"""
Minimal pure-Python FBX binary reader for extracting skeleton animation data.

Parses FBX binary format to extract:
- Node hierarchy (skeleton tree)
- Animation curves (rotation, translation per bone)
- Rest pose (bind pose)

Then converts to our BVH-like internal format for further processing.

Reference: https://code.blender.org/2013/08/fbx-binary-file-format-specification/
"""

import struct
import zlib
import numpy as np
from pathlib import Path
from dataclasses import dataclass, field
from typing import Optional, Any


# ============================================================
# FBX Binary Parser
# ============================================================

@dataclass
class FBXNode:
    name: str
    properties: list = field(default_factory=list)
    children: list = field(default_factory=list)

    def find(self, name: str) -> Optional['FBXNode']:
        for c in self.children:
            if c.name == name:
                return c
        return None

    def find_all(self, name: str) -> list['FBXNode']:
        return [c for c in self.children if c.name == name]


def read_fbx(filepath: str | Path) -> FBXNode:
    """Read an FBX binary file and return the root node."""
    with open(filepath, 'rb') as f:
        data = f.read()

    # Check magic
    magic = b'Kaydara FBX Binary  \x00'
    if not data[:len(magic)] == magic:
        raise ValueError("Not a valid FBX binary file")

    # Version
    version = struct.unpack_from('<I', data, 23)[0]

    # Parse nodes
    offset = 27
    root = FBXNode(name='__root__')

    if version >= 7500:
        sentinel_size = 25  # 64-bit offsets
    else:
        sentinel_size = 13  # 32-bit offsets

    while offset < len(data) - sentinel_size:
        node, offset = _read_node(data, offset, version)
        if node is None:
            break
        root.children.append(node)

    return root


def _read_node(data: bytes, offset: int, version: int) -> tuple[Optional[FBXNode], int]:
    """Read a single FBX node."""
    if version >= 7500:
        end_offset = struct.unpack_from('<Q', data, offset)[0]
        num_props = struct.unpack_from('<Q', data, offset + 8)[0]
        props_len = struct.unpack_from('<Q', data, offset + 16)[0]
        name_len = data[offset + 24]
        name = data[offset + 25:offset + 25 + name_len].decode('ascii', errors='replace')
        offset = offset + 25 + name_len
    else:
        end_offset = struct.unpack_from('<I', data, offset)[0]
        num_props = struct.unpack_from('<I', data, offset + 4)[0]
        props_len = struct.unpack_from('<I', data, offset + 8)[0]
        name_len = data[offset + 12]
        name = data[offset + 13:offset + 13 + name_len].decode('ascii', errors='replace')
        offset = offset + 13 + name_len

    if end_offset == 0:
        return None, offset

    # Read properties
    props = []
    props_end = offset + props_len
    for _ in range(num_props):
        prop, offset = _read_property(data, offset)
        props.append(prop)

    node = FBXNode(name=name, properties=props)

    # Read children
    sentinel = b'\x00' * (25 if version >= 7500 else 13)
    while offset < end_offset:
        if data[offset:offset + len(sentinel)] == sentinel:
            offset += len(sentinel)
            break
        child, offset = _read_node(data, offset, version)
        if child is None:
            break
        node.children.append(child)

    offset = max(offset, end_offset)
    return node, offset


def _read_property(data: bytes, offset: int) -> tuple[Any, int]:
    """Read a single FBX property value."""
    type_code = chr(data[offset])
    offset += 1

    if type_code == 'Y':  # int16
        val = struct.unpack_from('<h', data, offset)[0]
        return val, offset + 2
    elif type_code == 'C':  # bool
        val = data[offset] != 0
        return val, offset + 1
    elif type_code == 'I':  # int32
        val = struct.unpack_from('<i', data, offset)[0]
        return val, offset + 4
    elif type_code == 'F':  # float32
        val = struct.unpack_from('<f', data, offset)[0]
        return val, offset + 4
    elif type_code == 'D':  # float64
        val = struct.unpack_from('<d', data, offset)[0]
        return val, offset + 8
    elif type_code == 'L':  # int64
        val = struct.unpack_from('<q', data, offset)[0]
        return val, offset + 8
    elif type_code == 'S':  # string
        length = struct.unpack_from('<I', data, offset)[0]
        val = data[offset + 4:offset + 4 + length].decode('utf-8', errors='replace')
        return val, offset + 4 + length
    elif type_code == 'R':  # raw bytes
        length = struct.unpack_from('<I', data, offset)[0]
        val = data[offset + 4:offset + 4 + length]
        return val, offset + 4 + length
    elif type_code in ('f', 'd', 'l', 'i', 'b'):
        # Array types
        arr_len = struct.unpack_from('<I', data, offset)[0]
        encoding = struct.unpack_from('<I', data, offset + 4)[0]
        comp_len = struct.unpack_from('<I', data, offset + 8)[0]
        offset += 12

        raw = data[offset:offset + comp_len]
        if encoding == 1:
            raw = zlib.decompress(raw)

        dtype_map = {'f': '<f4', 'd': '<f8', 'l': '<i8', 'i': '<i4', 'b': 'bool'}
        arr = np.frombuffer(raw, dtype=dtype_map[type_code])[:arr_len]
        return arr, offset + comp_len
    else:
        raise ValueError(f"Unknown FBX property type: {type_code}")


# ============================================================
# FBX → Skeleton + Animation extraction
# ============================================================

def extract_skeleton_and_animation(fbx_root: FBXNode) -> dict:
    """
    Extract skeleton hierarchy and animation data from parsed FBX.

    Returns dict with:
        - joint_names: list[str]
        - parent_indices: list[int]
        - rest_offsets: [J, 3]
        - rotations: [T, J, 3] Euler degrees
        - root_positions: [T, 3]
        - fps: float
    """
    objects = fbx_root.find('Objects')
    if objects is None:
        raise ValueError("No Objects section in FBX")

    # Find all Model nodes (bones/joints)
    models = {}
    for node in objects.children:
        if node.name == 'Model':
            model_id = node.properties[0] if node.properties else None
            model_name = str(node.properties[1]).split('\x00')[0] if len(node.properties) > 1 else ''
            model_type = str(node.properties[2]) if len(node.properties) > 2 else ''

            if 'LimbNode' in model_type or 'Root' in model_type or 'Null' in model_type:
                # Extract local translation
                local_trans = np.zeros(3)
                props70 = node.find('Properties70')
                if props70:
                    for p in props70.children:
                        if p.name == 'P' and p.properties and str(p.properties[0]) == 'Lcl Translation':
                            local_trans = np.array([
                                float(p.properties[4]),
                                float(p.properties[5]),
                                float(p.properties[6]),
                            ])

                models[model_id] = {
                    'name': model_name,
                    'type': model_type,
                    'translation': local_trans,
                }

    # Find connections to build parent-child hierarchy
    connections = fbx_root.find('Connections')
    parent_map = {}  # child_id → parent_id
    if connections:
        for c in connections.children:
            if c.name == 'C' and c.properties and str(c.properties[0]) == 'OO':
                child_id = c.properties[1]
                parent_id = c.properties[2]
                if child_id in models and parent_id in models:
                    parent_map[child_id] = parent_id

    # Build ordered joint list (BFS from roots)
    roots = [mid for mid in models if mid not in parent_map]
    if not roots:
        raise ValueError("No root bones found")

    joint_names = []
    parent_indices = []
    rest_offsets = []
    id_to_idx = {}

    queue = [(rid, -1) for rid in roots]
    while queue:
        mid, pidx = queue.pop(0)
        idx = len(joint_names)
        id_to_idx[mid] = idx
        joint_names.append(models[mid]['name'])
        parent_indices.append(pidx)
        rest_offsets.append(models[mid]['translation'])

        # Find children
        for child_id, par_id in parent_map.items():
            if par_id == mid:
                queue.append((child_id, idx))

    rest_offsets = np.array(rest_offsets, dtype=np.float32)

    # Extract animation curves
    anim_layers = []
    for node in objects.children:
        if node.name == 'AnimationLayer':
            anim_layers.append(node)

    # Find AnimationCurveNode → Model connections
    anim_curve_nodes = {}
    for node in objects.children:
        if node.name == 'AnimationCurveNode':
            acn_id = node.properties[0] if node.properties else None
            acn_name = str(node.properties[1]).split('\x00')[0] if len(node.properties) > 1 else ''
            anim_curve_nodes[acn_id] = {'name': acn_name, 'curves': {}}

    # Find AnimationCurve data
    anim_curves = {}
    for node in objects.children:
        if node.name == 'AnimationCurve':
            ac_id = node.properties[0] if node.properties else None
            key_time = None
            key_value = None
            for child in node.children:
                if child.name == 'KeyTime' and child.properties:
                    key_time = child.properties[0]
                elif child.name == 'KeyValueFloat' and child.properties:
                    key_value = child.properties[0]
            if key_time is not None and key_value is not None:
                anim_curves[ac_id] = {
                    'times': np.array(key_time, dtype=np.int64),
                    'values': np.array(key_value, dtype=np.float64),
                }

    # Link curves to bones via connections
    # Connection: AnimationCurve → AnimationCurveNode → Model
    acn_to_model = {}  # acn_id → (model_id, property_name)
    ac_to_acn = {}     # ac_id → (acn_id, channel_idx)

    if connections:
        for c in connections.children:
            if c.name == 'C' and len(c.properties) >= 3:
                ctype = str(c.properties[0])
                child_id = c.properties[1]
                parent_id = c.properties[2]

                if ctype == 'OO':
                    if child_id in anim_curve_nodes and parent_id in models:
                        prop_name = anim_curve_nodes[child_id]['name']
                        acn_to_model[child_id] = (parent_id, prop_name)
                    elif child_id in anim_curves and parent_id in anim_curve_nodes:
                        ac_to_acn[child_id] = parent_id
                elif ctype == 'OP':
                    if child_id in anim_curves and parent_id in anim_curve_nodes:
                        channel = str(c.properties[3]) if len(c.properties) > 3 else ''
                        ac_to_acn[child_id] = parent_id
                        anim_curve_nodes[parent_id]['curves'][channel] = child_id

    # Determine frame count and FPS
    all_times = set()
    for ac_id, ac_data in anim_curves.items():
        for t in ac_data['times']:
            all_times.add(int(t))

    if not all_times:
        # No animation, return rest pose
        return {
            'joint_names': joint_names,
            'parent_indices': parent_indices,
            'rest_offsets': rest_offsets,
            'rotations': np.zeros((1, len(joint_names), 3), dtype=np.float32),
            'root_positions': rest_offsets[0:1].copy(),
            'fps': 30.0,
        }

    sorted_times = sorted(all_times)
    fbx_ticks_per_sec = 46186158000  # FBX time unit
    if len(sorted_times) > 1:
        dt = sorted_times[1] - sorted_times[0]
        fps = fbx_ticks_per_sec / dt if dt > 0 else 30.0
    else:
        fps = 30.0

    T = len(sorted_times)
    time_to_frame = {t: i for i, t in enumerate(sorted_times)}

    # Build rotation and position arrays
    J = len(joint_names)
    rotations = np.zeros((T, J, 3), dtype=np.float64)
    positions = np.tile(rest_offsets, (T, 1, 1)).astype(np.float64)

    for acn_id, acn_data in anim_curve_nodes.items():
        if acn_id not in acn_to_model:
            continue
        model_id, prop_name = acn_to_model[acn_id]
        if model_id not in id_to_idx:
            continue
        j = id_to_idx[model_id]

        for channel_key, ac_id in acn_data['curves'].items():
            if ac_id not in anim_curves:
                continue
            ac_data = anim_curves[ac_id]

            # Determine axis
            axis = -1
            ck = channel_key.lower()
            if 'x' in ck or ck == 'd|x':
                axis = 0
            elif 'y' in ck or ck == 'd|y':
                axis = 1
            elif 'z' in ck or ck == 'd|z':
                axis = 2

            if axis < 0:
                continue

            # Fill in values
            for t_val, v_val in zip(ac_data['times'], ac_data['values']):
                t_int = int(t_val)
                if t_int in time_to_frame:
                    f = time_to_frame[t_int]
                    if 'rotation' in prop_name.lower() or 'Lcl Rotation' in prop_name:
                        rotations[f, j, axis] = v_val
                    elif 'translation' in prop_name.lower() or 'Lcl Translation' in prop_name:
                        positions[f, j, axis] = v_val

    root_positions = positions[:, 0, :]

    return {
        'joint_names': joint_names,
        'parent_indices': parent_indices,
        'rest_offsets': rest_offsets,
        'rotations': rotations.astype(np.float32),
        'root_positions': root_positions.astype(np.float32),
        'fps': float(fps),
    }


def fbx_to_bvh_data(filepath: str | Path) -> dict:
    """
    High-level: read FBX file and return data compatible with our BVH pipeline.
    """
    fbx_root = read_fbx(filepath)
    return extract_skeleton_and_animation(fbx_root)