import { Vector3, Matrix, TmpVectors } from "../Maths/math.vector.js";
import { Color3, Color4 } from "../Maths/math.color.js";
import { Mesh } from "../Meshes/mesh.js";
import { CreateLineSystem } from "../Meshes/Builders/linesBuilder.js";
import { UtilityLayerRenderer } from "../Rendering/utilityLayerRenderer.js";
import { Material } from "../Materials/material.js";
import { ShaderMaterial } from "../Materials/shaderMaterial.js";
import { DynamicTexture } from "../Materials/Textures/dynamicTexture.js";
import { VertexBuffer } from "../Buffers/buffer.js";
import { Effect } from "../Materials/effect.js";
import { CreateSphere } from "../Meshes/Builders/sphereBuilder.js";
import { ExtrudeShapeCustom } from "../Meshes/Builders/shapeBuilder.js";
import { TransformNode } from "../Meshes/transformNode.js";
import { Logger } from "../Misc/logger.js";
/**
 * Class used to render a debug view of a given skeleton
 * @see http://www.babylonjs-playground.com/#1BZJVJ#8
 */
export class SkeletonViewer {
    /** public static method to create a BoneWeight Shader
     * @param options The constructor options
     * @param scene The scene that the shader is scoped to
     * @returns The created ShaderMaterial
     * @see http://www.babylonjs-playground.com/#1BZJVJ#395
     */
    static CreateBoneWeightShader(options, scene) {
        const skeleton = options.skeleton;
        const colorBase = options.colorBase ?? Color3.Black();
        const colorZero = options.colorZero ?? Color3.Blue();
        const colorQuarter = options.colorQuarter ?? Color3.Green();
        const colorHalf = options.colorHalf ?? Color3.Yellow();
        const colorFull = options.colorFull ?? Color3.Red();
        const targetBoneIndex = options.targetBoneIndex ?? 0;
        Effect.ShadersStore["boneWeights:" + skeleton.name + "VertexShader"] = `precision highp float;

        attribute vec3 position;
        attribute vec2 uv;

        uniform mat4 view;
        uniform mat4 projection;
        uniform mat4 worldViewProjection;

        #include<bonesDeclaration>
        #if NUM_BONE_INFLUENCERS == 0
            attribute vec4 matricesIndices;
            attribute vec4 matricesWeights;
        #endif
        #include<bakedVertexAnimationDeclaration>

        #include<instancesDeclaration>

        varying vec3 vColor;

        uniform vec3 colorBase;
        uniform vec3 colorZero;
        uniform vec3 colorQuarter;
        uniform vec3 colorHalf;
        uniform vec3 colorFull;

        uniform float targetBoneIndex;

        void main() {
            vec3 positionUpdated = position;

            #include<instancesVertex>
            #include<bonesVertex>
            #include<bakedVertexAnimation>

            vec4 worldPos = finalWorld * vec4(positionUpdated, 1.0);

            vec3 color = colorBase;
            float totalWeight = 0.;
            if(matricesIndices[0] == targetBoneIndex && matricesWeights[0] > 0.){
                totalWeight += matricesWeights[0];
            }
            if(matricesIndices[1] == targetBoneIndex && matricesWeights[1] > 0.){
                totalWeight += matricesWeights[1];
            }
            if(matricesIndices[2] == targetBoneIndex && matricesWeights[2] > 0.){
                totalWeight += matricesWeights[2];
            }
            if(matricesIndices[3] == targetBoneIndex && matricesWeights[3] > 0.){
                totalWeight += matricesWeights[3];
            }

            color = mix(color, colorZero, smoothstep(0., 0.25, totalWeight));
            color = mix(color, colorQuarter, smoothstep(0.25, 0.5, totalWeight));
            color = mix(color, colorHalf, smoothstep(0.5, 0.75, totalWeight));
            color = mix(color, colorFull, smoothstep(0.75, 1.0, totalWeight));
            vColor = color;

        gl_Position = projection * view * worldPos;
        }`;
        Effect.ShadersStore["boneWeights:" + skeleton.name + "FragmentShader"] = `
            precision highp float;
            varying vec3 vPosition;

            varying vec3 vColor;

            void main() {
                vec4 color = vec4(vColor, 1.0);
                gl_FragColor = color;
            }
        `;
        const shader = new ShaderMaterial("boneWeight:" + skeleton.name, scene, {
            vertex: "boneWeights:" + skeleton.name,
            fragment: "boneWeights:" + skeleton.name,
        }, {
            attributes: ["position", "normal", "matricesIndices", "matricesWeights"],
            uniforms: [
                "world",
                "worldView",
                "worldViewProjection",
                "view",
                "projection",
                "viewProjection",
                "colorBase",
                "colorZero",
                "colorQuarter",
                "colorHalf",
                "colorFull",
                "targetBoneIndex",
            ],
        });
        shader.setColor3("colorBase", colorBase);
        shader.setColor3("colorZero", colorZero);
        shader.setColor3("colorQuarter", colorQuarter);
        shader.setColor3("colorHalf", colorHalf);
        shader.setColor3("colorFull", colorFull);
        shader.setFloat("targetBoneIndex", targetBoneIndex);
        shader.getClassName = () => {
            return "BoneWeightShader";
        };
        shader.transparencyMode = Material.MATERIAL_OPAQUE;
        return shader;
    }
    /** public static method to create a BoneWeight Shader
     * @param options The constructor options
     * @param scene The scene that the shader is scoped to
     * @returns The created ShaderMaterial
     */
    static CreateSkeletonMapShader(options, scene) {
        const skeleton = options.skeleton;
        const colorMap = options.colorMap ?? [
            {
                color: new Color3(1, 0.38, 0.18),
                location: 0,
            },
            {
                color: new Color3(0.59, 0.18, 1.0),
                location: 0.2,
            },
            {
                color: new Color3(0.59, 1, 0.18),
                location: 0.4,
            },
            {
                color: new Color3(1, 0.87, 0.17),
                location: 0.6,
            },
            {
                color: new Color3(1, 0.17, 0.42),
                location: 0.8,
            },
            {
                color: new Color3(0.17, 0.68, 1.0),
                location: 1.0,
            },
        ];
        const bufferWidth = skeleton.bones.length + 1;
        const colorMapBuffer = SkeletonViewer._CreateBoneMapColorBuffer(bufferWidth, colorMap, scene);
        const shader = new ShaderMaterial("boneWeights:" + skeleton.name, scene, {
            vertexSource: `precision highp float;

            attribute vec3 position;
            attribute vec2 uv;

            uniform mat4 view;
            uniform mat4 projection;
            uniform mat4 worldViewProjection;
            uniform float colorMap[` +
                skeleton.bones.length * 4 +
                `];

            #include<bonesDeclaration>
            #if NUM_BONE_INFLUENCERS == 0
                attribute vec4 matricesIndices;
                attribute vec4 matricesWeights;
            #endif
            #include<bakedVertexAnimationDeclaration>
            #include<instancesDeclaration>

            varying vec3 vColor;

            void main() {
                vec3 positionUpdated = position;

                #include<instancesVertex>
                #include<bonesVertex>
                #include<bakedVertexAnimation>

                vec3 color = vec3(0.);
                bool first = true;

                for (int i = 0; i < 4; i++) {
                    int boneIdx = int(matricesIndices[i]);
                    float boneWgt = matricesWeights[i];

                    vec3 c = vec3(colorMap[boneIdx * 4 + 0], colorMap[boneIdx * 4 + 1], colorMap[boneIdx * 4 + 2]);

                    if (boneWgt > 0.) {
                        if (first) {
                            first = false;
                            color = c;
                        } else {
                            color = mix(color, c, boneWgt);
                        }
                    }
                }

                vColor = color;

                vec4 worldPos = finalWorld * vec4(positionUpdated, 1.0);

                gl_Position = projection * view * worldPos;
            }`,
            fragmentSource: `
            precision highp float;
            varying vec3 vColor;

            void main() {
                vec4 color = vec4( vColor, 1.0 );
                gl_FragColor = color;
            }
            `,
        }, {
            attributes: ["position", "normal", "matricesIndices", "matricesWeights"],
            uniforms: ["world", "worldView", "worldViewProjection", "view", "projection", "viewProjection", "colorMap"],
        });
        shader.setFloats("colorMap", colorMapBuffer);
        shader.getClassName = () => {
            return "SkeletonMapShader";
        };
        shader.transparencyMode = Material.MATERIAL_OPAQUE;
        return shader;
    }
    /** private static method to create a BoneWeight Shader
     * @param size The size of the buffer to create (usually the bone count)
     * @param colorMap The gradient data to generate
     * @param scene The scene that the shader is scoped to
     * @returns an Array of floats from the color gradient values
     */
    static _CreateBoneMapColorBuffer(size, colorMap, scene) {
        const tempGrad = new DynamicTexture("temp", { width: size, height: 1 }, scene, false);
        const ctx = tempGrad.getContext();
        const grad = ctx.createLinearGradient(0, 0, size, 0);
        colorMap.forEach((stop) => {
            grad.addColorStop(stop.location, stop.color.toHexString());
        });
        ctx.fillStyle = grad;
        ctx.fillRect(0, 0, size, 1);
        tempGrad.update();
        const buffer = [];
        const data = ctx.getImageData(0, 0, size, 1).data;
        const rUnit = 1 / 255;
        for (let i = 0; i < data.length; i++) {
            buffer.push(data[i] * rUnit);
        }
        tempGrad.dispose();
        return buffer;
    }
    /** Gets the Scene. */
    get scene() {
        return this._scene;
    }
    /** Gets the utilityLayer. */
    get utilityLayer() {
        return this._utilityLayer;
    }
    /** Checks Ready Status. */
    get isReady() {
        return this._ready;
    }
    /** Sets Ready Status. */
    set ready(value) {
        this._ready = value;
    }
    /** Gets the debugMesh */
    get debugMesh() {
        return this._debugMesh;
    }
    /** Sets the debugMesh */
    set debugMesh(value) {
        this._debugMesh = value;
    }
    /** Gets the displayMode */
    get displayMode() {
        return this.options.displayMode || SkeletonViewer.DISPLAY_LINES;
    }
    /** Sets the displayMode */
    set displayMode(value) {
        if (value > SkeletonViewer.DISPLAY_SPHERE_AND_SPURS) {
            value = SkeletonViewer.DISPLAY_LINES;
        }
        this.options.displayMode = value;
    }
    /**
     * Creates a new SkeletonViewer
     * @param skeleton defines the skeleton to render
     * @param mesh defines the mesh attached to the skeleton
     * @param scene defines the hosting scene
     * @param autoUpdateBonesMatrices defines a boolean indicating if bones matrices must be forced to update before rendering (true by default)
     * @param renderingGroupId defines the rendering group id to use with the viewer
     * @param options All of the extra constructor options for the SkeletonViewer
     */
    constructor(
    /** defines the skeleton to render */
    skeleton, 
    /** defines the mesh attached to the skeleton */
    mesh, 
    /** The Scene scope*/
    scene, 
    /** defines a boolean indicating if bones matrices must be forced to update before rendering (true by default)  */
    autoUpdateBonesMatrices = true, 
    /** defines the rendering group id to use with the viewer */
    renderingGroupId = 3, 
    /** is the options for the viewer */
    options = {}) {
        this.skeleton = skeleton;
        this.mesh = mesh;
        this.autoUpdateBonesMatrices = autoUpdateBonesMatrices;
        this.renderingGroupId = renderingGroupId;
        this.options = options;
        /** Gets or sets the color used to render the skeleton */
        this.color = Color3.White();
        /** Array of the points of the skeleton fo the line view. */
        this._debugLines = new Array();
        /** The local axes Meshes. */
        this._localAxes = null;
        /** If SkeletonViewer is enabled. */
        this._isEnabled = true;
        /** SkeletonViewer render observable. */
        this._obs = null;
        this._scene = scene;
        this._ready = false;
        //Defaults
        options.pauseAnimations = options.pauseAnimations ?? true;
        options.returnToRest = options.returnToRest ?? false;
        options.displayMode = options.displayMode ?? SkeletonViewer.DISPLAY_LINES;
        options.displayOptions = options.displayOptions ?? {};
        options.displayOptions.midStep = options.displayOptions.midStep ?? 0.235;
        options.displayOptions.midStepFactor = options.displayOptions.midStepFactor ?? 0.155;
        options.displayOptions.sphereBaseSize = options.displayOptions.sphereBaseSize ?? 0.15;
        options.displayOptions.sphereScaleUnit = options.displayOptions.sphereScaleUnit ?? 2;
        options.displayOptions.sphereFactor = options.displayOptions.sphereFactor ?? 0.865;
        options.displayOptions.spurFollowsChild = options.displayOptions.spurFollowsChild ?? false;
        options.displayOptions.showLocalAxes = options.displayOptions.showLocalAxes ?? false;
        options.displayOptions.localAxesSize = options.displayOptions.localAxesSize ?? 0.075;
        options.computeBonesUsingShaders = options.computeBonesUsingShaders ?? true;
        options.useAllBones = options.useAllBones ?? true;
        this._boneIndices = new Set();
        if (!options.useAllBones) {
            const initialMeshBoneIndices = mesh?.getVerticesData(VertexBuffer.MatricesIndicesKind);
            const initialMeshBoneWeights = mesh?.getVerticesData(VertexBuffer.MatricesWeightsKind);
            if (initialMeshBoneIndices && initialMeshBoneWeights) {
                for (let i = 0; i < initialMeshBoneIndices.length; ++i) {
                    const index = initialMeshBoneIndices[i], weight = initialMeshBoneWeights[i];
                    if (weight !== 0) {
                        this._boneIndices.add(index);
                    }
                }
            }
        }
        /* Create Utility Layer */
        this._utilityLayer = new UtilityLayerRenderer(this._scene, false);
        this._utilityLayer.pickUtilitySceneFirst = false;
        this._utilityLayer.utilityLayerScene.autoClearDepthAndStencil = true;
        let displayMode = this.options.displayMode || 0;
        if (displayMode > SkeletonViewer.DISPLAY_SPHERE_AND_SPURS) {
            displayMode = SkeletonViewer.DISPLAY_LINES;
        }
        this.displayMode = displayMode;
        //Prep the Systems
        this.update();
        this._bindObs();
    }
    /** The Dynamic bindings for the update functions */
    _bindObs() {
        switch (this.displayMode) {
            case SkeletonViewer.DISPLAY_LINES: {
                this._obs = this.scene.onBeforeRenderObservable.add(() => {
                    this._displayLinesUpdate();
                });
                break;
            }
        }
    }
    /** Update the viewer to sync with current skeleton state, only used to manually update. */
    update() {
        switch (this.displayMode) {
            case SkeletonViewer.DISPLAY_LINES: {
                this._displayLinesUpdate();
                break;
            }
            case SkeletonViewer.DISPLAY_SPHERES: {
                this._buildSpheresAndSpurs(true);
                break;
            }
            case SkeletonViewer.DISPLAY_SPHERE_AND_SPURS: {
                this._buildSpheresAndSpurs(false);
                break;
            }
        }
        this._buildLocalAxes();
    }
    /** Gets or sets a boolean indicating if the viewer is enabled */
    set isEnabled(value) {
        if (this.isEnabled === value) {
            return;
        }
        this._isEnabled = value;
        if (this.debugMesh) {
            this.debugMesh.setEnabled(value);
        }
        if (value && !this._obs) {
            this._bindObs();
        }
        else if (!value && this._obs) {
            this.scene.onBeforeRenderObservable.remove(this._obs);
            this._obs = null;
        }
    }
    get isEnabled() {
        return this._isEnabled;
    }
    _getBonePosition(position, bone, meshMat, x = 0, y = 0, z = 0) {
        const tmat = TmpVectors.Matrix[0];
        const parentBone = bone.getParent();
        tmat.copyFrom(bone.getLocalMatrix());
        if (x !== 0 || y !== 0 || z !== 0) {
            const tmat2 = TmpVectors.Matrix[1];
            Matrix.IdentityToRef(tmat2);
            tmat2.setTranslationFromFloats(x, y, z);
            tmat2.multiplyToRef(tmat, tmat);
        }
        if (parentBone) {
            tmat.multiplyToRef(parentBone.getAbsoluteMatrix(), tmat);
        }
        tmat.multiplyToRef(meshMat, tmat);
        position.x = tmat.m[12];
        position.y = tmat.m[13];
        position.z = tmat.m[14];
    }
    _getLinesForBonesWithLength(bones, mesh) {
        const len = bones.length;
        let matrix;
        let meshPos;
        if (mesh) {
            matrix = mesh.getWorldMatrix();
            meshPos = mesh.position;
        }
        else {
            matrix = new Matrix();
            meshPos = bones[0].position;
        }
        let idx = 0;
        for (let i = 0; i < len; i++) {
            const bone = bones[i];
            let points = this._debugLines[idx];
            if (bone._index === -1 || (!this._boneIndices.has(bone.getIndex()) && !this.options.useAllBones)) {
                continue;
            }
            if (!points) {
                points = [Vector3.Zero(), Vector3.Zero()];
                this._debugLines[idx] = points;
            }
            this._getBonePosition(points[0], bone, matrix);
            this._getBonePosition(points[1], bone, matrix, 0, bone.length, 0);
            points[0].subtractInPlace(meshPos);
            points[1].subtractInPlace(meshPos);
            idx++;
        }
    }
    _getLinesForBonesNoLength(bones) {
        const len = bones.length;
        let boneNum = 0;
        const mesh = this.mesh;
        let transformNode;
        let meshPos;
        if (mesh) {
            transformNode = mesh;
            meshPos = mesh.position;
        }
        else {
            transformNode = new TransformNode("");
            meshPos = bones[0].position;
        }
        for (let i = len - 1; i >= 0; i--) {
            const childBone = bones[i];
            const parentBone = childBone.getParent();
            if (!parentBone || (!this._boneIndices.has(childBone.getIndex()) && !this.options.useAllBones)) {
                continue;
            }
            let points = this._debugLines[boneNum];
            if (!points) {
                points = [Vector3.Zero(), Vector3.Zero()];
                this._debugLines[boneNum] = points;
            }
            childBone.getAbsolutePositionToRef(transformNode, points[0]);
            parentBone.getAbsolutePositionToRef(transformNode, points[1]);
            points[0].subtractInPlace(meshPos);
            points[1].subtractInPlace(meshPos);
            boneNum++;
        }
        if (!mesh) {
            transformNode.dispose();
        }
    }
    /**
     * function to revert the mesh and scene back to the initial state.
     * @param animationState
     */
    _revert(animationState) {
        if (this.options.pauseAnimations) {
            this.scene.animationsEnabled = animationState;
            this.utilityLayer.utilityLayerScene.animationsEnabled = animationState;
        }
    }
    /**
     * function to get the absolute bind pose of a bone by accumulating transformations up the bone hierarchy.
     * @param bone
     * @param matrix
     */
    _getAbsoluteBindPoseToRef(bone, matrix) {
        if (bone === null || bone._index === -1) {
            matrix.copyFrom(Matrix.Identity());
            return;
        }
        this._getAbsoluteBindPoseToRef(bone.getParent(), matrix);
        bone.getBindMatrix().multiplyToRef(matrix, matrix);
        return;
    }
    _createSpur(anchorPoint, bone, childPoint, childBone, displayOptions, utilityLayerScene) {
        const dir = childPoint.subtract(anchorPoint);
        const h = dir.length();
        const up = dir.normalize().scale(h);
        const midStep = displayOptions.midStep || 0.165;
        const midStepFactor = displayOptions.midStepFactor || 0.215;
        const up0 = up.scale(midStep);
        const spur = ExtrudeShapeCustom("skeletonViewer", {
            shape: [new Vector3(1, -1, 0), new Vector3(1, 1, 0), new Vector3(-1, 1, 0), new Vector3(-1, -1, 0), new Vector3(1, -1, 0)],
            path: [Vector3.Zero(), up0, up],
            scaleFunction: (i) => {
                switch (i) {
                    case 0:
                    case 2:
                        return 0;
                    case 1:
                        return h * midStepFactor;
                }
                return 0;
            },
            sideOrientation: Mesh.DEFAULTSIDE,
            updatable: false,
        }, utilityLayerScene);
        const numVertices = spur.getTotalVertices();
        const mwk = [], mik = [];
        for (let i = 0; i < numVertices; i++) {
            mwk.push(1, 0, 0, 0);
            // Select verts at end of spur (ie vert 10 to 14) and bind to child
            // bone if spurFollowsChild is enabled.
            if (childBone && displayOptions.spurFollowsChild && i > 9) {
                mik.push(childBone.getIndex(), 0, 0, 0);
            }
            else {
                mik.push(bone.getIndex(), 0, 0, 0);
            }
        }
        spur.position = anchorPoint.clone();
        spur.setVerticesData(VertexBuffer.MatricesWeightsKind, mwk, false);
        spur.setVerticesData(VertexBuffer.MatricesIndicesKind, mik, false);
        spur.convertToFlatShadedMesh();
        return spur;
    }
    _getBoundingSphereForBone(boneIndex) {
        if (!this.mesh) {
            return null;
        }
        const positions = this.mesh.getVerticesData(VertexBuffer.PositionKind);
        const indices = this.mesh.getIndices();
        const boneWeights = this.mesh.getVerticesData(VertexBuffer.MatricesWeightsKind);
        const boneIndices = this.mesh.getVerticesData(VertexBuffer.MatricesIndicesKind);
        if (!positions || !indices || !boneWeights || !boneIndices) {
            return null;
        }
        const min = new Vector3(Number.MAX_VALUE, Number.MAX_VALUE, Number.MAX_VALUE);
        const max = new Vector3(-Number.MAX_VALUE, -Number.MAX_VALUE, -Number.MAX_VALUE);
        let found = 0;
        for (let i = 0; i < indices.length; ++i) {
            const vertexIndex = indices[i];
            for (let b = 0; b < 4; ++b) {
                const bIndex = boneIndices[vertexIndex * 4 + b];
                const bWeight = boneWeights[vertexIndex * 4 + b];
                if (bIndex === boneIndex && bWeight > 1e-5) {
                    Vector3.FromArrayToRef(positions, vertexIndex * 3, TmpVectors.Vector3[0]);
                    min.minimizeInPlace(TmpVectors.Vector3[0]);
                    max.maximizeInPlace(TmpVectors.Vector3[0]);
                    found++;
                    break;
                }
            }
        }
        return found > 1
            ? {
                center: Vector3.Center(min, max),
                radius: Vector3.Distance(min, max) / 2,
            }
            : null;
    }
    /**
     * function to build and bind sphere joint points and spur bone representations.
     * @param spheresOnly
     */
    _buildSpheresAndSpurs(spheresOnly = true) {
        if (this._debugMesh) {
            this._debugMesh.dispose();
            this._debugMesh = null;
            this.ready = false;
        }
        this._ready = false;
        const utilityLayerScene = this.utilityLayer?.utilityLayerScene;
        const bones = this.skeleton.bones;
        const spheres = [];
        const spurs = [];
        const animationState = this.scene.animationsEnabled;
        try {
            if (this.options.pauseAnimations) {
                this.scene.animationsEnabled = false;
                utilityLayerScene.animationsEnabled = false;
            }
            if (this.options.returnToRest) {
                this.skeleton.returnToRest();
            }
            if (this.autoUpdateBonesMatrices) {
                this.skeleton.computeAbsoluteMatrices();
            }
            let longestBoneLength = Number.NEGATIVE_INFINITY;
            const displayOptions = this.options.displayOptions || {};
            for (let i = 0; i < bones.length; i++) {
                const bone = bones[i];
                if (bone._index === -1 || (!this._boneIndices.has(bone.getIndex()) && !this.options.useAllBones)) {
                    continue;
                }
                const boneAbsoluteBindPoseTransform = new Matrix();
                this._getAbsoluteBindPoseToRef(bone, boneAbsoluteBindPoseTransform);
                const anchorPoint = new Vector3();
                boneAbsoluteBindPoseTransform.decompose(undefined, undefined, anchorPoint);
                if (bone.children.length > 0) {
                    bone.children.forEach((bc) => {
                        const childAbsoluteBindPoseTransform = new Matrix();
                        bc.getLocalMatrix().multiplyToRef(boneAbsoluteBindPoseTransform, childAbsoluteBindPoseTransform);
                        const childPoint = new Vector3();
                        childAbsoluteBindPoseTransform.decompose(undefined, undefined, childPoint);
                        const distanceFromParent = Vector3.Distance(anchorPoint, childPoint);
                        if (distanceFromParent > longestBoneLength) {
                            longestBoneLength = distanceFromParent;
                        }
                        if (spheresOnly) {
                            return;
                        }
                        spurs.push(this._createSpur(anchorPoint, bone, childPoint, bc, displayOptions, utilityLayerScene));
                    });
                }
                else {
                    const boundingSphere = this._getBoundingSphereForBone(bone.getIndex());
                    if (boundingSphere) {
                        if (boundingSphere.radius > longestBoneLength) {
                            longestBoneLength = boundingSphere.radius;
                        }
                        if (!spheresOnly) {
                            let childPoint;
                            const parentBone = bone.getParent();
                            if (parentBone) {
                                this._getAbsoluteBindPoseToRef(parentBone, boneAbsoluteBindPoseTransform);
                                boneAbsoluteBindPoseTransform.decompose(undefined, undefined, TmpVectors.Vector3[0]);
                                childPoint = anchorPoint.subtract(TmpVectors.Vector3[0]).normalize().scale(boundingSphere.radius).add(anchorPoint);
                            }
                            else {
                                childPoint = boundingSphere.center.subtract(anchorPoint).normalize().scale(boundingSphere.radius).add(anchorPoint);
                            }
                            spurs.push(this._createSpur(anchorPoint, bone, childPoint, null, displayOptions, utilityLayerScene));
                        }
                    }
                }
                const sphereBaseSize = displayOptions.sphereBaseSize || 0.2;
                const sphere = CreateSphere("skeletonViewer", {
                    segments: 6,
                    diameter: sphereBaseSize,
                    updatable: true,
                }, utilityLayerScene);
                const numVertices = sphere.getTotalVertices();
                const mwk = [], mik = [];
                for (let i = 0; i < numVertices; i++) {
                    mwk.push(1, 0, 0, 0);
                    mik.push(bone.getIndex(), 0, 0, 0);
                }
                sphere.setVerticesData(VertexBuffer.MatricesWeightsKind, mwk, false);
                sphere.setVerticesData(VertexBuffer.MatricesIndicesKind, mik, false);
                sphere.position = anchorPoint.clone();
                spheres.push([sphere, bone]);
            }
            const sphereScaleUnit = displayOptions.sphereScaleUnit || 2;
            const sphereFactor = displayOptions.sphereFactor || 0.85;
            const meshes = [];
            for (let i = 0; i < spheres.length; i++) {
                const [sphere, bone] = spheres[i];
                const scale = 1 / (sphereScaleUnit / longestBoneLength);
                let _stepsOut = 0;
                let _b = bone;
                while (_b.getParent() && _b.getParent().getIndex() !== -1) {
                    _stepsOut++;
                    _b = _b.getParent();
                }
                sphere.scaling.scaleInPlace(scale * Math.pow(sphereFactor, _stepsOut));
                meshes.push(sphere);
            }
            this.debugMesh = Mesh.MergeMeshes(meshes.concat(spurs), true, true);
            if (this.debugMesh) {
                this.debugMesh.renderingGroupId = this.renderingGroupId;
                this.debugMesh.skeleton = this.skeleton;
                this.debugMesh.parent = this.mesh;
                this.debugMesh.computeBonesUsingShaders = this.options.computeBonesUsingShaders ?? true;
                this.debugMesh.alwaysSelectAsActiveMesh = true;
            }
            const light = this.utilityLayer._getSharedGizmoLight();
            light.intensity = 0.7;
            this._revert(animationState);
            this.ready = true;
        }
        catch (err) {
            Logger.Error(err);
            this._revert(animationState);
            this.dispose();
        }
    }
    _buildLocalAxes() {
        if (this._localAxes) {
            this._localAxes.dispose();
        }
        this._localAxes = null;
        const displayOptions = this.options.displayOptions || {};
        if (!displayOptions.showLocalAxes) {
            return;
        }
        const targetScene = this._utilityLayer.utilityLayerScene;
        const size = displayOptions.localAxesSize || 0.075;
        const lines = [];
        const colors = [];
        const red = new Color4(1, 0, 0, 1);
        const green = new Color4(0, 1, 0, 1);
        const blue = new Color4(0, 0, 1, 1);
        const mwk = [];
        const mik = [];
        const vertsPerBone = 6;
        for (const i in this.skeleton.bones) {
            const bone = this.skeleton.bones[i];
            if (bone._index === -1 || (!this._boneIndices.has(bone.getIndex()) && !this.options.useAllBones)) {
                continue;
            }
            const boneAbsoluteBindPoseTransform = new Matrix();
            const boneOrigin = new Vector3();
            this._getAbsoluteBindPoseToRef(bone, boneAbsoluteBindPoseTransform);
            boneAbsoluteBindPoseTransform.decompose(undefined, TmpVectors.Quaternion[0], boneOrigin);
            const m = new Matrix();
            TmpVectors.Quaternion[0].toRotationMatrix(m);
            const boneAxisX = Vector3.TransformCoordinates(new Vector3(0 + size, 0, 0), m);
            const boneAxisY = Vector3.TransformCoordinates(new Vector3(0, 0 + size, 0), m);
            const boneAxisZ = Vector3.TransformCoordinates(new Vector3(0, 0, 0 + size), m);
            const axisX = [boneOrigin, boneOrigin.add(boneAxisX)];
            const axisY = [boneOrigin, boneOrigin.add(boneAxisY)];
            const axisZ = [boneOrigin, boneOrigin.add(boneAxisZ)];
            const linePoints = [axisX, axisY, axisZ];
            const lineColors = [
                [red, red],
                [green, green],
                [blue, blue],
            ];
            lines.push(...linePoints);
            colors.push(...lineColors);
            for (let j = 0; j < vertsPerBone; j++) {
                mwk.push(1, 0, 0, 0);
                mik.push(bone.getIndex(), 0, 0, 0);
            }
        }
        this._localAxes = CreateLineSystem("localAxes", { lines: lines, colors: colors, updatable: true }, targetScene);
        this._localAxes.setVerticesData(VertexBuffer.MatricesWeightsKind, mwk, false);
        this._localAxes.setVerticesData(VertexBuffer.MatricesIndicesKind, mik, false);
        this._localAxes.skeleton = this.skeleton;
        this._localAxes.renderingGroupId = this.renderingGroupId + 1;
        this._localAxes.parent = this.mesh;
        this._localAxes.computeBonesUsingShaders = this.options.computeBonesUsingShaders ?? true;
    }
    /** Update the viewer to sync with current skeleton state, only used for the line display. */
    _displayLinesUpdate() {
        if (!this._utilityLayer) {
            return;
        }
        if (this.autoUpdateBonesMatrices) {
            this.skeleton.computeAbsoluteMatrices();
        }
        if (this.skeleton.bones[0].length === undefined) {
            this._getLinesForBonesNoLength(this.skeleton.bones);
        }
        else {
            this._getLinesForBonesWithLength(this.skeleton.bones, this.mesh);
        }
        const targetScene = this._utilityLayer.utilityLayerScene;
        if (targetScene) {
            if (!this._debugMesh) {
                this._debugMesh = CreateLineSystem("", { lines: this._debugLines, updatable: true, instance: null }, targetScene);
                this._debugMesh.renderingGroupId = this.renderingGroupId;
            }
            else {
                CreateLineSystem("", { lines: this._debugLines, updatable: true, instance: this._debugMesh }, targetScene);
            }
            if (this.mesh) {
                this._debugMesh.position.copyFrom(this.mesh.position);
            }
            else {
                this._debugMesh.position.copyFrom(this.skeleton.bones[0].position);
            }
            this._debugMesh.color = this.color;
        }
    }
    /** Changes the displayMode of the skeleton viewer
     * @param mode The displayMode numerical value
     */
    changeDisplayMode(mode) {
        const wasEnabled = this.isEnabled ? true : false;
        if (this.displayMode !== mode) {
            this.isEnabled = false;
            if (this._debugMesh) {
                this._debugMesh.dispose();
                this._debugMesh = null;
                this.ready = false;
            }
            this.displayMode = mode;
            this.update();
            this._bindObs();
            this.isEnabled = wasEnabled;
        }
    }
    /** Sets a display option of the skeleton viewer
     *
     * | Option           | Type    | Default | Description |
     * | ---------------- | ------- | ------- | ----------- |
     * | midStep          | float   | 0.235   | A percentage between a bone and its child that determines the widest part of a spur. Only used when `displayMode` is set to `DISPLAY_SPHERE_AND_SPURS`. |
     * | midStepFactor    | float   | 0.15    | Mid step width expressed as a factor of the length. A value of 0.5 makes the spur width half of the spur length. Only used when `displayMode` is set to `DISPLAY_SPHERE_AND_SPURS`. |
     * | sphereBaseSize   | float   | 2       | Sphere base size. Only used when `displayMode` is set to `DISPLAY_SPHERE_AND_SPURS`. |
     * | sphereScaleUnit  | float   | 0.865   | Sphere scale factor used to scale spheres in relation to the longest bone. Only used when `displayMode` is set to `DISPLAY_SPHERE_AND_SPURS`. |
     * | spurFollowsChild | boolean | false   | Whether a spur should attach its far end to the child bone. |
     * | showLocalAxes    | boolean | false   | Displays local axes on all bones. |
     * | localAxesSize    | float   | 0.075   | Determines the length of each local axis. |
     *
     * @param option String of the option name
     * @param value The numerical option value
     */
    changeDisplayOptions(option, value) {
        const wasEnabled = this.isEnabled ? true : false;
        this.options.displayOptions[option] = value;
        this.isEnabled = false;
        if (this._debugMesh) {
            this._debugMesh.dispose();
            this._debugMesh = null;
            this.ready = false;
        }
        this.update();
        this._bindObs();
        this.isEnabled = wasEnabled;
    }
    /** Release associated resources */
    dispose() {
        this.isEnabled = false;
        if (this._debugMesh) {
            this._debugMesh.dispose();
            this._debugMesh = null;
        }
        if (this._utilityLayer) {
            this._utilityLayer.dispose();
            this._utilityLayer = null;
        }
        this.ready = false;
    }
}
/** public Display constants BABYLON.SkeletonViewer.DISPLAY_LINES */
SkeletonViewer.DISPLAY_LINES = 0;
/** public Display constants BABYLON.SkeletonViewer.DISPLAY_SPHERES */
SkeletonViewer.DISPLAY_SPHERES = 1;
/** public Display constants BABYLON.SkeletonViewer.DISPLAY_SPHERE_AND_SPURS */
SkeletonViewer.DISPLAY_SPHERE_AND_SPURS = 2;
//# sourceMappingURL=skeletonViewer.js.map