#ifndef POINTCLOUDGLWIDGET_H
#define POINTCLOUDGLWIDGET_H

#include <QOpenGLWidget>
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QOpenGLBuffer>
#include <QOpenGLVertexArrayObject>
#include <QMatrix4x4>
#include <QVector3D>
#include <QMouseEvent>
#include <QWheelEvent>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <vector>

class PointCloudGLWidget : public QOpenGLWidget, protected QOpenGLFunctions
{
    Q_OBJECT

public:
    explicit PointCloudGLWidget(QWidget *parent = nullptr);
    ~PointCloudGLWidget();

    void updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
    void setColorMode(bool enabled) { m_colorMode = enabled ? 1 : 0; update(); }
    bool colorMode() const { return m_colorMode != 0; }
    void resetView();  // 重置视角到初始状态

protected:
    void initializeGL() override;
    void resizeGL(int w, int h) override;
    void paintGL() override;

    // 鼠标交互
    void mousePressEvent(QMouseEvent *event) override;
    void mouseMoveEvent(QMouseEvent *event) override;
    void mouseReleaseEvent(QMouseEvent *event) override;
    void wheelEvent(QWheelEvent *event) override;

private:
    void setupShaders();
    void updateBuffers();

private:
    // OpenGL资源
    QOpenGLShaderProgram *m_program;
    QOpenGLBuffer *m_vertexBuffer;
    QOpenGLVertexArrayObject *m_vao;

    // 点云数据
    std::vector<float> m_vertices;
    int m_pointCount;
    float m_minZ, m_maxZ;  // 深度范围（用于着色）

    // 相机参数
    QMatrix4x4 m_projection;
    QMatrix4x4 m_view;
    QMatrix4x4 m_model;

    float m_fov;           // 透视投影视场角
    float m_rotationX;     // X轴旋转角度
    float m_rotationY;     // Y轴旋转角度
    QVector3D m_cloudCenter;  // 点云中心
    float m_viewDistance;     // 观察距离
    QVector3D m_panOffset;    // 用户平移偏移
    float m_zoom;          // 缩放因子

    // 鼠标交互状态
    QPoint m_lastMousePos;
    bool m_leftButtonPressed;
    bool m_rightButtonPressed;

    // 首帧标志（只在首帧时自动居中）
    bool m_firstFrame;

    // 颜色模式（0=黑白，1=彩色）
    int m_colorMode;
};

#endif // POINTCLOUDGLWIDGET_H