stem
        part_outputs, actual_tool_version, actual_params = run_coacd_for_mesh(mesh_path, out_dir, coacd_params)
        inputs_log.append({
            "path": rel_to_root(mesh_path),
            "sha256": sha256_file(mesh_path),
        })
        for part_path, part_stats in part_outputs:
            part_rel = part_path.relative_to(work_dir).as_posix()
            part_index = int(part_path.stem.split("_")[-1])
            mesh_name = safe_name(f"{source}_{source_asset_id}_{mesh_stem}_convex_{part_index:03d}")
            part_records.append({
                "source_mesh": rel_to_root(mesh_path),
                "path": part_rel,
                "sha256": sha256_file(part_path),
                "mesh_name": mesh_name,
                "file_from_mjcf": f"../{part_rel}",
                **part_stats,
            })
            outputs_log.append({
                "path": part_rel,
                "sha256": sha256_file(part_path),
                "mesh_name": mesh_name,
                **part_stats,
            })

    write_xml_files(
        work_dir / "mjcf",
        source_asset_id,
        part_records,
        args.class_name,
        args.rgba,
        args.group,
        args.contype,
        args.conaffinity,
    )

    license_name = raw_meta.get("license", "unknown")
    origin_url = raw_meta.get("origin_url", "")
    global_asset_id = f"{source}.convex_decompositions.{category}.{derived_asset_id}"
    metadata = {
        "asset_id": global_asset_id,
        "source": source,
        "source_asset_id": source_asset_id,
        "asset_type": "convex_decompositions",
        "category": category,
        "format": "obj_mjcf_include",
        "entry_file": "mjcf/convex_collision_include.xml",
        "license": license_name,
        "origin_url": origin_url,
        "path": rel_to_root(derived_dir),
        "storage_mode": "derived",
        "derived_from": [rel_to_root(raw_asset_dir)],
        "derivation_method": "convex_decomposition",
        "decomposition_tool": "coacd",
        "decomposition_version": actual_tool_version,
        "decomposition_params_file": "logs/decomposition.json",
        "validation_status": "generated",
        "tags": [source, "convex_decomposition", "collision", "mujoco"],
    }
    if "readiness_level" in raw_meta:
        metadata["readiness_level"] = raw_meta["readiness_level"]
    if "source_commit" in raw_meta:
        metadata["source_commit"] = raw_meta["source_commit"]
    (work_dir / "metadata.yaml").write_text("\n".join(dump_yaml(metadata)) + "\n")

    source_refs = {
        "raw_asset": rel_to_root(raw_asset_dir),
        "raw_entry_file": rel_to_root(raw_asset_dir / raw_meta.get("entry_file", "model.xml"))
        if (raw_asset_dir / raw_meta.get("entry_file", "model.xml")).exists()
        else "",
        "raw_meshes": [rel_to_root(p) for p in meshes],
    }
    (work_dir / "source_refs.yaml").write_text("\n".join(dump_yaml(source_refs)) + "\n")

    log = {
        "tool": "coacd",
        "tool_version": actual_tool_version,
        "created_at": str(date.today()),
        "raw_asset": rel_to_root(raw_asset_dir),
        "derived_asset": rel_to_root(derived_dir),
        "params": actual_params,
        "inputs": inputs_log,
        "outputs": outputs_log,
        "mjcf": {
            "root_level_asset_include": "mjcf/convex_assets_include.xml",
            "body_level_geom_include": "mjcf/convex_geoms_include.xml",
            "standalone_include": "mjcf/convex_collision_include.xml",
        },
    }
    (work_dir / "logs" / "decomposition.json").write_text(json.dumps(log, indent=2, ensure_ascii=False) + "\n")

    summary_path = work_dir / "logs" / "parts_summary.csv"
    with summary_path.open("w", newline="") as f:
        writer = csv.DictWriter(
            f,
            fieldnames=[
                "source_mesh",
                "part_path",
                "mesh_name",
                "bbox_x",
                "bbox_y",
                "bbox_z",
                "bbox_center_x",
                "bbox_center_y",
                "bbox_center_z",
                "bbox_volume",
                "mesh_volume",
                "surface_area",
                "num_vertices",
                "num_faces",
                "sha256",
            ],
        )
        writer.writeheader()
        for rec in part_records:
            bbox = rec["bbox_extents"]
            center = rec["bbox_center"]
            writer.writerow({
                "source_mesh": rec["source_mesh"],
                "part_path": rec["path"],
                "mesh_name": rec["mesh_name"],
                "bbox_x": bbox[0],
                "bbox_y": bbox[1],
                "bbox_z": bbox[2],
                "bbox_center_x": center[0],
                "bbox_center_y": center[1],
                "bbox_center_z": center[2],
                "bbox_volume": rec["bbox_volume"],
                "mesh_volume": rec["mesh_volume"],
                "surface_area": rec["surface_area"],
                "num_vertices": rec["num_vertices"],
                "num_faces": rec["num_faces"],
                "sha256": rec["sha256"],
            })

    readme = f"""# Convex decomposition: {source_asset_id}

Source asset:

```text
{rel_to_root(raw_asset_dir)}
```

Generated collision meshes:

```text
{rel_to_root(derived_dir / "meshes")}
```

MuJoCo integration:

1. Include `mjcf/convex_assets_include.xml` at MJCF root/top level.
2. Include `mjcf/convex_geoms_include.xml` inside the body that should receive these collision geoms.
3. Use `mjcf/convex_collision_include.xml` only for quick standalone preview/wrapper-body loading.

Do not edit the raw source asset in place.
"""
    (work_dir / "README.md").write_text(readme)

    if work_dir != derived_dir:
        work_dir.rename(derived_dir)

    if args.register_manifest:
        row = {
            "asset_id": global_asset_id,
            "asset_type": "convex_decompositions",
            "category": category,
            "entry_file": "mjcf/convex_collision_include.xml",
            "format": "obj_mjcf_include",
            "license": license_name,
            "origin_url": origin_url,
            "path": rel_to_root(derived_dir),
            "source": source,
            "source_asset_id": source_asset_id,
            "tags": [source, "convex_decomposition", "collision", "mujoco"],
        }
        append_manifest(row)

    print(rel_to_root(derived_dir))
    print(f"decomposed_meshes={len(meshes)} convex_parts={len(part_records)}")
    if not args.register_manifest:
        print("manifest_status=not_registered; rerun with --register-manifest when this derived asset should be indexed")
    return 0


if __name__ == "__main__":
    try:
        raise SystemExit(main())
    except ET.ParseError as exc:
        print(f"XML error: {exc}", file=sys.stderr)
        raise