CtrEditor/Simulacion/BEPUVisualization3D.cs

using System;
using System.Collections.Generic;
using System.Numerics;
using System.Windows.Media;
using System.Windows.Media.Media3D;
using BepuPhysics;
using BepuPhysics.Collidables;
using HelixToolkit.Wpf;
using System.Linq;
using System.Windows.Input;

namespace CtrEditor.Simulacion
{
    /// <summary>
    /// Estructura para almacenar las dimensiones de las formas para detectar cambios
    /// </summary>
    public struct ShapeDimensions
    {
        public float Width { get; set; }
        public float Height { get; set; }
        public float Length { get; set; }
        public float Radius { get; set; }
        public int ShapeType { get; set; }

        // ✅ NUEVO: Parámetros específicos para curvas
        public float InnerRadius { get; set; }
        public float OuterRadius { get; set; }
        public float StartAngle { get; set; }
        public float EndAngle { get; set; }

        public bool Equals(ShapeDimensions other)
        {
            return Math.Abs(Width - other.Width) < 0.001f &&
                   Math.Abs(Height - other.Height) < 0.001f &&
                   Math.Abs(Length - other.Length) < 0.001f &&
                   Math.Abs(Radius - other.Radius) < 0.001f &&
                   Math.Abs(InnerRadius - other.InnerRadius) < 0.001f &&
                   Math.Abs(OuterRadius - other.OuterRadius) < 0.001f &&
                   Math.Abs(StartAngle - other.StartAngle) < 0.001f &&
                   Math.Abs(EndAngle - other.EndAngle) < 0.001f &&
                   ShapeType == other.ShapeType;
        }
    }

    /// <summary>
    /// Manager que sincroniza el mundo 3D de BEPU con la visualización HelixToolkit
    /// Usa simBase como clave única para evitar problemas de reutilización de BodyHandle
    /// 
    /// ✅ NUEVO: Funcionalidad de Debug para Triángulos
    /// Para activar la visualización de triángulos individuales de curvas:
    /// 
    /// // Activar modo debug
    /// visualizationManager.SetDebugTrianglesMode(true);
    /// 
    /// // Desactivar modo debug (volver a superficie continua)
    /// visualizationManager.SetDebugTrianglesMode(false);
    /// 
    /// // Verificar si está activo
    /// bool isDebugActive = visualizationManager.IsDebugTrianglesModeEnabled();
    /// 
    /// En modo debug:
    /// - Cada triángulo de BEPU se muestra separado con un pequeño offset
    /// - Los triángulos tienen bordes wireframe para mejor visualización
    /// - Se usa un material naranja semi-transparente para distinguir del modo normal
    /// - Se muestran mensajes de debug en la consola con información detallada
    /// </summary>
    public class BEPUVisualization3DManager
    {
        private HelixViewport3D viewport3D;
        private SimulationManagerBEPU simulationManager;
        private Dictionary<simBase, ModelVisual3D> simBaseToModelMap;
        private Dictionary<simBase, ShapeDimensions> lastKnownDimensions;

        // ✅ NUEVO: Flag de debug para mostrar triángulos individuales de curvas
        public static bool DebugShowIndividualTriangles { get; set; } = true;

        public HelixViewport3D Viewport3D
        {
            get => viewport3D;
            set => viewport3D = value;
        }

        public BEPUVisualization3DManager(HelixViewport3D viewport, SimulationManagerBEPU simManager)
        {
            if (viewport == null)
                throw new ArgumentNullException(nameof(viewport), "HelixViewport3D cannot be null");

            if (simManager == null)
                throw new ArgumentNullException(nameof(simManager), "SimulationManagerBEPU cannot be null");

            viewport3D = viewport;
            simulationManager = simManager;
            simBaseToModelMap = new Dictionary<simBase, ModelVisual3D>();
            lastKnownDimensions = new Dictionary<simBase, ShapeDimensions>();

            InitializeViewport();
        }

        private void InitializeViewport()
        {
            if (viewport3D == null)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Init] ERROR: viewport3D is null");
                return;
            }

            try
            {
                // Configurar la cámara usando el estado guardado
                LoadCameraState();

                // Agregar luces
                var directionalLight = new DirectionalLight
                {
                    Color = Colors.White,
                    Direction = new Vector3D(0, 0, -1)
                };
                viewport3D.Children.Add(new ModelVisual3D { Content = directionalLight });

                var ambientLight = new AmbientLight
                {
                    Color = Color.FromRgb(64, 64, 64)
                };
                viewport3D.Children.Add(new ModelVisual3D { Content = ambientLight });

                // Suscribirse a eventos para detectar cambios en la cámara
                SubscribeToCameraEvents();
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Init] ERROR initializing viewport: {ex.Message}");
            }
        }

        /// <summary>
        /// Sincroniza usando los objetos simBase del SimulationManager como fuente de verdad
        /// Esto garantiza que cada objeto único tiene su propia visualización
        /// </summary>
        public void SynchronizeWorld()
        {
            // Validaciones críticas de null
            if (simulationManager == null)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Sync] ERROR: simulationManager is null");
                return;
            }

            if (simulationManager.simulation == null)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Sync] ERROR: simulation is null");
                return;
            }

            if (viewport3D == null)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Sync] ERROR: viewport3D is null");
                return;
            }

            // Limpiar objetos que ya no existen
            CleanupRemovedObjects();

            // Sincronizar cada objeto simBase
            foreach (var simObj in simulationManager.Cuerpos)
            {
                if (simObj == null || !simulationManager.simulation.Bodies.BodyExists(simObj.BodyHandle))
                    continue;

                if (simBaseToModelMap.ContainsKey(simObj))
                {
                    // Actualizar visualización existente
                    UpdateVisualizationFromSimBase(simObj);
                }
                else
                {
                    // Crear nueva visualización
                    CreateVisualizationFromSimBase(simObj);
                }
            }
        }

        private void CleanupRemovedObjects()
        {
            if (simulationManager?.Cuerpos == null || viewport3D == null)
                return;

            var objectsToRemove = new List<simBase>();

            try
            {
                foreach (var kvp in simBaseToModelMap)
                {
                    var simObj = kvp.Key;
                    var model = kvp.Value;

                    // Verificar si el objeto aún está en la lista de cuerpos activos
                    if (!simulationManager.Cuerpos.Contains(simObj) ||
                        !simulationManager.simulation.Bodies.BodyExists(simObj.BodyHandle))
                    {
                        if (model != null)
                        {
                            viewport3D.Children.Remove(model);
                        }
                        objectsToRemove.Add(simObj);
                    }
                }

                foreach (var simObj in objectsToRemove)
                {
                    simBaseToModelMap.Remove(simObj);
                    lastKnownDimensions.Remove(simObj);
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Cleanup] ERROR during cleanup: {ex.Message}");
            }
        }

        private void CreateVisualizationFromSimBase(simBase simObj)
        {
            if (simulationManager?.simulation == null || !simulationManager.simulation.Bodies.BodyExists(simObj.BodyHandle))
            {
                System.Diagnostics.Debug.WriteLine($"[3D Create] ERROR: Body does not exist for simBase");
                return;
            }

            try
            {
                var body = simulationManager.simulation.Bodies[simObj.BodyHandle];
                var collidable = body.Collidable;
                var shapeIndex = collidable.Shape;

                if (!shapeIndex.Exists)
                {
                    System.Diagnostics.Debug.WriteLine($"[3D Create] ERROR: Shape does not exist");
                    return;
                }

                ModelVisual3D visual3D = null;

                // Caso especial: simBotella usa esfera en BEPU pero se visualiza como cilindro
                if (simObj is simBotella botella)
                {
                    visual3D = CreateCylinderVisualization(botella.Radius, botella.Height, simObj);
                }
                // Caso especial: simCurve usa múltiples triángulos pero se visualiza como superficie curva
                else if (simObj is simCurve curve)
                {
                    visual3D = CreateCurveVisualization(curve);
                }
                else
                {
                    // Para otros objetos, usar la forma real de BEPU
                    var dimensions = GetShapeDimensions(shapeIndex, simObj);

                    if (dimensions.ShapeType == BepuPhysics.Collidables.Sphere.Id)
                    {
                        visual3D = CreateSphereVisualization(dimensions.Radius, simObj);
                    }
                    else if (dimensions.ShapeType == BepuPhysics.Collidables.Box.Id)
                    {
                        visual3D = CreateBoxVisualization(dimensions.Width, dimensions.Height, dimensions.Length, simObj);
                    }
                    else if (dimensions.ShapeType == BepuPhysics.Collidables.Cylinder.Id)
                    {
                        visual3D = CreateCylinderVisualization(dimensions.Radius, dimensions.Length, simObj);
                    }
                    else
                    {
                        System.Diagnostics.Debug.WriteLine($"[3D Create] WARNING: Unsupported shape type: {dimensions.ShapeType}");
                        return;
                    }
                }

                if (visual3D != null)
                {
                    // Posicionar correctamente el objeto 3D
                    var position = simObj.GetPosition();
                    var rotationZ = simObj.GetRotationZ();

                    var transform = new Transform3DGroup();
                    transform.Children.Add(new RotateTransform3D(new AxisAngleRotation3D(new Vector3D(0, 0, 1), rotationZ * 180.0 / Math.PI)));
                    transform.Children.Add(new TranslateTransform3D(position.X, position.Y, position.Z));
                    visual3D.Transform = transform;

                    // Agregar a la vista 3D y asociar con simBase
                    viewport3D.Children.Add(visual3D);
                    simBaseToModelMap[simObj] = visual3D;
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Create] ERROR: {ex.Message}");
            }
        }

        private ModelVisual3D CreateSphereVisualization(float radius, simBase simObj = null)
        {
            var meshBuilder = new MeshBuilder();
            meshBuilder.AddSphere(new Point3D(0, 0, 0), (double)radius, 16, 16);

            var model = new GeometryModel3D(meshBuilder.ToMesh(), GetMaterialForSimBase(simObj));

            return new ModelVisual3D { Content = model };
        }

        private ModelVisual3D CreateBoxVisualization(float width, float height, float length, simBase simObj = null)
        {
            var meshBuilder = new MeshBuilder();
            meshBuilder.AddBox(new Point3D(0, 0, 0), (double)width, (double)height, (double)length);

            var model = new GeometryModel3D(meshBuilder.ToMesh(), GetMaterialForSimBase(simObj));

            return new ModelVisual3D { Content = model };
        }

        private ModelVisual3D CreateCapsuleVisualization(float radius, float length)
        {
            var meshBuilder = new MeshBuilder();
            meshBuilder.AddCylinder(new Point3D(0, 0, -length / 2), new Point3D(0, 0, length / 2), radius, 16);

            // Material plástico brillante para cápsulas (amarillo)
            var material = MaterialHelper.CreateMaterial(
                new SolidColorBrush(Color.FromRgb(255, 255, 80)),
                specularPower: 125,
                ambient: 210
            );
            var model = new GeometryModel3D(meshBuilder.ToMesh(), material);

            return new ModelVisual3D { Content = model };
        }

        private ModelVisual3D CreateCylinderVisualization(float radius, float length, simBase simObj = null)
        {
            var meshBuilder = new MeshBuilder();

            // Crear cilindro con tapas usando la versión mejorada
            var p1 = new Point3D(0, 0, -length / 2);
            var p2 = new Point3D(0, 0, length / 2);
            meshBuilder.AddCylinder(p1, p2, radius: (double)radius, thetaDiv: 16, cap1: true, cap2: true);

            var geometry = meshBuilder.ToMesh();
            var model = new GeometryModel3D(geometry, GetMaterialForSimBase(simObj));
            var visual = new ModelVisual3D();
            visual.Content = model;

            return visual;
        }

        private ModelVisual3D CreateCurveVisualization(simCurve curve)
        {
            try
            {
                var meshBuilder = new MeshBuilder();

                // ✅ NUEVO: Elegir entre visualización normal o debug según el flag
                if (DebugShowIndividualTriangles)
                {
                    CreateCurveDebugMeshWithIndividualTriangles(meshBuilder, curve);
                }
                else
                {
                    // ✅ Usar directamente los triángulos originales de BEPU (superficie continua)
                    CreateCurveMeshFromBEPUTriangles(meshBuilder, curve);
                }

                var geometry = meshBuilder.ToMesh();
                
                // ✅ NUEVO: Usar material específico para debug si está activo
                Material material = DebugShowIndividualTriangles ? 
                    GetDebugMaterialForCurve(curve) : 
                    GetMaterialForSimBase(curve);
                    
                var model = new GeometryModel3D(geometry, material);
                var visual = new ModelVisual3D();
                visual.Content = model;

                return visual;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D CreateCurve] Error creating curve visualization: {ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// ✅ NUEVO: Crea mesh directamente desde los triángulos de BEPU (debug real)
        /// </summary>
        private void CreateCurveMeshFromBEPUTriangles(MeshBuilder meshBuilder, simCurve curve)
        {
            try
            {
                // Obtener los triángulos originales directamente de BEPU
                var originalTriangles = curve.GetOriginalTriangles();

                if (originalTriangles.Count == 0)
                {
                    System.Diagnostics.Debug.WriteLine($"[3D Debug] WARNING: No triangles found in BEPU curve");
                    return;
                }

                // Altura para simular triángulos planos (misma que en BEPU)
                const float curveHeight = 0.05f; // simCurve.zAltura_Curve

                // Convertir cada triángulo de BEPU a triángulos en Helix
                foreach (var triangle in originalTriangles)
                {
                    if (triangle.Count != 3)
                    {
                        System.Diagnostics.Debug.WriteLine($"[3D Debug] WARNING: Invalid triangle with {triangle.Count} vertices");
                        continue;
                    }

                    // Convertir Vector3 de BEPU a Point3D de Helix
                    // Los triángulos en BEPU están en el plano XY (Z=0), crear superficie 3D

                    // Puntos de la superficie inferior (Z = 0)
                    var p1Bottom = new Point3D(triangle[0].X, triangle[0].Y, 0);
                    var p2Bottom = new Point3D(triangle[1].X, triangle[1].Y, 0);
                    var p3Bottom = new Point3D(triangle[2].X, triangle[2].Y, 0);

                    // Puntos de la superficie superior (Z = curveHeight)
                    var p1Top = new Point3D(triangle[0].X, triangle[0].Y, curveHeight);
                    var p2Top = new Point3D(triangle[1].X, triangle[1].Y, curveHeight);
                    var p3Top = new Point3D(triangle[2].X, triangle[2].Y, curveHeight);

                    // Crear superficie superior del triángulo
                    meshBuilder.AddTriangle(p1Top, p2Top, p3Top);

                    // Crear superficie inferior del triángulo (orden inverso para normales correctas)
                    meshBuilder.AddTriangle(p1Bottom, p3Bottom, p2Bottom);

                    // Crear paredes laterales del triángulo (3 quads)
                    meshBuilder.AddQuad(p1Bottom, p2Bottom, p2Top, p1Top); // Lado 1-2
                    meshBuilder.AddQuad(p2Bottom, p3Bottom, p3Top, p2Top); // Lado 2-3
                    meshBuilder.AddQuad(p3Bottom, p1Bottom, p1Top, p3Top); // Lado 3-1
                }

            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Debug] ERROR creating mesh from BEPU triangles: {ex.Message}");

                // Fallback: usar el método anterior si falla la lectura de BEPU
                System.Diagnostics.Debug.WriteLine($"[3D Debug] Falling back to recreated geometry");
                CreateCurveMeshFallback(meshBuilder, curve);
            }
        }

        /// <summary>
        /// ✅ NUEVO: Función de debug que muestra triángulos individuales de BEPU
        /// Cada triángulo se renderiza de manera separada para poder hacer debug visual
        /// </summary>
        private void CreateCurveDebugMeshWithIndividualTriangles(MeshBuilder meshBuilder, simCurve curve)
        {
            try
            {
                // Obtener los triángulos originales directamente de BEPU
                var originalTriangles = curve.GetOriginalTriangles();

                if (originalTriangles.Count == 0)
                {
                    System.Diagnostics.Debug.WriteLine($"[3D Debug] WARNING: No triangles found in BEPU curve");
                    return;
                }

                System.Diagnostics.Debug.WriteLine($"[3D Debug] Creating debug visualization for {originalTriangles.Count} triangles");

                // Altura muy pequeña para mostrar triángulos planos (como en BEPU)
                const float debugHeight = 0.02f; // Más bajo que la superficie normal para diferenciarlo
                const float triangleSeparation = 0.01f; // Separación pequeña entre triángulos para distinguirlos

                // Convertir cada triángulo de BEPU a un triángulo 3D individual
                for (int i = 0; i < originalTriangles.Count; i++)
                {
                    var triangle = originalTriangles[i];

                    if (triangle.Count != 3)
                    {
                        System.Diagnostics.Debug.WriteLine($"[3D Debug] WARNING: Invalid triangle {i} with {triangle.Count} vertices");
                        continue;
                    }

                    // Calcular el centro del triángulo para aplicar separación
                    var center = new System.Numerics.Vector3(
                        (triangle[0].X + triangle[1].X + triangle[2].X) / 3f,
                        (triangle[0].Y + triangle[1].Y + triangle[2].Y) / 3f,
                        0
                    );

                    // Aplicar una pequeña separación desde el centro para distinguir triángulos
                    var offset = center * triangleSeparation;

                    // Crear triángulo superior (visible desde arriba)
                    var p1Top = new Point3D(triangle[0].X + offset.X, triangle[0].Y + offset.Y, debugHeight);
                    var p2Top = new Point3D(triangle[1].X + offset.X, triangle[1].Y + offset.Y, debugHeight);
                    var p3Top = new Point3D(triangle[2].X + offset.X, triangle[2].Y + offset.Y, debugHeight);

                    // Crear triángulo inferior (visible desde abajo)
                    var p1Bottom = new Point3D(triangle[0].X + offset.X, triangle[0].Y + offset.Y, 0);
                    var p2Bottom = new Point3D(triangle[1].X + offset.X, triangle[1].Y + offset.Y, 0);
                    var p3Bottom = new Point3D(triangle[2].X + offset.X, triangle[2].Y + offset.Y, 0);

                    // Agregar triángulo superior (normal hacia arriba)
                    meshBuilder.AddTriangle(p1Top, p2Top, p3Top);

                    // Agregar triángulo inferior (normal hacia abajo)
                    meshBuilder.AddTriangle(p1Bottom, p3Bottom, p2Bottom);

                    // ✅ OPCIONAL: Agregar bordes/wireframe para mejor visualización del debug
                    // Crear líneas delgadas en los bordes del triángulo para verlo mejor
                    const float edgeThickness = 0.005f;

                    // Borde 1-2
                    AddDebugEdge(meshBuilder, p1Top, p2Top, p1Bottom, p2Bottom, edgeThickness);
                    // Borde 2-3
                    AddDebugEdge(meshBuilder, p2Top, p3Top, p2Bottom, p3Bottom, edgeThickness);
                    // Borde 3-1
                    AddDebugEdge(meshBuilder, p3Top, p1Top, p3Bottom, p1Bottom, edgeThickness);
                }

                System.Diagnostics.Debug.WriteLine($"[3D Debug] Successfully created debug mesh with {originalTriangles.Count} individual triangles");
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Debug] ERROR creating debug mesh: {ex.Message}");

                // Fallback: mostrar mensaje de error en consola y usar geometría básica
                System.Diagnostics.Debug.WriteLine($"[3D Debug] Falling back to basic debug geometry");
                CreateBasicDebugGeometry(meshBuilder, curve);
            }
        }

        /// <summary>
        /// ✅ NUEVO: Agrega un borde delgado entre dos puntos para debug visual
        /// </summary>
        private void AddDebugEdge(MeshBuilder meshBuilder, Point3D p1Top, Point3D p2Top, Point3D p1Bottom, Point3D p2Bottom, float thickness)
        {
            try
            {
                // Crear un cilindro muy delgado como borde
                meshBuilder.AddCylinder(p1Top, p2Top, thickness, 4, false, false);
                meshBuilder.AddCylinder(p1Bottom, p2Bottom, thickness, 4, false, false);
                meshBuilder.AddCylinder(p1Top, p1Bottom, thickness, 4, false, false);
                meshBuilder.AddCylinder(p2Top, p2Bottom, thickness, 4, false, false);
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Debug] ERROR adding debug edge: {ex.Message}");
            }
        }

        /// <summary>
        /// ✅ NUEVO: Geometría básica de debug cuando fallan otras opciones
        /// </summary>
        private void CreateBasicDebugGeometry(MeshBuilder meshBuilder, simCurve curve)
        {
            try
            {
                // Crear una geometría muy simple que indique que hay un problema
                float innerRadius = curve.InnerRadius;
                float outerRadius = curve.OuterRadius;
                float centerRadius = (innerRadius + outerRadius) / 2f;

                // Crear un triángulo básico como indicador de debug
                var p1 = new Point3D(centerRadius, 0, 0);
                var p2 = new Point3D(centerRadius * Math.Cos(Math.PI/3), centerRadius * Math.Sin(Math.PI/3), 0);
                var p3 = new Point3D(centerRadius * Math.Cos(-Math.PI/3), centerRadius * Math.Sin(-Math.PI/3), 0);

                meshBuilder.AddTriangle(p1, p2, p3);

                System.Diagnostics.Debug.WriteLine($"[3D Debug] Created basic debug geometry as fallback");
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Debug] ERROR creating basic debug geometry: {ex.Message}");
            }
        }

        /// <summary>
        /// Método fallback que recrea la geometría (mantener por compatibilidad)
        /// </summary>
        private void CreateCurveMeshFallback(MeshBuilder meshBuilder, simCurve curve)
        {
            // Obtener parámetros de la curva
            float innerRadius = curve.InnerRadius;
            float outerRadius = curve.OuterRadius;
            float startAngle = curve.StartAngle;
            float endAngle = curve.EndAngle;

            System.Diagnostics.Debug.WriteLine($"[3D Fallback] Parameters - Inner: {innerRadius}, Outer: {outerRadius}, Start: {startAngle}, End: {endAngle}");

            // Configuración de segmentos
            const float SegmentationFactor = 32f / 3f;
            const int MinSegments = 8;
            const int MaxSegments = 64;

            // Calcular número de segmentos basado en el tamaño del arco
            float arcLength = (endAngle - startAngle) * ((innerRadius + outerRadius) / 2f);
            int segments = (int)(arcLength * SegmentationFactor);
            segments = Math.Max(MinSegments, Math.Min(segments, MaxSegments));

            float angleStep = (endAngle - startAngle) / segments;

            // Altura muy pequeña para simular triángulos planos
            const float curveHeight = 0.05f;

            // Generar vértices para el arco interior y exterior
            var innerBottomPoints = new Point3D[segments + 1];
            var innerTopPoints = new Point3D[segments + 1];
            var outerBottomPoints = new Point3D[segments + 1];
            var outerTopPoints = new Point3D[segments + 1];

            for (int i = 0; i <= segments; i++)
            {
                float angle = startAngle + i * angleStep;
                float cosAngle = (float)Math.Cos(angle);
                float sinAngle = (float)Math.Sin(angle);

                // Puntos en la parte inferior (Z = 0)
                innerBottomPoints[i] = new Point3D(innerRadius * cosAngle, innerRadius * sinAngle, 0);
                outerBottomPoints[i] = new Point3D(outerRadius * cosAngle, outerRadius * sinAngle, 0);

                // Puntos en la parte superior (Z = curveHeight)
                innerTopPoints[i] = new Point3D(innerRadius * cosAngle, innerRadius * sinAngle, curveHeight);
                outerTopPoints[i] = new Point3D(outerRadius * cosAngle, outerRadius * sinAngle, curveHeight);
            }

            // Crear la superficie superior de la curva
            for (int i = 0; i < segments; i++)
            {
                meshBuilder.AddTriangle(innerTopPoints[i], outerTopPoints[i], outerTopPoints[i + 1]);
                meshBuilder.AddTriangle(innerTopPoints[i], outerTopPoints[i + 1], innerTopPoints[i + 1]);
            }

            // Crear la superficie inferior de la curva
            for (int i = 0; i < segments; i++)
            {
                meshBuilder.AddTriangle(innerBottomPoints[i], outerBottomPoints[i + 1], outerBottomPoints[i]);
                meshBuilder.AddTriangle(innerBottomPoints[i], innerBottomPoints[i + 1], outerBottomPoints[i + 1]);
            }

            // Crear las paredes laterales
            for (int i = 0; i < segments; i++)
            {
                meshBuilder.AddQuad(innerBottomPoints[i], innerBottomPoints[i + 1], innerTopPoints[i + 1], innerTopPoints[i]);
                meshBuilder.AddQuad(outerBottomPoints[i], outerTopPoints[i], outerTopPoints[i + 1], outerBottomPoints[i + 1]);
            }

            // Crear las paredes de los extremos
            meshBuilder.AddQuad(innerBottomPoints[0], innerTopPoints[0], outerTopPoints[0], outerBottomPoints[0]);
            meshBuilder.AddQuad(outerBottomPoints[segments], outerTopPoints[segments], innerTopPoints[segments], innerBottomPoints[segments]);
        }

        private void UpdateVisualizationFromSimBase(simBase simObj)
        {
            if (!simBaseToModelMap.TryGetValue(simObj, out var visual))
                return;

            if (simulationManager?.simulation == null || visual == null)
                return;

            try
            {
                var body = simulationManager.simulation.Bodies[simObj.BodyHandle];
                var pose = body.Pose;
                var collidable = body.Collidable;

                // Verificar si las dimensiones han cambiado
                var currentDimensions = GetShapeDimensions(collidable.Shape, simObj);
                bool dimensionsChanged = false;

                if (lastKnownDimensions.TryGetValue(simObj, out var lastDimensions))
                {
                    dimensionsChanged = !currentDimensions.Equals(lastDimensions);

                }
                else
                {
                    dimensionsChanged = true; // Primera vez
                }

                // Si las dimensiones cambiaron, recrear la geometría
                if (dimensionsChanged)
                {
                    RecreateVisualizationGeometry(simObj, visual, currentDimensions);
                    lastKnownDimensions[simObj] = currentDimensions;
                }
                else
                {
                    // System.Diagnostics.Debug.WriteLine($"[3D Update] No geometry changes needed for {simObj.GetType().Name}");
                }

                // Actualizar transformación del modelo 3D
                var transform = new Transform3DGroup();

                // ✅ ORDEN CORRECTO: Primero Rotación, luego Traslación
                // Esto mantiene el pivot consistente con WPF (Top-Left)

                // 1. Rotación (primero, en el origen)
                var rotation = new QuaternionRotation3D(new System.Windows.Media.Media3D.Quaternion(
                    (double)pose.Orientation.X,
                    (double)pose.Orientation.Y,
                    (double)pose.Orientation.Z,
                    (double)pose.Orientation.W
                ));
                var rotationTransform = new RotateTransform3D(rotation);
                transform.Children.Add(rotationTransform);

                // 2. Traslación (después, mueve el objeto ya rotado)
                var translation = new TranslateTransform3D(
                    (double)pose.Position.X,
                    (double)pose.Position.Y,
                    (double)pose.Position.Z
                );
                transform.Children.Add(translation);

                visual.Transform = transform;
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Update] ERROR updating visualization: {ex.Message}");
            }
        }

        private ShapeDimensions GetShapeDimensions(TypedIndex shapeIndex, simBase simObj = null)
        {
            var dimensions = new ShapeDimensions();

            if (!shapeIndex.Exists)
                return dimensions;

            dimensions.ShapeType = shapeIndex.Type;

            try
            {
                // ✅ CASO ESPECIAL: Para simCurve, obtener dimensiones específicas de la curva
                if (simObj is simCurve curve)
                {
                    dimensions.InnerRadius = curve.InnerRadius;
                    dimensions.OuterRadius = curve.OuterRadius;
                    dimensions.StartAngle = curve.StartAngle;
                    dimensions.EndAngle = curve.EndAngle;
                    dimensions.ShapeType = -1; // Tipo especial para curvas
                    return dimensions;
                }

                // ✅ CASO ESPECIAL: Para simBotella, obtener dimensiones del cilindro visual
                if (simObj is simBotella botella)
                {
                    dimensions.Radius = botella.Radius;
                    dimensions.Height = botella.Height;
                    dimensions.ShapeType = -2; // Tipo especial para botellas (cilindro visual)
                    return dimensions;
                }

                // Para otros objetos, usar la forma real de BEPU
                if (shapeIndex.Type == BepuPhysics.Collidables.Sphere.Id)
                {
                    var sphere = simulationManager.simulation.Shapes.GetShape<BepuPhysics.Collidables.Sphere>(shapeIndex.Index);
                    dimensions.Radius = sphere.Radius;
                }
                else if (shapeIndex.Type == BepuPhysics.Collidables.Box.Id)
                {
                    var box = simulationManager.simulation.Shapes.GetShape<BepuPhysics.Collidables.Box>(shapeIndex.Index);
                    dimensions.Width = box.Width;
                    dimensions.Height = box.Height;
                    dimensions.Length = box.Length;
                }
                else if (shapeIndex.Type == BepuPhysics.Collidables.Cylinder.Id)
                {
                    var cylinder = simulationManager.simulation.Shapes.GetShape<BepuPhysics.Collidables.Cylinder>(shapeIndex.Index);
                    dimensions.Radius = cylinder.Radius;
                    dimensions.Length = cylinder.Length; // En BEPU, Length es la altura del cilindro
                }
                else if (shapeIndex.Type == BepuPhysics.Collidables.Capsule.Id)
                {
                    var capsule = simulationManager.simulation.Shapes.GetShape<BepuPhysics.Collidables.Capsule>(shapeIndex.Index);
                    dimensions.Radius = capsule.Radius;
                    dimensions.Length = capsule.Length;
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D GetDimensions] ERROR getting dimensions: {ex.Message}");
            }

            return dimensions;
        }

        private void RecreateVisualizationGeometry(simBase simObj, ModelVisual3D visual, ShapeDimensions dimensions)
        {
            if (visual?.Content is not GeometryModel3D geometryModel)
                return;

            try
            {
                MeshGeometry3D newGeometry = null;
                Material newMaterial = null;

                // Caso especial: simBotella usa esfera en BEPU pero se visualiza como cilindro
                if (simObj is simBotella botella)
                {
                    var meshBuilder = new MeshBuilder();

                    // Crear cilindro con tapas usando la versión mejorada
                    var p1 = new Point3D(0, 0, -botella.Height / 2);
                    var p2 = new Point3D(0, 0, botella.Height / 2);
                    meshBuilder.AddCylinder(p1, p2, radius: (double)botella.Radius, thetaDiv: 16, cap1: true, cap2: true);

                    newGeometry = meshBuilder.ToMesh();
                    newMaterial = GetMaterialForSimBase(simObj);
                }
                // Caso especial: simCurve necesita recreación completa de geometría
                else if (simObj is simCurve curve)
                {
                    var meshBuilder = new MeshBuilder();

                    // ✅ CORREGIDO: Respetar el flag de debug también en recreación
                    if (DebugShowIndividualTriangles)
                    {
                        CreateCurveDebugMeshWithIndividualTriangles(meshBuilder, curve);
                        newMaterial = GetDebugMaterialForCurve(curve);
                    }
                    else
                    {
                        CreateCurveMeshFromBEPUTriangles(meshBuilder, curve);
                        newMaterial = GetMaterialForSimBase(simObj);
                    }

                    newGeometry = meshBuilder.ToMesh();
                }
                else if (dimensions.ShapeType == BepuPhysics.Collidables.Sphere.Id)
                {
                    var meshBuilder = new MeshBuilder();
                    meshBuilder.AddSphere(new Point3D(0, 0, 0), dimensions.Radius);
                    newGeometry = meshBuilder.ToMesh();
                    newMaterial = GetMaterialForSimBase(simObj);
                }
                else if (dimensions.ShapeType == BepuPhysics.Collidables.Box.Id)
                {
                    var meshBuilder = new MeshBuilder();
                    meshBuilder.AddBox(new Point3D(0, 0, 0), dimensions.Width, dimensions.Height, dimensions.Length);
                    newGeometry = meshBuilder.ToMesh();
                    newMaterial = GetMaterialForSimBase(simObj);
                }
                else if (dimensions.ShapeType == BepuPhysics.Collidables.Cylinder.Id)
                {
                    var meshBuilder = new MeshBuilder();

                    // Crear cilindro con tapas usando la versión mejorada
                    var p1 = new Point3D(0, 0, -dimensions.Length / 2);
                    var p2 = new Point3D(0, 0, dimensions.Length / 2);
                    meshBuilder.AddCylinder(p1, p2, radius: (double)dimensions.Radius, thetaDiv: 16, cap1: true, cap2: true);

                    newGeometry = meshBuilder.ToMesh();
                    newMaterial = GetMaterialForSimBase(simObj);
                }

                if (newGeometry != null)
                {
                    geometryModel.Geometry = newGeometry;
                    geometryModel.Material = newMaterial;
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Recreate] ERROR recreating geometry: {ex.Message}");
            }
        }

        public void Clear()
        {
            foreach (var model in simBaseToModelMap.Values)
            {
                viewport3D.Children.Remove(model);
            }
            simBaseToModelMap.Clear();
            lastKnownDimensions.Clear();
        }

        /// <summary>
        /// ✅ NUEVO: Material específico para debug de curvas
        /// </summary>
        /// <param name="curve">Curva en modo debug</param>
        /// <returns>Material especial para visualización de debug</returns>
        private Material GetDebugMaterialForCurve(simCurve curve)
        {
            // Material wireframe semi-transparente para debug
            // Color naranja brillante para que sea muy visible
            var debugBrush = new SolidColorBrush(Color.FromRgb(255, 165, 0)); // Naranja
            debugBrush.Opacity = 0.7; // 70% opacidad para ver superposiciones
            
            return MaterialHelper.CreateMaterial(
                debugBrush,
                specularPower: 20,  // Menos reflectante para mejor visibilidad
                ambient: 250        // Más ambiente para que se vea bien en todas las condiciones
            );
        }

        /// <summary>
        /// Función centralizada para obtener el material apropiado según el tipo de simBase
        /// </summary>
        /// <param name="simObj">Objeto de simulación para determinar el material</param>
        /// <returns>Material configurado para el tipo de objeto</returns>
        private Material GetMaterialForSimBase(simBase simObj)
        {
            if (simObj is simTransporte)
            {
                // Material plástico verde para transportes
                return MaterialHelper.CreateMaterial(
                    new SolidColorBrush(Color.FromRgb(80, 180, 80)),
                    specularPower: 140,
                    ambient: 200
                );
            }
            else if (simObj is simGuia)
            {
                // Material semitransparente gris oscuro para guías
                var guiaBrush = new SolidColorBrush(Color.FromRgb(80, 80, 80));
                guiaBrush.Opacity = 0.4; // 40% opacidad para mejor visualización semitransparente
                return MaterialHelper.CreateMaterial(
                    guiaBrush,
                    specularPower: 30,
                    ambient: 100
                );
            }
            else if (simObj is simBarrera)
            {
                // Material semi-transparente amarillo para barreras (haz de luz)
                var yellowBrush = new SolidColorBrush(Color.FromRgb(255, 255, 0));
                yellowBrush.Opacity = 0.3; // 30% opacidad para simular haz de luz
                return MaterialHelper.CreateMaterial(
                    yellowBrush,
                    specularPower: 50,
                    ambient: 150
                );
            }
            else if (simObj is simBotella)
            {
                // Material plástico brillante rojo para botellas
                return MaterialHelper.CreateMaterial(
                    new SolidColorBrush(Color.FromRgb(255, 80, 80)),
                    specularPower: 120,
                    ambient: 200
                );
            }
            else if (simObj is simDescarte)
            {
                // Material semi-transparente magenta para descartes (85% transparente)
                var descarteBrush = new SolidColorBrush(Color.FromRgb(255, 100, 255));
                descarteBrush.Opacity = 0.15; // 15% opacidad = 85% transparencia
                return MaterialHelper.CreateMaterial(
                    descarteBrush,
                    specularPower: 60,
                    ambient: 120
                );
            }
            else if (simObj is simCurve)
            {
                // Material plástico brillante para curvas (azul verdoso)
                return MaterialHelper.CreateMaterial(
                    new SolidColorBrush(Color.FromRgb(80, 150, 200)),
                    specularPower: 130,
                    ambient: 190
                );
            }
            else
            {
                // Material plástico gris estándar para objetos no identificados
                return MaterialHelper.CreateMaterial(
                    new SolidColorBrush(Color.FromRgb(128, 128, 128)),
                    specularPower: 100,
                    ambient: 190
                );
            }
        }

        public void SetCameraView(CameraView view)
        {
            if (viewport3D?.Camera is not PerspectiveCamera camera) return;

            switch (view)
            {
                case CameraView.Top:
                    camera.Position = new Point3D(0, 0, 10);
                    camera.LookDirection = new Vector3D(0, 0, -1);
                    camera.UpDirection = new Vector3D(0, 1, 0);
                    break;
                case CameraView.Side:
                    camera.Position = new Point3D(10, 0, 0);
                    camera.LookDirection = new Vector3D(-1, 0, 0);
                    camera.UpDirection = new Vector3D(0, 0, 1);
                    break;
                case CameraView.Front:
                    camera.Position = new Point3D(0, 10, 0);
                    camera.LookDirection = new Vector3D(0, -1, 0);
                    camera.UpDirection = new Vector3D(0, 0, 1);
                    break;
                case CameraView.Isometric:
                    camera.Position = new Point3D(7, 7, 7);
                    camera.LookDirection = new Vector3D(-1, -1, -1);
                    camera.UpDirection = new Vector3D(0, 0, 1);
                    break;
            }
        }

        /// <summary>
        /// ✅ NUEVO: Activa o desactiva el modo debug para mostrar triángulos individuales de curvas
        /// </summary>
        /// <param name="enableDebug">True para activar debug, false para modo normal</param>
        /// <param name="forceRefresh">True para forzar actualización inmediata de todas las curvas</param>
        public void SetDebugTrianglesMode(bool enableDebug, bool forceRefresh = true)
        {
            bool wasChanged = DebugShowIndividualTriangles != enableDebug;
            DebugShowIndividualTriangles = enableDebug;

            System.Diagnostics.Debug.WriteLine($"[3D Debug] Debug triangles mode: {(enableDebug ? "ENABLED" : "DISABLED")}");

            if (wasChanged && forceRefresh)
            {
                RefreshCurveVisualizations();
            }
        }

        /// <summary>
        /// ✅ NUEVO: Fuerza la regeneración de todas las visualizaciones de curvas
        /// Útil cuando se cambia el modo debug
        /// </summary>
        public void RefreshCurveVisualizations()
        {
            if (simulationManager?.Cuerpos == null)
                return;

            try
            {
                System.Diagnostics.Debug.WriteLine($"[3D Debug] Refreshing curve visualizations...");

                // Encontrar todas las curvas y forzar su regeneración
                var curvesToRefresh = simulationManager.Cuerpos.OfType<simCurve>().ToList();

                foreach (var curve in curvesToRefresh)
                {
                    // Remover las dimensiones conocidas para forzar recreación
                    lastKnownDimensions.Remove(curve);

                    // Forzar actualización de la visualización
                    if (simBaseToModelMap.ContainsKey(curve))
                    {
                        UpdateVisualizationFromSimBase(curve);
                    }
                }

                System.Diagnostics.Debug.WriteLine($"[3D Debug] Refreshed {curvesToRefresh.Count} curve visualizations");
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Debug] ERROR refreshing curve visualizations: {ex.Message}");
            }
        }

        /// <summary>
        /// ✅ NUEVO: Obtiene el estado actual del modo debug
        /// </summary>
        /// <returns>True si el modo debug está activo</returns>
        public bool IsDebugTrianglesModeEnabled()
        {
            return DebugShowIndividualTriangles;
        }

        /// <summary>
        /// ✅ NUEVO: Obtiene información detallada de debug sobre los triángulos de una curva
        /// Útil para debug sin cambiar la visualización
        /// </summary>
        /// <param name="curve">Curva para analizar</param>
        /// <returns>Información de debug como string</returns>
        public string GetCurveDebugInfo(simCurve curve)
        {
            if (curve == null)
                return "ERROR: Curva es null";

            try
            {
                var triangles = curve.GetOriginalTriangles();
                var debugInfo = new System.Text.StringBuilder();

                debugInfo.AppendLine($"=== DEBUG INFO PARA CURVA ===");
                debugInfo.AppendLine($"Parámetros de curva:");
                debugInfo.AppendLine($"  - Radio Interior: {curve.InnerRadius}");
                debugInfo.AppendLine($"  - Radio Exterior: {curve.OuterRadius}");
                debugInfo.AppendLine($"  - Ángulo Inicio: {curve.StartAngle} rad ({curve.StartAngle * 180 / Math.PI:F1}°)");
                debugInfo.AppendLine($"  - Ángulo Fin: {curve.EndAngle} rad ({curve.EndAngle * 180 / Math.PI:F1}°)");
                debugInfo.AppendLine($"");
                debugInfo.AppendLine($"Triángulos en BEPU: {triangles.Count}");

                for (int i = 0; i < Math.Min(triangles.Count, 10); i++) // Mostrar máximo 10 triángulos
                {
                    var triangle = triangles[i];
                    debugInfo.AppendLine($"  Triángulo {i + 1}:");
                    debugInfo.AppendLine($"    P1: ({triangle[0].X:F3}, {triangle[0].Y:F3}, {triangle[0].Z:F3})");
                    debugInfo.AppendLine($"    P2: ({triangle[1].X:F3}, {triangle[1].Y:F3}, {triangle[1].Z:F3})");
                    debugInfo.AppendLine($"    P3: ({triangle[2].X:F3}, {triangle[2].Y:F3}, {triangle[2].Z:F3})");
                }

                if (triangles.Count > 10)
                {
                    debugInfo.AppendLine($"  ... y {triangles.Count - 10} triángulos más");
                }

                debugInfo.AppendLine($"");
                debugInfo.AppendLine($"Modo debug actual: {(DebugShowIndividualTriangles ? "ACTIVADO" : "DESACTIVADO")}");

                return debugInfo.ToString();
            }
            catch (Exception ex)
            {
                return $"ERROR obteniendo info de debug: {ex.Message}";
            }
        }

        /// <summary>
        /// Carga el estado guardado de la cámara desde EstadoPersistente
        /// </summary>
        private void LoadCameraState()
        {
            try
            {
                var cameraSettings = EstadoPersistente.Instance.Camera;

                viewport3D.Camera = new PerspectiveCamera
                {
                    Position = new Point3D(cameraSettings.PositionX, cameraSettings.PositionY, cameraSettings.PositionZ),
                    LookDirection = new Vector3D(cameraSettings.LookDirectionX, cameraSettings.LookDirectionY, cameraSettings.LookDirectionZ),
                    UpDirection = new Vector3D(cameraSettings.UpDirectionX, cameraSettings.UpDirectionY, cameraSettings.UpDirectionZ),
                    FieldOfView = cameraSettings.FieldOfView
                };

            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Camera] ERROR loading camera state: {ex.Message}");
                // Fallback a configuración por defecto
                viewport3D.Camera = new PerspectiveCamera
                {
                    LookDirection = new Vector3D(-3.86, 18.1, -10),
                    UpDirection = new Vector3D(-0.1, 0.48, 0.87),
                    Position = new Point3D(3.86, -18.13, 10),
                    FieldOfView = 60
                };
            }
        }

        /// <summary>
        /// Guarda el estado actual de la cámara en EstadoPersistente
        /// </summary>
        private void SaveCameraState()
        {
            try
            {
                if (viewport3D?.Camera is PerspectiveCamera camera)
                {
                    var cameraSettings = EstadoPersistente.Instance.Camera;

                    cameraSettings.PositionX = camera.Position.X;
                    cameraSettings.PositionY = camera.Position.Y;
                    cameraSettings.PositionZ = camera.Position.Z;
                    cameraSettings.LookDirectionX = camera.LookDirection.X;
                    cameraSettings.LookDirectionY = camera.LookDirection.Y;
                    cameraSettings.LookDirectionZ = camera.LookDirection.Z;
                    cameraSettings.UpDirectionX = camera.UpDirection.X;
                    cameraSettings.UpDirectionY = camera.UpDirection.Y;
                    cameraSettings.UpDirectionZ = camera.UpDirection.Z;
                    cameraSettings.FieldOfView = camera.FieldOfView;

                    EstadoPersistente.Instance.GuardarEstado();
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Camera] ERROR saving camera state: {ex.Message}");
            }
        }

        /// <summary>
        /// Se suscribe a eventos del viewport para detectar cambios en la cámara
        /// </summary>
        private void SubscribeToCameraEvents()
        {
            try
            {
                // Suscribirse a eventos del viewport para detectar cambios en la cámara
                viewport3D.CameraChanged += (sender, e) => SaveCameraState();

                // También suscribirse a eventos de mouse para detectar interacciones
                viewport3D.MouseUp += (sender, e) => SaveCameraState();
                viewport3D.MouseWheel += (sender, e) => SaveCameraState();

            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"[3D Camera] ERROR subscribing to camera events: {ex.Message}");
            }
        }
    }

    public enum CameraView
    {
        Top,
        Side,
        Front,
        Isometric
    }
}