import type * as THREE from 'three';
import type { MjvGeom } from '@mujoco/mujoco';

/** 更新既有网格展示，不创建/缓存/释放任何 Three.js 或 MuJoCo 资源。 */
export function updateMeshPresentation(
  mesh: THREE.Mesh,
  g: MjvGeom,
  { geomId, bodyId, isCollision }: { geomId: number; bodyId: number; isCollision: boolean },
): void {
  const mat = mesh.material as THREE.MeshStandardMaterial;
  if (isCollision) {
    const worldCollision = bodyId === 0;
    mat.color.setHex(worldCollision ? 0x64748b : 0x22d3ee);
    mat.opacity = worldCollision ? 0.12 : 0.28;
    mat.transparent = true;
    mat.depthTest = worldCollision;
    mat.depthWrite = false;
    mat.roughness = 0.85;
    mat.metalness = 0;
    mesh.renderOrder = worldCollision ? 0 : 60;
  } else {
    mat.color.setRGB(g.rgba[0], g.rgba[1], g.rgba[2]);
    mat.opacity = g.rgba[3];
    mat.transparent = g.rgba[3] < 1;
    mat.depthTest = true;
    mat.depthWrite = true;
    mat.roughness = Math.max(0.05, 1 - g.shininess);
    mat.metalness = g.reflectance;
    mesh.renderOrder = 0;
  }
  mesh.matrix.set(
    g.mat[0],
    g.mat[1],
    g.mat[2],
    g.pos[0],
    g.mat[3],
    g.mat[4],
    g.mat[5],
    g.pos[1],
    g.mat[6],
    g.mat[7],
    g.mat[8],
    g.pos[2],
    0,
    0,
    0,
    1,
  );
  mesh.matrixWorldNeedsUpdate = true;
  mesh.userData.geomId = geomId;
  mesh.userData.bodyId = bodyId;
  mesh.userData.geomType = g.type;
  mesh.userData.isCollision = isCollision;
}

export function applyMeshHighlight(
  mesh: THREE.Mesh,
  selected: THREE.Mesh | null,
  highlightedBodyId: number,
): void {
  const material = mesh.material as THREE.MeshStandardMaterial;
  if (Number(mesh.userData.bodyId) === highlightedBodyId) {
    material.emissive.setHex(0x8a6d00);
    material.emissiveIntensity = 0.85;
  } else if (mesh === selected) {
    material.emissive.setHex(0x14532d);
    material.emissiveIntensity = 1;
  } else {
    material.emissive.setHex(0);
    material.emissiveIntensity = 1;
  }
}