/* 左栏交互：关节滑块、零件树、紧固件分组、BOM 与抽屉、工具条 */
/* ---- UI: joint sliders ----
   滑块范围 = 电机行程 ±360°（docs/collide.json 的 motor_limit_deg；原 ±106° 作废）。
   能拖到哪由几何说话：相邻件实测自由区间（与姿态无关）封顶，跨组零件对由胶囊碰撞
   模型按当前姿态实时夹取（见 ik-glue 的 IK.clampAxis）；docs/travel.json 的零位静态
   扫描值只作 tooltip 参考——它是"其它轴全零"时对固定立柱的一次性结果，随姿态大变。 */
const JNAMES = ['J1','J2','J3','J4','J5','J6'];
const MOTOR = (typeof COLLIDE !== 'undefined' && COLLIDE.motor_limit_deg) || 360;
const jh = document.getElementById('joints');
for (const id of JNAMES) {
  const j = JO.find(q => q.id === id); if (!j) continue;
  const t = TL[id] || {lo:-180, hi:180, continuous:true, note:'360°旋转'};
  const lo = -MOTOR, hi = MOTOR;
  const d = document.createElement('div');
  d.className = 'j-box';
  d.innerHTML = '<div class="row"><label title="' + t.note +
    '（电机行程 ±' + MOTOR + '°＝滑块范围；零位静态扫描 ' + Math.floor(t.lo) + '°…' + Math.ceil(t.hi) +
    '°仅作参考，实际边界随姿态由碰撞模型实时夹取。双击复位 0°）">' +
    id + ' ' + j.cn +
    (t.continuous ? ' <em class="ok" id="e' + id + '">整周可用</em>' : ' <em id="e' + id + '">' + lo + '°…' + hi + '°</em>') +
    '</label><span class="j-val" id="v' + id + '" title="点击复位为 0°">0°</span></div>' +
    '<input type="range" id="s' + id + '" min="' + lo + '" max="' + hi + '" value="0">';
  jh.appendChild(d);
  const inp = d.querySelector('input');
  inp.oninput = ev => {
    let v = +ev.target.value;
    if (window.IK && IK.clampAxis) {                 // 动态限位夹取（glue 加载后才生效）
      const c = IK.clampAxis(id, v);
      if (c !== v) { v = c; ev.target.value = c; }   // 滑块头停在真实边界上
    }
    ang[id] = v;
    document.getElementById('v'+id).textContent = v + '°';
    for (const q of JNAMES) applyJoint(q);
  };
  d.querySelector('.j-val').onclick = () => { inp.value = 0; inp.dispatchEvent(new Event('input')); };
  d.querySelector('label').ondblclick = () => { inp.value = 0; inp.dispatchEvent(new Event('input')); };
  inp.onchange = () => {                       // 松手后异步刷新动态范围标签（拖拽中不刷，避免卡顿）
    if (window.IK && IK.refreshJointLabels) setTimeout(() => IK.refreshJointLabels(
      ['J1','J2','J3','J4','J5','J6'].map(x => (document.getElementById('s'+x) || {}).value || 0)), 0);
  };
  applyJoint(id);
}
const bRstJ = document.getElementById('resetJoints');
if (bRstJ) bRstJ.onclick = () => {
  for (const id of JNAMES) {
    const el = document.getElementById('s' + id);
    if (el) { el.value = 0; el.dispatchEvent(new Event('input')); }
  }
};
/* ---- UI: part tree ---- */
const th = document.getElementById('tree');
const groups = [['可达包络（运动学）', m => m.userData.name.slice(0,4) === 'ENV_'],
                ['打印件（新建）', m => m.userData.printed],
                ['电机模组（复用）', m => !m.userData.printed && m.userData.name[0]==='M'],
                ['端面齿联轴器/抱箍（已有）', m => !m.userData.printed && !m.userData.screw && m.userData.name[0]!=='M' && m.userData.name.slice(0,4) !== 'ENV_']];
for (const [gt, test] of groups) {
  const ms = meshes.filter(test); if (!ms.length) continue;
  const h = document.createElement('div'); h.className = 'gr'; h.textContent = gt + ' · ' + ms.length;
  th.appendChild(h);
  for (const m of ms) {
    const p = m.userData;
    const r = document.createElement('div'); r.className = 'row';
    r.innerHTML = '<input type="checkbox" checked><span class="chip" style="background:#' +
      p.color.toString(16).padStart(6,'0') + '"></span><label title="' + p.name + '">' +
      '<span class="' + (p.printed?'pr':(p.name[0]==='M'?'mo':'ex')) + '">' + p.cn + '</span></label>' +
      '<span class="q">#' + p.idx + '</span>';
    const chk = r.querySelector('input');
    m.chk = chk;
    chk.onchange = e => {
      m.visible = e.target.checked;
      if (!m.visible && m === sel) { m.material.emissive.setHex(0); sel = null; }
      requestRender();
    };
    r.querySelector('label').onclick = () => {
      m.visible = !m.visible;
      chk.checked = m.visible;
      if (!m.visible && m === sel) { m.material.emissive.setHex(0); sel = null; }
      requestRender();
    };
    th.appendChild(r);
  }
}
/* ---- 紧固件（螺钉）分组：按规格聚合，一行 = 一种规格，勾选/点击作用于该规格全部实例 ---- */
const scrAll = meshes.filter(m => m.userData.screw);
const bySpec = {}, specChk = {};
for (const m of scrAll) (bySpec[m.userData.spec] = bySpec[m.userData.spec] || []).push(m);
if (scrAll.length) {
  const h = document.createElement('div'); h.className = 'gr';
  h.textContent = '紧固件 / 螺钉（按规格聚合） · ' + Object.keys(bySpec).length + ' 种 ' +
    scrAll.length + ' 颗（点击名称定位）';
  th.appendChild(h);
  for (const sid of Object.keys(bySpec).sort()) {
    const ms = bySpec[sid], p0 = ms[0].userData;
    const r = document.createElement('div'); r.className = 'row';
    r.innerHTML = '<input type="checkbox" checked><span class="chip" style="background:#' +
      p0.color.toString(16).padStart(6,'0') + '"></span><label>' +
      '<span class="ex">' + sid + ' ' + p0.cn.split(' · ')[0] + '</span></label>' +
      '<span class="q">' + ms.length + ' 颗</span>';
    const chk = r.querySelector('input');
    specChk[sid] = chk;
    chk.onchange = e => {
      for (const m of ms) {
        m.visible = e.target.checked;
        if (!m.visible && m === sel) { sel.material.emissive.setHex(0); sel = null; }
      }
      requestRender();
    };
    r.querySelector('label').onclick = () => highlightSpec(sid);
    for (const m of ms) m.chk = chk;
    th.appendChild(r);
  }
}
document.getElementById('allOn').onclick = () => {
  meshes.forEach(m => {
    m.visible = true;
    if (m.chk) m.chk.checked = true;
  });
  bEnv.classList.toggle('on', meshes.some(m => m.userData.name.slice(0,4) === 'ENV_' && m.visible));
  requestRender();
};
document.getElementById('allOff').onclick = () => {
  meshes.forEach(m => {
    m.visible = false;
    if (m.chk) m.chk.checked = false;
    if (sel) { sel.material.emissive.setHex(0); sel = null; }
  });
  bEnv.classList.remove('on');
  bScr.classList.remove('on');
  clearScrewHl();
  requestRender();
};
document.getElementById('onlyPrint').onclick = () => {
  meshes.forEach(m => {
    m.visible = !!m.userData.printed;
    if (m.chk) m.chk.checked = m.visible;
    if (!m.visible && m === sel) { sel.material.emissive.setHex(0); sel = null; }
  });
  bEnv.classList.remove('on');
  bScr.classList.remove('on');
  clearScrewHl();
  requestRender();
};
/* ---- BOM ---- */
const NMOT = DATA.parts.filter(p => p.name[0] === 'M').length;   // count motors upfront
const tb = document.querySelector('#bom tbody');
let vTot = 0, gTot = 0;
for (const p of DATA.parts) {
  if (!p.printed) continue;
  vTot += p.vol; gTot += p.vol * 1.24e-3;
  const tr = document.createElement('tr');
  tr.innerHTML = '<td>' + p.idx + '</td><td>' + p.cn + '</td><td>' + (p.vol/1000).toFixed(1) + '</td><td>' +
    (p.vol*1.24e-3).toFixed(0) + '</td>';
  tr.dataset.idx = p.idx;
  tr.title = p.name + (dimsStr(p) ? '，' + dimsStr(p) : '');
  tb.appendChild(tr);
}
document.getElementById('sum').innerHTML =
  '<i>打印件数</i><span>' + DATA.parts.filter(p=>p.printed).length + ' 种</span>' +
  '<i>总体积</i><span>' + (vTot/1000).toFixed(1) + ' cm3</span>' +
  '<i>总质量(PLA)</i><span>' + gTot.toFixed(0) + ' g</span>' +
  '<i>电机数量</i><span>' + NMOT + ' 台（同款 电机.STEP）</span>' +
  '<i>工作空间</i><span>约 ' + Math.round(BB[1][2]) + ' x ' + Math.round(BB[1][0]) + ' mm</span>';
/* ---- edge BOM dock: fasteners + merged parts BOM ---- */
const skb = document.querySelector('#screws tbody');
const bySize = {};
let nTot = 0;
for (const s of SCREWS) {
  nTot += s.数量;
  bySize[s.螺纹] = (bySize[s.螺纹] || 0) + s.数量;
  const tr = document.createElement('tr');
  tr.innerHTML = '<td><b>' + s.id + '</b> ' + s.规格 + '<br><small>' + s.头型 + '</small></td>' +
    '<td>' + s.长度mm + '</td><td>' + s.数量 + '</td>' +
    '<td>' + s.位置 + '<br><small>' + s.备注 + '</small></td>';
  tr.dataset.spec = s.id;
  tr.title = '点击：在三维模型中高亮该规格全部 ' + s.数量 + ' 颗并定位（再次点击切换到下一处）';
  tr.onclick = () => highlightSpec(s.id);
  skb.appendChild(tr);
}
const tally = Object.keys(bySize).sort().map(k => k + 'x' + bySize[k]).join(' / ');
document.getElementById('scrSum').textContent =
  '共 ' + SCREWS.length + ' 种 ' + nTot + ' 颗（' + tally + '）；另需 M4 螺母 4、M5 螺母 4、M6 螺母+平垫圈各 6，见各行备注' +
  ' —— 点击任一行可在模型中高亮定位该行螺钉（再次点击切换下一处，Esc 清除）';
document.getElementById('bomStat').textContent =
  '紧固件 ' + nTot + ' 颗 / 打印件 ' + DATA.parts.filter(p=>p.printed).length + ' 种';
/* ---- 紧固件高亮定位（BOM 螺丝行 / 零件树 / 三维点选 三处共用）----
   螺钉多数埋在沉孔或螺丝刀通道里，因此高亮时同时关闭深度测试做"穿透"显示，
   让位置直接透过零件亮出来；相机再对该孔组自动对焦。 */
let hlSpec = null, hlIdx = 0;
function specMeshes(sid) { return meshes.filter(m => m.userData.screw && m.userData.spec === sid); }
function clearScrewHl() {
  if (!hlSpec) return;
  for (const m of specMeshes(hlSpec)) {
    const mt = m.material;
    mt.emissive.setHex(0); mt.emissiveIntensity = 0;
    mt.transparent = false; mt.opacity = 1;
    mt.depthTest = true; mt.depthWrite = true;
    mt.needsUpdate = true; m.renderOrder = 0;
  }
  hlSpec = null;
  for (const tr of document.querySelectorAll('#screws tbody tr')) tr.classList.remove('scrHl');
  const hud = document.getElementById('hud');
  if (hud && hud.dataset.scrHl) { hud.textContent = ''; delete hud.dataset.scrHl; }
  requestRender();
}
function highlightSpec(sid, step) {
  if (hlSpec !== sid) { clearScrewHl(); hlSpec = sid; hlIdx = 0; }
  else if (step !== false) hlIdx++;                    // 再次点击同一行 -> 切换到下一处
  const ms = specMeshes(sid);
  if (!ms.length) return;
  const inf = SCREWS.find(s => s.id === sid) || {规格: sid, 头型: '', 数量: ms.length, 位置: '', 备注: ''};
  for (const m of ms) {
    const mt = m.material;
    if (!m.visible) { m.visible = true; if (m.chk) m.chk.checked = true; }
    mt.emissive.setHex(0xff8a1e); mt.emissiveIntensity = 1.0;
    mt.transparent = true; mt.opacity = .96;
    mt.depthTest = false; mt.depthWrite = false; mt.needsUpdate = true;
    m.renderOrder = 999;
  }
  scene.updateMatrixWorld(true);
  const pts = ms.map(m => new V3(...m.userData.hl).applyMatrix4(m.parent.matrixWorld));
  hlIdx = ((hlIdx % pts.length) + pts.length) % pts.length;
  const c0 = pts[hlIdx];
  const cl = pts.filter(p => p.distanceTo(c0) < 40.0);  // 同一孔组（如某关节 3 颗）一同入框
  const lo = [1e9,1e9,1e9], hi = [-1e9,-1e9,-1e9];
  for (const p of cl) for (let i = 0; i < 3; i++) {
    lo[i] = Math.min(lo[i], p.getComponent(i)); hi[i] = Math.max(hi[i], p.getComponent(i));
  }
  tx = (lo[0]+hi[0])/2; ty = (lo[1]+hi[1])/2; tz = (lo[2]+hi[2])/2;
  const sp = Math.max(hi[0]-lo[0], hi[1]-lo[1], hi[2]-lo[2]);
  rd = Math.max(150, sp * 2.6 + 130);
  for (const tr of document.querySelectorAll('#screws tbody tr'))
    tr.classList.toggle('scrHl', tr.dataset.spec === sid);
  const tr0 = document.querySelector('#screws tbody tr[data-spec="' + sid + '"]');
  if (tr0) tr0.scrollIntoView({block: 'nearest'});
  const hud = document.getElementById('hud');
  hud.dataset.scrHl = '1';
  hud.innerHTML = '<b>' + sid + ' ' + inf.规格 + ' ' + inf.头型 + '</b> · ' + inf.数量 +
    ' 颗 —— 第 ' + (hlIdx + 1) + '/' + pts.length + ' 处：' + ms[hlIdx].userData.cn.split(' · ')[1] +
    '<span class="hudlink" id="scrClr">清除高亮</span><br><small>' + inf.位置 + '；' + inf.备注 + '</small>';
  const scl = document.getElementById('scrClr');
  if (scl) scl.onclick = () => clearScrewHl();
  requestRender();
}
const dock = document.getElementById('bomDock'), bTab = document.getElementById('bomTab');
function dockSet(open) {
  dock.classList.toggle('open', open);
  bTab.style.display = open ? 'none' : '';   // 展开时拉手藏掉，否则压住抽屉右缘
  bTab.innerHTML = open ? '收起 <b>清单</b>' : '物料清单 <b>BOM</b>';
}
bTab.onclick = () => dockSet(!dock.classList.contains('open'));
document.getElementById('bomHide').onclick = () => dockSet(false);
document.addEventListener('keydown', e => { if (e.key === 'Escape' && !hlSpec) dockSet(false); });
/* ---- toolbar ---- */
const bAsm = document.getElementById('bAsm');
const bExp = document.getElementById('bExp');
const bWire = document.getElementById('bWire');
const bXRay = document.getElementById('bXRay');
const bScr = document.getElementById('bScr');
const bHarn = document.getElementById('bHarn');
const bEnv = document.getElementById('bEnv');
const bL = document.getElementById('bL');
const sheet = document.getElementById('sheet');
const stage = document.getElementById('stage');
const on = (id, f) => document.getElementById(id).onclick = f;
on('bAsm', () => { setExpl(0); exp.value = 0; tog(true, false); });
on('bExp', () => { setExpl(+exp.value/100 || .6); exp.value = exp.value || 60; tog(false, true); });
function tog(a, b) { bAsm.classList.toggle('on', a); bExp.classList.toggle('on', b); }
const exp = document.getElementById('exp');
exp.oninput = () => setExpl(exp.value/100);
on('bWire', () => { bWire.classList.toggle('on'); const w = bWire.classList.contains('on');
  meshes.forEach(m => { if (m.userData.name.slice(0,4) !== 'ENV_') m.material.wireframe = w; }); requestRender(); });
on('bXRay', () => { bXRay.classList.toggle('on'); const o = bXRay.classList.contains('on');
  meshes.forEach(m => { if (!m.userData.printed && m.userData.name[0]==='M') { m.material.opacity = o ? .34 : 1; m.material.transparent = o; } }); requestRender(); });
on('bEnv', () => { bEnv.classList.toggle('on'); const o = bEnv.classList.contains('on');
  meshes.forEach(m => { if (m.userData.name.slice(0,4) === 'ENV_') { m.visible = o; if (m.chk) m.chk.checked = o; } });
  requestRender(); });
on('bScr', () => { bScr.classList.toggle('on'); const o = bScr.classList.contains('on');
  meshes.forEach(m => { if (m.userData.screw) { m.visible = o; if (m.chk) m.chk.checked = o; } });
  if (!o) clearScrewHl();
  requestRender(); });
on('bHarn', () => { bHarn.classList.toggle('on'); const o = bHarn.classList.contains('on');
  if (window.setHarnessVisible) setHarnessVisible(o);
  requestRender(); });
on('bFit', () => { fitTo(BB); az = -0.9; po = 1.15; camUp.copy(UP_Y); requestRender(); });
const app = document.getElementById('app');
on('bL', () => { app.classList.toggle('l'); bL.classList.toggle('on'); });
bL.classList.add('on');
document.getElementById('cam').onchange = e => {
  const k = e.target.value;
  camUp.copy(UP_Y);                                // upright roll for every view unless pinned below
  if (k==='iso'){az=-0.9;po=1.15;} if(k==='front'){az=0;po=1.57;}
  if(k==='side'){az=1.5708;po=1.57;}
  // true plan view: pin the roll (near-vertical lookAt otherwise rolls the image) and
  // frame by the plan extent - the height dimension is irrelevant looking down
  if(k==='top'){az=-0.9;po=0.02;camUp.copy(UP_TOP);
    rd=Math.max(BB[1][0]-BB[0][0],BB[1][2]-BB[0][2])*1.2+180;}
  const hub = id => { const j = JO.find(q => q.id === id); return j ? VC(j.hub) : [tx, ty, tz]; };
  if (k === 'wrist') { const a = hub('J5'), b = hub('J6');        // frame the whole hand,
    tx = (a[0]+b[0])/2; ty = (a[1]+b[1])/2; tz = (a[2]+b[2])/2; rd = 340; az = -0.6; po = 1.25; }
  // shoulder close-up has to hold BOTH the roll drum (J1) and the pitch fork (J2) - aiming at
  // one hub alone filled the frame with a single Ø88 cylinder and showed nothing
  if (k === 'joint') { const a = hub('J1'), h = hub('J2');
    tx = (a[0]+h[0])/2; ty = (a[1]+h[1])/2; tz = (a[2]+h[2])/2; rd = 470; az = -0.6; po = 1.25; }
  if (k === 'elbow') { const h = hub('J4');
    tx = h[0]; ty = h[1] - 35; tz = h[2]; rd = 280; az = -0.6; po = 1.25; }
  if (k === 'hand') { const h = hub('J6'); tx = h[0]; ty = h[1]; tz = h[2] - 45; rd = 215; az = -0.6; po = 1.25; }
  requestRender();
};