use anyhow::{bail, ensure};
use glam::{Affine3A, Quat, Vec3};
use openxr as xr;
use xr::OverlaySessionCreateFlagsEXTX;

pub(super) fn init_xr() -> Result<(xr::Instance, xr::SystemId), anyhow::Error> {
    let Ok(entry) = (unsafe { xr::Entry::load() }) else {
        bail!("OpenXR Loader not found.");
    };

    let Ok(available_extensions) = entry.enumerate_extensions() else {
        bail!("Failed to enumerate OpenXR extensions.");
    };
    ensure!(
        available_extensions.khr_vulkan_enable2,
        "Missing KHR_vulkan_enable2 extension."
    );
    ensure!(
        available_extensions.extx_overlay,
        "Missing EXTX_overlay extension."
    );

    let mut enabled_extensions = xr::ExtensionSet::default();
    enabled_extensions.khr_vulkan_enable2 = true;
    enabled_extensions.extx_overlay = true;

    //#[cfg(not(debug_assertions))]
    let layers = [];
    //#[cfg(debug_assertions)]
    //let layers = [
    //    "XR_APILAYER_LUNARG_api_dump",
    //    "XR_APILAYER_LUNARG_standard_validation",
    //];

    let Ok(xr_instance) = entry.create_instance(
        &xr::ApplicationInfo {
            application_name: "wlx-overlay-s",
            application_version: 0,
            engine_name: "wlx-overlay-s",
            engine_version: 0,
        },
        &enabled_extensions,
        &layers,
    ) else {
        bail!("Failed to create OpenXR instance.");
    };

    let Ok(instance_props) = xr_instance.properties() else {
        bail!("Failed to query OpenXR instance properties.");
    };
    log::info!(
        "Using OpenXR runtime: {} {}",
        instance_props.runtime_name,
        instance_props.runtime_version
    );

    let Ok(system) = xr_instance.system(xr::FormFactor::HEAD_MOUNTED_DISPLAY) else {
        bail!("Failed to access OpenXR HMD system.");
    };

    let vk_target_version_xr = xr::Version::new(1, 1, 0);

    let Ok(reqs) = xr_instance.graphics_requirements::<xr::Vulkan>(system) else {
        bail!("Failed to query OpenXR Vulkan requirements.");
    };

    if vk_target_version_xr < reqs.min_api_version_supported
        || vk_target_version_xr.major() > reqs.max_api_version_supported.major()
    {
        bail!(
            "OpenXR runtime requires Vulkan version > {}, < {}.0.0",
            reqs.min_api_version_supported,
            reqs.max_api_version_supported.major() + 1
        );
    }

    Ok((xr_instance, system))
}
pub(super) unsafe fn create_overlay_session(
    instance: &xr::Instance,
    system: xr::SystemId,
    info: &xr::vulkan::SessionCreateInfo,
) -> Result<xr::sys::Session, xr::sys::Result> {
    let overlay = xr::sys::SessionCreateInfoOverlayEXTX {
        ty: xr::sys::SessionCreateInfoOverlayEXTX::TYPE,
        next: std::ptr::null(),
        create_flags: OverlaySessionCreateFlagsEXTX::EMPTY,
        session_layers_placement: 5,
    };
    let binding = xr::sys::GraphicsBindingVulkanKHR {
        ty: xr::sys::GraphicsBindingVulkanKHR::TYPE,
        next: &overlay as *const _ as *const _,
        instance: info.instance,
        physical_device: info.physical_device,
        device: info.device,
        queue_family_index: info.queue_family_index,
        queue_index: info.queue_index,
    };
    let info = xr::sys::SessionCreateInfo {
        ty: xr::sys::SessionCreateInfo::TYPE,
        next: &binding as *const _ as *const _,
        create_flags: Default::default(),
        system_id: system,
    };
    let mut out = xr::sys::Session::NULL;
    let x = (instance.fp().create_session)(instance.as_raw(), &info, &mut out);
    if x.into_raw() >= 0 {
        Ok(out)
    } else {
        Err(x)
    }
}

pub(super) fn hmd_pose_from_views(views: &[xr::View]) -> Affine3A {
    let pos = {
        let pos0: Vec3 = unsafe { std::mem::transmute(views[0].pose.position) };
        let pos1: Vec3 = unsafe { std::mem::transmute(views[1].pose.position) };
        (pos0 + pos1) * 0.5
    };
    let rot = {
        let rot0 = unsafe { std::mem::transmute(views[0].pose.orientation) };
        let rot1 = unsafe { std::mem::transmute(views[1].pose.orientation) };
        quat_lerp(rot0, rot1, 0.5)
    };

    Affine3A::from_rotation_translation(rot, pos)
}

fn quat_lerp(a: Quat, mut b: Quat, t: f32) -> Quat {
    let l2 = a.dot(b);
    if l2 < 0.0 {
        b = -b;
    }

    Quat::from_xyzw(
        a.x - t * (a.x - b.x),
        a.y - t * (a.y - b.y),
        a.z - t * (a.z - b.z),
        a.w - t * (a.w - b.w),
    )
    .normalize()
}

pub(super) fn transform_to_posef(transform: &Affine3A) -> xr::Posef {
    let translation = transform.translation;
    let norm_mat3 = transform
        .matrix3
        .mul_scalar(1.0 / transform.matrix3.x_axis.length());
    let mut rotation = Quat::from_mat3a(&norm_mat3).normalize();
    if !rotation.is_finite() {
        rotation = Quat::IDENTITY;
    }

    xr::Posef {
        orientation: xr::Quaternionf {
            x: rotation.x,
            y: rotation.y,
            z: rotation.z,
            w: rotation.w,
        },
        position: xr::Vector3f {
            x: translation.x,
            y: translation.y,
            z: translation.z,
        },
    }
}