module Mujoco.MJCF
  ( Angle
  , Cone
  , Coordinate
  , EnableDisable
  , InertiaFromGeom
  , Jacobian
  , Props_compiler
  , Props_flag
  , Props_option
  , Props_size
  , Props_mujoco
  , Props_statistic
  , Props_plugin
  , Solver
  , plugin
  , compiler
  , flag
  , mujoco
  , option
  , size
  , statistic
  , module X
  )
  where

import Mujoco.Prelude

import Mujoco.MJCF.Keyword as Kw
import Mujoco.MJCF.Keyword as X
import Mujoco.MJCF.Asset as X
import Mujoco.MJCF.Body as X
import Mujoco.MJCF.Common as X
import Mujoco.MJCF.Contact as X
import Mujoco.XML.Node (empty, text, fragment) as X

type Props_mujoco = (model :: String)
mujoco = tag @Props_mujoco "mujoco" :: Tag Props_mujoco

type Cone = Kw.Pyramidal \/ Kw.Elliptic
type Jacobian = Kw.Dense \/ Kw.Sparse
type Solver = Kw.PGS \/ Kw.CG \/ Kw.Newton
type EnableDisable = Kw.Enable \/ Kw.Disable
type Coordinate = Kw.Local \/ Kw.Global
type Angle = Kw.Radian \/ Kw.Degree
type InertiaFromGeom = Kw.Auto \/ Boolean

type Props_option =
  ( timestep :: Real
  , impratio :: Real
  , gravity :: Vec Real
  , wind :: Vec Real
  , magnetic :: Vec Real
  , density :: Real
  , viscosity :: Real
  , o_margin :: Real
  , o_solref :: Real /\ Real
  , o_solimp :: Vec5 Real
  , integrator :: Kw.Euler \/ Kw.RK4 \/ Kw.Implicit \/ Kw.ImplicitFast
  , cone :: Cone
  , jacobian :: Jacobian
  , iterations :: Int
  , tolerance :: Real
  , ls_iterations :: Int
  , ls_tolerance :: Real
  , noslip_tolerance :: Real
  , ccd_iterations :: Int
  , ccd_tolerance :: Real
  , sleep_tolerance :: Real
  , sdf_iterations :: Int
  , sdf_initpoints :: Int
  , actuatorgroupdisable :: Array Int
  , solver :: Solver
  )
option = tag @Props_option "mjcf:option" :: Tag Props_option

type Props_flag =
  ( constraint :: EnableDisable
  , equality :: EnableDisable
  , frictionloss :: EnableDisable
  , limit :: EnableDisable
  , contact :: EnableDisable
  , spring :: EnableDisable
  , damper :: EnableDisable
  , gravity :: EnableDisable
  , clampctrl :: EnableDisable
  , warmstart :: EnableDisable
  , filterparent :: EnableDisable
  , actuation :: EnableDisable
  , refsafe :: EnableDisable
  , sensor :: EnableDisable
  , midphase :: EnableDisable
  , nativeccd :: EnableDisable
  , island :: EnableDisable
  , eulerdamp :: EnableDisable
  , autoreset :: EnableDisable
  , override :: EnableDisable
  , energy :: EnableDisable
  , fwdinv :: EnableDisable
  , invdiscrete :: EnableDisable
  , multiccd :: EnableDisable
  , sleep :: EnableDisable
  )
flag = tagNoContent @Props_flag "flag" :: TagNoContent Props_flag

type Props_compiler =
  ( autolimits :: Boolean
  , boundmass :: Real
  , boundinertia :: Real
  , settotalmass :: Real
  , balanceinertia :: Boolean
  , strippath :: Boolean
  , coordinate :: Coordinate
  , angle :: Angle
  , fitaabb :: Boolean
  , eulerseq :: String
  , meshdir :: String
  , texturedir :: String
  , assetdir :: String
  , discardvisual :: Boolean
  , usethread :: Boolean
  , fusestatic :: Boolean
  , inertiafromgeom :: InertiaFromGeom
  , alignfree :: Boolean
  , inertiagrouprange :: Int /\ Int
  , saveinertial :: Boolean
  )
compiler = tagNoContent @Props_compiler "compiler" :: TagNoContent Props_compiler

type Props_size =
  ( memory :: String
  , njmax :: Int
  , nconmax :: Int
  , nstack :: Int
  , nuserdata :: Int
  , nkey :: Int
  , nuser_body :: Int
  , nuser_jnt :: Int
  , nuser_geom :: Int
  , nuser_site :: Int
  , nuser_cam :: Int
  , nuser_tendon :: Int
  , nuser_actuator :: Int
  , nuser_sensor :: Int
  )
size = tagNoContent @Props_size "size" :: TagNoContent Props_size

type Props_statistic =
  ( meanmass :: Real
  , meaninertia :: Real
  , meansize :: Real
  , extent :: Real
  , center :: Vec Real
  )
statistic = tagNoContent @Props_statistic "statistic" :: TagNoContent Props_statistic

type Props_plugin = (plugin :: String, instance :: String)

-- | `body/plugin`, `asset/mesh/plugin`
plugin = tag @Props_plugin "plugin" :: Tag Props_plugin