src/lib/components/scene/robot/URDF/runes/urdf_state.svelte.ts

import type IUrdfJoint from "../interfaces/IUrdfJoint"
import type IUrdfLink from "../interfaces/IUrdfLink"
import type IUrdfRobot from "../interfaces/IUrdfRobot"

// Color constants for better maintainability
export const URDF_COLORS = {
    COLLISION: "#813d9c", // purple
    JOINT: "#62a0ea", // blue
    LINK: "#57e389", // green
    JOINT_INDICATOR: "#f66151", // red
    HIGHLIGHT: "#ffa348", // orange
    BACKGROUND: "#241f31", // dark purple
} as const;

// Transform tool types
export type TransformTool = "translate" | "rotate" | "scale";

// Joint state tracking
export interface JointStates {
    continuous: Record<string, number>;
    revolute: Record<string, number>;
}

// Selection state
export interface SelectionState {
    selectedLink?: IUrdfLink;
    selectedJoint?: IUrdfJoint;
}

// Visibility configuration
export interface VisibilityConfig {
    visual: boolean;
    collision: boolean;
    joints: boolean;
    jointNames: boolean;
    linkNames: boolean;
}

// Appearance settings
export interface AppearanceConfig {
    colors: {
        collision: string;
        joint: string;
        link: string;
        jointIndicator: string;
        highlight: string;
        background: string;
    };
    opacity: {
        visual: number;
        collision: number;
        link: number;
    };
}

// Editor configuration
export interface EditorConfig {
    isEditMode: boolean;
    currentTool: TransformTool;
    snap: {
        translation: number;
        scale: number;
        rotation: number;
    };
}

// View configuration
export interface ViewConfig {
    zoom: {
        current: number;
        initial: number;
    };
    nameHeight: number;
}

// Main URDF state interface
export interface UrdfState extends SelectionState {
    robot?: IUrdfRobot;
    jointStates: JointStates;
    visibility: VisibilityConfig;
    appearance: AppearanceConfig;
    editor: EditorConfig;
    view: ViewConfig;
}

// Create the reactive state
export const urdfState = $state<UrdfState>({
    // Selection
    selectedLink: undefined,
    selectedJoint: undefined,
    
    // Robot data
    robot: undefined,
    jointStates: {
        continuous: {},
        revolute: {},
    },
    
    // Visibility settings
    visibility: {
        visual: true,
        collision: false,
        joints: true,
        jointNames: true,
        linkNames: true,
    },
    
    // Appearance settings
    appearance: {
        colors: {
            collision: URDF_COLORS.COLLISION,
            joint: URDF_COLORS.JOINT,
            link: URDF_COLORS.LINK,
            jointIndicator: URDF_COLORS.JOINT_INDICATOR,
            highlight: URDF_COLORS.HIGHLIGHT,
            background: URDF_COLORS.BACKGROUND,
        },
        opacity: {
            visual: 1.0,
            collision: 0.7,
            link: 1.0,
        },
    },
    
    // Editor configuration
    editor: {
        isEditMode: false,
        currentTool: 'translate',
        snap: {
            translation: 0.001,
            scale: 0.001,
            rotation: 1,
        },
    },
    
    // View configuration
    view: {
        zoom: {
            current: 1.3,
            initial: 1.3,
        },
        nameHeight: 0.05,
    },
});