import {z} from 'zod'

export type TreeSweepParameters = {sweep_type: 'tree', base_prim_path?: string | undefined};

export type SphereSweepParameters = {sweep_type: 'sphere', radius?: number | undefined, position?: Array<number> | undefined, direction?: Array<number> | undefined, max_distance?: number | undefined};

export type BoxSweepParameters = {sweep_type: 'box', half_extent?: Array<number> | undefined, sphere_radius?: number | undefined, position?: Array<number> | undefined, rotation?: Array<number> | undefined, direction?: Array<number> | undefined, max_distance?: number | undefined};

export type CreateApiPhysicsCollisionSweepArgs = {relative_to_prim?: (string | null) | undefined, body: TreeSweepParameters | SphereSweepParameters | BoxSweepParameters};

export type CreateApiPhysicsCollisionSweepOptions = {baseUrl: string, fetch?: typeof fetch | undefined};

export const convexHull = z.object({shape_type: z.literal("convex_hull").optional(), vertices: z.array(z.array(z.number()))});

export const sphere = z.object({shape_type: z.literal("sphere").optional(), radius: z.number()});

export const box = z.object({shape_type: z.literal("box").optional(), size_x: z.number(), size_y: z.number(), size_z: z.number(), box_type: z.literal("FULL").optional()});

export const capsule = z.object({shape_type: z.literal("capsule").optional(), radius: z.number(), height: z.number()});

export const cylinder = z.object({shape_type: z.literal("cylinder").optional(), radius: z.number(), height: z.number()});

export const plane = z.object({shape_type: z.literal("plane").optional()});

export const pose = z.object({position: z.array(z.union([z.number(), z.number().int()])).nullable().optional(), orientation: z.array(z.union([z.number(), z.number().int()])).nullable().optional()});

export const collider = z.object({shape: z.union([convexHull, sphere, box, capsule, cylinder, plane]), pose: pose, prim_path: z.string()});

export const createApiPhysicsCollisionSweepResponse = z.record(z.string(), collider);

export const validateResponse = async <Output>(
  schema: {
    readonly '~standard': {
      readonly validate: (value: unknown) => ({ readonly value: Output; readonly issues?: undefined } | { readonly issues: ReadonlyArray<{ readonly message: string; readonly path?: ReadonlyArray<PropertyKey | { readonly key: PropertyKey }> | undefined }> }) | Promise<{ readonly value: Output; readonly issues?: undefined } | { readonly issues: ReadonlyArray<{ readonly message: string; readonly path?: ReadonlyArray<PropertyKey | { readonly key: PropertyKey }> | undefined }> }>
    }
  },
  value: unknown
): Promise<Output> => {
  const result = await schema['~standard'].validate(value)

  if (result.issues !== undefined) {
    const detail = result.issues
      .map(({ message, path }) =>
        path?.length
          ? `${path.map((segment) => String(typeof segment === 'object' ? segment.key : segment)).join('.')}: ${message}`
          : message
      )
      .join('; ')

    throw new Error(`Response does not match the schema: ${detail}`, { cause: { issues: result.issues } })
  }

  return result.value
};

/**
 * Sweep Collisions
 * 
 * POST /physics/collision/sweep
 */
export const createApiPhysicsCollisionSweep = async (args: CreateApiPhysicsCollisionSweepArgs, options: CreateApiPhysicsCollisionSweepOptions) => {
const {baseUrl, fetch: fetchFn = fetch} = options ?? {}

const query = new URLSearchParams()
const headers = new Headers()
headers.set('content-type', "application/json")
headers.set('accept', "application/json")

if (args.relative_to_prim != null) query.append("relative_to_prim", String(args.relative_to_prim))

const url = `${baseUrl.replace(/\/+$/, '')}/physics/collision/sweep${query.size > 0 ? `?${query}` : ''}`

const res = await fetchFn(url, {method: "POST", headers, body: JSON.stringify(args.body)})

if (!res.ok) throw new Error(`Request failed with status ${res.status}`, {cause: {status: res.status, body: await res.text()}})

return validateResponse(createApiPhysicsCollisionSweepResponse, await res.json())
};