#pragma once

#include "CoreMinimal.h"
#include "Misc/MujocoOptions.h"
#include "tinyxml2.h"

class UMujocoGeomComponent;
class UMujocoJointComponent;
class UMujocoSiteComponent;
class UMujocoActuatorComponent;
class UMujocoEqualityComponent;
class UMujocoTendonComponent;
class UCameraComponent;
class USpringArmComponent;
class UMujocoBodyComponent;
class USCS_Node;
class UStaticMesh;
class UBlueprint;

class LUCKYMUJOCO_API FMujocoXmlGenerator
{	
	bool VisitGeomComponent(USCS_Node* SCSNode, UMujocoGeomComponent* GeomComponent, tinyxml2::XMLElement* Element);
	bool VisitJointComponent(USCS_Node* SCSNode, UMujocoJointComponent* JointComponent, tinyxml2::XMLElement* Element);
	bool VisitSiteComponent(USCS_Node* SCSNode, UMujocoSiteComponent* SiteComponent, tinyxml2::XMLElement* Element);
	bool VisitActuatorComponent(USCS_Node* SCSNode, UMujocoActuatorComponent* ActuatorComponent, tinyxml2::XMLElement* Element);
	bool VisitEqualityComponent(USCS_Node* SCSNode, UMujocoEqualityComponent* EqualityComponent, tinyxml2::XMLElement* Element);
	bool VisitTendonComponent(USCS_Node* SCSNode, UMujocoTendonComponent* TendonComponent, tinyxml2::XMLElement* Element);
	bool VisitCameraComponent(USCS_Node* SCSNode, UCameraComponent* CameraComponent, tinyxml2::XMLElement* Element, USpringArmComponent* SpringArmComponent = nullptr);
	bool VisitSpringArm(USCS_Node* SCSNode, USpringArmComponent* SpringArmComponent, tinyxml2::XMLElement* Element);
	bool VisitBodyComponent(USCS_Node* SCSNode, UMujocoBodyComponent* BodyComponent, tinyxml2::XMLElement* Element);
	
	bool ParseExportOptions(UMujocoExportOptions* Data, tinyxml2::XMLElement* Element);
	bool ParseBlueprintAsset(UBlueprint* BlueprintAsset, tinyxml2::XMLElement* Root);
	bool ParseActorAsset(AActor* Actor, tinyxml2::XMLElement* Root);

	TMap<FString, TSoftObjectPtr<UObject>> ObjectMap;

public:

	/**
	 * Generate the XML file used by the MuJoCo headless scene representing the physics simulation
	 * @param ExportOptions TODO - What they can be?
	 * @param Objects Actors and Components to be added to the scene
	 * @param ExportFilename pretty much that 
	 * @param ContactExclusion a list of pairs that should be patched in the xml file for contact exclusion (no friction, no collision)
	 * TODO ContactExclusion should be stored as a property of MujocoActor and not passed in the scene init
	 */
	TUniquePtr<tinyxml2::XMLDocument> GenerateMujocoXml(
		const TObjectPtr<UMujocoExportOptions>& ExportOptions,
		const TArray<UObject*>& Objects,
		const FString& ExportFilename,
		TMap<FString, FString> ContactExclusion);
};