implot3d.cpp

// SPDX-License-Identifier: MIT
// SPDX-FileCopyrightText: 2024-2025 Breno Cunha Queiroz

// ImPlot3D v0.4 WIP

// Acknowledgments:
//  ImPlot3D is heavily inspired by ImPlot
//  (https://github.com/epezent/implot) by Evan Pezent,
//  and follows a similar code style and structure to
//  maintain consistency with ImPlot's API.

// Table of Contents:
// [SECTION] Includes
// [SECTION] Macros
// [SECTION] Context
// [SECTION] Text Utils
// [SECTION] Legend Utils
// [SECTION] Mouse Position Utils
// [SECTION] Plot Box Utils
// [SECTION] Formatter
// [SECTION] Locator
// [SECTION] Context Menus
// [SECTION] Begin/End Plot
// [SECTION] Setup
// [SECTION] Plot Utils
// [SECTION] Setup Utils
// [SECTION] Miscellaneous
// [SECTION] Styles
// [SECTION] Colormaps
// [SECTION] Context Utils
// [SECTION] Style Utils
// [SECTION] ImPlot3DPoint
// [SECTION] ImPlot3DBox
// [SECTION] ImPlot3DRange
// [SECTION] ImPlot3DQuat
// [SECTION] ImDrawList3D
// [SECTION] ImPlot3DAxis
// [SECTION] ImPlot3DPlot
// [SECTION] ImPlot3DStyle
// [SECTION] Metrics
// [SECTION] Obsolete API

/*
API BREAKING CHANGES
====================
Occasionally introducing changes that are breaking the API. We try to make the breakage minor and easy to fix.
Below is a change-log of API breaking changes only. If you are using one of the functions listed, expect to have to fix some code.
When you are not sure about an old symbol or function name, try using the Search/Find function of your IDE to look for comments or references in all
implot3d files. You can read releases logs https://github.com/brenocq/implot3d/releases for more details.

- 2025/11/15 (0.3) - Renamed GetPlotPos() -> GetPlotRectPos() and GetPlotSize() -> GetPlotRectSize() for clarity in 3D context.
                     Old functions are marked as deprecated and will be removed in v1.0.
- 2025/10/22 (0.3) - **IMPORTANT** All plot coordinate types migrated from float to double precision to fix sorting issues with large values:
                       - ImPlot3DPoint members (x, y, z): float -> double
                       - ImPlot3DPoint operators: float parameters -> double parameters
                       - ImPlot3DRange members (Min, Max): float -> double
                       - ImPlot3DQuat members (x, y, z, w): float -> double
                       - ImPlot3DQuat methods: float parameters -> double parameters
                       - ImPlot3DTick::PlotPos: float -> double
                       - ImPlot3DAxis::NDCScale: float -> double
                       - ImDrawList3D::ZBuffer: ImVector<float> -> ImVector<double>
                       - ImDrawList3D::_ZWritePtr: float* -> double*
                       - ImPlot3DFormatter callback: float value -> double value
                       - SetupBoxRotation(): float elevation, float azimuth -> double elevation, double azimuth
                       - SetupBoxInitialRotation(): float elevation, float azimuth -> double elevation, double azimuth
                       - SetupBoxScale(): float x, float y, float z -> double x, double y, double z
                       - PlotText(): float x, float y, float z, float angle -> double x, double y, double z, double angle
                     No code changes required for most users. Advanced users directly using these classes with float precision assumption may need to
                     update their code.
- 2025/07/21 (0.3) - Renamed ImPlot3DPlot::GetBoxZoom() -> ImPlot3DPlot::GetViewScale() (internal API only).
*/

//-----------------------------------------------------------------------------
// [SECTION] Includes
//-----------------------------------------------------------------------------

#ifndef IMGUI_DEFINE_MATH_OPERATORS
#define IMGUI_DEFINE_MATH_OPERATORS
#endif

// We define this to avoid accidentally using the deprecated API
#ifndef IMPLOT3D_DISABLE_OBSOLETE_FUNCTIONS
#define IMPLOT3D_DISABLE_OBSOLETE_FUNCTIONS
#endif

#include "implot3d.h"
#include "implot3d_internal.h"

#ifndef IMGUI_DISABLE

//-----------------------------------------------------------------------------
// [SECTION] Macros
//-----------------------------------------------------------------------------

#define IMPLOT3D_CHECK_CTX()                                                                                                                         \
    IM_ASSERT_USER_ERROR(GImPlot3D != nullptr, "No current context. Did you call ImPlot3D::CreateContext() or ImPlot3D::SetCurrentContext()?")
#define IMPLOT3D_CHECK_PLOT() IM_ASSERT_USER_ERROR(GImPlot3D->CurrentPlot != nullptr, "No active plot. Did you call ImPlot3D::BeginPlot()?")

//-----------------------------------------------------------------------------
// [SECTION] Context
//-----------------------------------------------------------------------------

namespace ImPlot3D {

// Global ImPlot3D context
#ifndef GImPlot3D
ImPlot3DContext* GImPlot3D = nullptr;
#endif

ImPlot3DContext* CreateContext() {
    ImPlot3DContext* ctx = IM_NEW(ImPlot3DContext)();
    if (GImPlot3D == nullptr)
        SetCurrentContext(ctx);
    InitializeContext(ctx);
    return ctx;
}

void DestroyContext(ImPlot3DContext* ctx) {
    if (ctx == nullptr)
        ctx = GImPlot3D;
    if (GImPlot3D == ctx)
        SetCurrentContext(nullptr);
    IM_DELETE(ctx);
}

ImPlot3DContext* GetCurrentContext() { return GImPlot3D; }

void SetCurrentContext(ImPlot3DContext* ctx) { GImPlot3D = ctx; }

//-----------------------------------------------------------------------------
// [SECTION] Text Utils
//-----------------------------------------------------------------------------

void AddTextRotated(ImDrawList* draw_list, ImVec2 pos, float angle, ImU32 col, const char* text_begin, const char* text_end) {
    if (!text_end)
        text_end = text_begin + strlen(text_begin);

    ImGuiContext& g = *GImGui;
    ImFont* font = g.Font;

#ifdef IMGUI_HAS_TEXTURES
    ImFontBaked* fontBaked = g.Font->GetFontBaked(g.FontSize);
    const float scale = g.FontSize / fontBaked->Size;
#else
    const float scale = g.FontSize / font->FontSize;
#endif

    // Align to be pixel perfect
    pos = ImFloor(pos);

    // Measure the size of the text in unrotated coordinates
    ImVec2 text_size = font->CalcTextSizeA(g.FontSize, FLT_MAX, 0.0f, text_begin, text_end, nullptr);

    // Precompute sine and cosine of the angle (note: angle should be positive for rotation in ImGui)
    float cos_a = cosf(-angle);
    float sin_a = sinf(-angle);

    const char* s = text_begin;
    int chars_total = (int)(text_end - s);
    int chars_rendered = 0;
    const int vtx_count_max = chars_total * 4;
    const int idx_count_max = chars_total * 6;
    draw_list->PrimReserve(idx_count_max, vtx_count_max);

    // Adjust pen position to center the text
    ImVec2 pen = ImVec2(-text_size.x * 0.5f, -text_size.y * 0.5f);

    while (s < text_end) {
        unsigned int c = (unsigned int)*s;
        if (c < 0x80) {
            s += 1;
        } else {
            s += ImTextCharFromUtf8(&c, s, text_end);
            if (c == 0) // Malformed UTF-8?
                break;
        }

#ifdef IMGUI_HAS_TEXTURES
        const ImFontGlyph* glyph = fontBaked->FindGlyph((ImWchar)c);
#else
        const ImFontGlyph* glyph = font->FindGlyph((ImWchar)c);
#endif
        if (glyph == nullptr) {
            continue;
        }

        // Glyph dimensions and positions
        ImVec2 glyph_offset = ImVec2(glyph->X0, glyph->Y0) * scale;
        ImVec2 glyph_size = ImVec2(glyph->X1 - glyph->X0, glyph->Y1 - glyph->Y0) * scale;

        // Corners of the glyph quad in unrotated space
        ImVec2 corners[4];
        corners[0] = pen + glyph_offset;
        corners[1] = pen + glyph_offset + ImVec2(glyph_size.x, 0);
        corners[2] = pen + glyph_offset + glyph_size;
        corners[3] = pen + glyph_offset + ImVec2(0, glyph_size.y);

        // Rotate and translate the corners
        for (int i = 0; i < 4; i++) {
            float x = corners[i].x;
            float y = corners[i].y;
            corners[i].x = x * cos_a - y * sin_a + pos.x;
            corners[i].y = x * sin_a + y * cos_a + pos.y;
        }

        // Texture coordinates
        ImVec2 uv0 = ImVec2(glyph->U0, glyph->V0);
        ImVec2 uv1 = ImVec2(glyph->U1, glyph->V1);

        // Render the glyph quad
        draw_list->PrimQuadUV(corners[0], corners[1], corners[2], corners[3], uv0, ImVec2(glyph->U1, glyph->V0), uv1, ImVec2(glyph->U0, glyph->V1),
                              col);

        // Advance the pen position
        pen.x += glyph->AdvanceX * scale;

        chars_rendered++;
    }

    // Return unused vertices
    int chars_skipped = chars_total - chars_rendered;
    draw_list->PrimUnreserve(chars_skipped * 6, chars_skipped * 4);
}

void AddTextCentered(ImDrawList* draw_list, ImVec2 top_center, ImU32 col, const char* text_begin) {
    const char* text_end = ImGui::FindRenderedTextEnd(text_begin);
    ImVec2 text_size = ImGui::CalcTextSize(text_begin, text_end, true);
    draw_list->AddText(ImVec2(top_center.x - text_size.x * 0.5f, top_center.y), col, text_begin, text_end);
}

//-----------------------------------------------------------------------------
// [SECTION] Legend Utils
//-----------------------------------------------------------------------------

static const char* short_legend_location[9] = {"C", "N", "S", "W", "E", "NW", "NE", "SW", "SE"};

static const char* GetShortLegendLocationName(ImPlot3DLocation loc) {
    if (loc == ImPlot3DLocation_Center)
        return short_legend_location[0];
    if (loc == ImPlot3DLocation_North)
        return short_legend_location[1];
    if (loc == ImPlot3DLocation_South)
        return short_legend_location[2];
    if (loc == ImPlot3DLocation_West)
        return short_legend_location[3];
    if (loc == ImPlot3DLocation_East)
        return short_legend_location[4];
    if (loc == ImPlot3DLocation_NorthWest)
        return short_legend_location[5];
    if (loc == ImPlot3DLocation_NorthEast)
        return short_legend_location[6];
    if (loc == ImPlot3DLocation_SouthWest)
        return short_legend_location[7];
    if (loc == ImPlot3DLocation_SouthEast)
        return short_legend_location[8];
    return nullptr;
}

ImVec2 GetLocationPos(const ImRect& outer_rect, const ImVec2& inner_size, ImPlot3DLocation loc, const ImVec2& pad) {
    ImVec2 pos;
    // Legend x coordinate
    if (ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_West) && !ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_East))
        pos.x = outer_rect.Min.x + pad.x;
    else if (!ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_West) && ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_East))
        pos.x = outer_rect.Max.x - pad.x - inner_size.x;
    else
        pos.x = outer_rect.GetCenter().x - inner_size.x * 0.5f;
    // Legend y coordinate
    if (ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_North) && !ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_South))
        pos.y = outer_rect.Min.y + pad.y;
    else if (!ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_North) && ImPlot3D::ImHasFlag(loc, ImPlot3DLocation_South))
        pos.y = outer_rect.Max.y - pad.y - inner_size.y;
    else
        pos.y = outer_rect.GetCenter().y - inner_size.y * 0.5f;
    pos.x = IM_ROUND(pos.x);
    pos.y = IM_ROUND(pos.y);
    return pos;
}

ImVec2 CalcLegendSize(ImPlot3DItemGroup& items, const ImVec2& pad, const ImVec2& spacing, bool vertical) {
    const int nItems = items.GetLegendCount();
    const float txt_ht = ImGui::GetTextLineHeight();
    const float icon_size = txt_ht;
    // Get label max width
    float max_label_width = 0;
    float sum_label_width = 0;
    for (int i = 0; i < nItems; i++) {
        const char* label = items.GetLegendLabel(i);
        const float label_width = ImGui::CalcTextSize(label, nullptr, true).x;
        max_label_width = label_width > max_label_width ? label_width : max_label_width;
        sum_label_width += label_width;
    }
    // Compute legend size
    const ImVec2 legend_size = vertical ? ImVec2(pad.x * 2 + icon_size + max_label_width, pad.y * 2 + nItems * txt_ht + (nItems - 1) * spacing.y)
                                        : ImVec2(pad.x * 2 + icon_size * nItems + sum_label_width + (nItems - 1) * spacing.x, pad.y * 2 + txt_ht);
    return legend_size;
}

void ShowLegendEntries(ImPlot3DItemGroup& items, const ImRect& legend_bb, bool hovered, const ImVec2& pad, const ImVec2& spacing, bool vertical,
                       ImDrawList& draw_list) {
    const float txt_ht = ImGui::GetTextLineHeight();
    const float icon_size = txt_ht;
    const float icon_shrink = 2;
    ImU32 col_txt = GetStyleColorU32(ImPlot3DCol_LegendText);
    ImU32 col_txt_dis = ImAlphaU32(col_txt, 0.25f);
    float sum_label_width = 0;

    const int num_items = items.GetLegendCount();
    if (num_items == 0)
        return;

    // Render legend items
    for (int i = 0; i < num_items; i++) {
        const int idx = i;
        ImPlot3DItem* item = items.GetLegendItem(idx);
        const char* label = items.GetLegendLabel(idx);
        const float label_width = ImGui::CalcTextSize(label, nullptr, true).x;
        const ImVec2 top_left = vertical ? legend_bb.Min + pad + ImVec2(0, i * (txt_ht + spacing.y))
                                         : legend_bb.Min + pad + ImVec2(i * (icon_size + spacing.x) + sum_label_width, 0);
        sum_label_width += label_width;
        ImRect icon_bb;
        icon_bb.Min = top_left + ImVec2(icon_shrink, icon_shrink);
        icon_bb.Max = top_left + ImVec2(icon_size - icon_shrink, icon_size - icon_shrink);
        ImRect label_bb;
        label_bb.Min = top_left;
        label_bb.Max = top_left + ImVec2(label_width + icon_size, icon_size);
        ImU32 col_txt_hl;
        ImU32 col_item = ImAlphaU32(item->Color, 1);

        ImRect button_bb(icon_bb.Min, label_bb.Max);

        ImGui::KeepAliveID(item->ID);

        bool item_hov = false;
        bool item_hld = false;
        bool item_clk = ImPlot3D::ImHasFlag(items.Legend.Flags, ImPlot3DLegendFlags_NoButtons)
                            ? false
                            : ImGui::ButtonBehavior(button_bb, item->ID, &item_hov, &item_hld);

        if (item_clk)
            item->Show = !item->Show;

        const bool hovering = item_hov && !ImPlot3D::ImHasFlag(items.Legend.Flags, ImPlot3DLegendFlags_NoHighlightItem);

        if (hovering) {
            item->LegendHovered = true;
            col_txt_hl = ImPlot3D::ImMixU32(col_txt, col_item, 64);
        } else {
            item->LegendHovered = false;
            col_txt_hl = ImGui::GetColorU32(col_txt);
        }

        ImU32 col_icon;
        if (item_hld)
            col_icon = item->Show ? ImAlphaU32(col_item, 0.5f) : ImGui::GetColorU32(ImGuiCol_TextDisabled, 0.5f);
        else if (item_hov)
            col_icon = item->Show ? ImAlphaU32(col_item, 0.75f) : ImGui::GetColorU32(ImGuiCol_TextDisabled, 0.75f);
        else
            col_icon = item->Show ? col_item : col_txt_dis;

        draw_list.AddRectFilled(icon_bb.Min, icon_bb.Max, col_icon);
        const char* text_display_end = ImGui::FindRenderedTextEnd(label, nullptr);
        if (label != text_display_end)
            draw_list.AddText(top_left + ImVec2(icon_size, 0), item->Show ? col_txt_hl : col_txt_dis, label, text_display_end);
    }
}

void RenderLegend() {
    ImPlot3DContext& gp = *GImPlot3D;
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    if (ImPlot3D::ImHasFlag(plot.Flags, ImPlot3DFlags_NoLegend) || plot.Items.GetLegendCount() == 0)
        return;
    ImGuiContext& g = *GImGui;
    ImGuiWindow* window = g.CurrentWindow;
    ImDrawList* draw_list = window->DrawList;
    const ImGuiIO& IO = ImGui::GetIO();

    ImPlot3DLegend& legend = plot.Items.Legend;
    const bool legend_horz = ImPlot3D::ImHasFlag(legend.Flags, ImPlot3DLegendFlags_Horizontal);
    const ImVec2 legend_size = CalcLegendSize(plot.Items, gp.Style.LegendInnerPadding, gp.Style.LegendSpacing, !legend_horz);
    const ImVec2 legend_pos = GetLocationPos(plot.PlotRect, legend_size, legend.Location, gp.Style.LegendPadding);
    legend.Rect = ImRect(legend_pos, legend_pos + legend_size);

    // Test hover
    legend.Hovered = legend.Rect.Contains(IO.MousePos);

    // Render background
    ImU32 col_bg = GetStyleColorU32(ImPlot3DCol_LegendBg);
    ImU32 col_bd = GetStyleColorU32(ImPlot3DCol_LegendBorder);
    draw_list->AddRectFilled(legend.Rect.Min, legend.Rect.Max, col_bg);
    draw_list->AddRect(legend.Rect.Min, legend.Rect.Max, col_bd);

    // Render legends
    ShowLegendEntries(plot.Items, legend.Rect, legend.Hovered, gp.Style.LegendInnerPadding, gp.Style.LegendSpacing, !legend_horz, *draw_list);
}

//-----------------------------------------------------------------------------
// [SECTION] Mouse Position Utils
//-----------------------------------------------------------------------------

void RenderMousePos() {
    ImPlot3DContext& gp = *GImPlot3D;
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    if (ImPlot3D::ImHasFlag(plot.Flags, ImPlot3DFlags_NoMouseText))
        return;

    ImVec2 mouse_pos = ImGui::GetMousePos();
    ImPlot3DPoint mouse_plot_pos = PixelsToPlotPlane(mouse_pos, ImPlane3D_YZ, true);
    if (mouse_plot_pos.IsNaN())
        mouse_plot_pos = PixelsToPlotPlane(mouse_pos, ImPlane3D_XZ, true);
    if (mouse_plot_pos.IsNaN())
        mouse_plot_pos = PixelsToPlotPlane(mouse_pos, ImPlane3D_XY, true);

    char buff[IMPLOT3D_LABEL_MAX_SIZE];
    if (!mouse_plot_pos.IsNaN()) {
        ImGuiTextBuffer builder;
        builder.append("(");
        for (int i = 0; i < 3; i++) {
            ImPlot3DAxis& axis = plot.Axes[i];
            if (i > 0)
                builder.append(", ");
            axis.Formatter(mouse_plot_pos[i], buff, IMPLOT3D_LABEL_MAX_SIZE, axis.FormatterData);
            builder.append(buff);
        }
        builder.append(")");

        const ImVec2 size = ImGui::CalcTextSize(builder.c_str());
        // TODO custom location/padding
        const ImVec2 pos = GetLocationPos(plot.PlotRect, size, ImPlot3DLocation_SouthEast, ImVec2(10, 10));
        ImDrawList& draw_list = *ImGui::GetWindowDrawList();
        draw_list.AddText(pos, GetStyleColorU32(ImPlot3DCol_InlayText), builder.c_str());
    }
}

//-----------------------------------------------------------------------------
// [SECTION] Plot Box Utils
//-----------------------------------------------------------------------------

// Faces of the box (defined by 4 corner indices)
static const int faces[6][4] = {
    {0, 3, 7, 4}, // X-min face
    {0, 4, 5, 1}, // Y-min face
    {0, 1, 2, 3}, // Z-min face
    {1, 2, 6, 5}, // X-max face
    {3, 7, 6, 2}, // Y-max face
    {4, 5, 6, 7}, // Z-max face
};

// Edges of the box (defined by 2 corner indices)
static const int edges[12][2] = {
    // Bottom face edges
    {0, 1},
    {1, 2},
    {2, 3},
    {3, 0},
    // Top face edges
    {4, 5},
    {5, 6},
    {6, 7},
    {7, 4},
    // Vertical edges
    {0, 4},
    {1, 5},
    {2, 6},
    {3, 7},
};

// Face edges (4 edge indices for each face)
static const int face_edges[6][4] = {
    {3, 11, 8, 7},  // X-min face
    {0, 8, 4, 9},   // Y-min face
    {0, 1, 2, 3},   // Z-min face
    {1, 9, 5, 10},  // X-max face
    {2, 10, 6, 11}, // Y-max face
    {4, 5, 6, 7},   // Z-max face
};

// Lookup table for axis_corners based on active_faces (3D plot)
static const int axis_corners_lookup_3d[8][3][2] = {
    // Index 0: active_faces = {0, 0, 0}
    {{3, 2}, {1, 2}, {1, 5}},
    // Index 1: active_faces = {0, 0, 1}
    {{7, 6}, {5, 6}, {1, 5}},
    // Index 2: active_faces = {0, 1, 0}
    {{0, 1}, {1, 2}, {2, 6}},
    // Index 3: active_faces = {0, 1, 1}
    {{4, 5}, {5, 6}, {2, 6}},
    // Index 4: active_faces = {1, 0, 0}
    {{3, 2}, {0, 3}, {0, 4}},
    // Index 5: active_faces = {1, 0, 1}
    {{7, 6}, {4, 7}, {0, 4}},
    // Index 6: active_faces = {1, 1, 0}
    {{0, 1}, {0, 3}, {3, 7}},
    // Index 7: active_faces = {1, 1, 1}
    {{4, 5}, {4, 7}, {3, 7}},
};

// Lookup table for axis_edges based on active_faces (3D plot)
static const int axis_edges_lookup_3d[8][3] = {
    // Index 0: active_faces = {0, 0, 0}
    {2, 1, 9},
    // Index 1: active_faces = {0, 0, 1}
    {6, 5, 9},
    // Index 2: active_faces = {0, 1, 0}
    {0, 1, 10},
    // Index 3: active_faces = {0, 1, 1}
    {4, 5, 10},
    // Index 4: active_faces = {1, 0, 0}
    {2, 3, 8},
    // Index 5: active_faces = {1, 0, 1}
    {6, 7, 8},
    // Index 6: active_faces = {1, 1, 0}
    {0, 3, 11},
    // Index 7: active_faces = {1, 1, 1}
    {4, 7, 11},
};

// Convert the X, Y and Z active_faces array to a integer value representation that can be looked up in axis_corners_lookup_3d
int Active3DFacesToAxisLookupIndex(const bool* active_faces) {
    return ((int)active_faces[0] << 2) | ((int)active_faces[1] << 1) | ((int)active_faces[2]);
}

int GetMouseOverPlane(const ImPlot3DPlot& plot, const bool* active_faces, const ImVec2* corners_pix, int* plane_out = nullptr) {
    ImGuiIO& io = ImGui::GetIO();
    ImVec2 mouse_pos = io.MousePos;
    if (plane_out)
        *plane_out = -1;

    // Check each active face
    for (int a = 0; a < 3; a++) {
        int face_idx = a + 3 * active_faces[a];
        ImVec2 p0 = corners_pix[faces[face_idx][0]];
        ImVec2 p1 = corners_pix[faces[face_idx][1]];
        ImVec2 p2 = corners_pix[faces[face_idx][2]];
        ImVec2 p3 = corners_pix[faces[face_idx][3]];

        // Check if the mouse is inside the face's quad (using a triangle check)
        if (ImTriangleContainsPoint(p0, p1, p2, mouse_pos) || ImTriangleContainsPoint(p2, p3, p0, mouse_pos)) {
            if (plane_out)
                *plane_out = a;
            return a; // Return the plane index: 0 -> YZ, 1 -> XZ, 2 -> XY
        }
    }

    return -1; // Not over any active plane
}

int GetMouseOverAxis(const ImPlot3DPlot& plot, const bool* active_faces, const ImVec2* corners_pix, const int plane_2d, int* edge_out = nullptr) {
    const float axis_proximity_threshold = 15.0f; // Distance in pixels to consider the mouse "close" to an axis

    ImGuiIO& io = ImGui::GetIO();
    ImVec2 mouse_pos = io.MousePos;
    if (edge_out)
        *edge_out = -1;

    bool visible_edges[12];
    for (int i = 0; i < 12; i++)
        visible_edges[i] = false;
    for (int a = 0; a < 3; a++) {
        int face_idx = a + 3 * active_faces[a];
        if (plane_2d != -1 && a != plane_2d)
            continue;
        for (size_t i = 0; i < 4; i++)
            visible_edges[face_edges[face_idx][i]] = true;
    }

    // Check each edge for proximity to the mouse
    for (int edge = 0; edge < 12; edge++) {
        if (!visible_edges[edge])
            continue;

        ImVec2 p0 = corners_pix[edges[edge][0]];
        ImVec2 p1 = corners_pix[edges[edge][1]];

        // Check distance to the edge
        ImVec2 closest_point = ImLineClosestPoint(p0, p1, mouse_pos);
        float dist = ImLengthSqr(mouse_pos - closest_point);
        if (dist <= axis_proximity_threshold) {
            if (edge_out)
                *edge_out = edge;

            // Determine which axis the edge belongs to
            if (edge == 0 || edge == 2 || edge == 4 || edge == 6)
                return 0; // X-axis
            else if (edge == 1 || edge == 3 || edge == 5 || edge == 7)
                return 1; // Y-axis
            else
                return 2; // Z-axis
        }
    }

    return -1; // Not over any axis
}

void RenderPlotBackground(ImDrawList* draw_list, const ImPlot3DPlot& plot, const ImVec2* corners_pix, const bool* active_faces, const int plane_2d) {
    const ImVec4 col_bg = GetStyleColorVec4(ImPlot3DCol_PlotBg);
    const ImVec4 col_bg_hov = col_bg + ImVec4(0.03f, 0.03f, 0.03f, 0.0f);

    int hovered_plane = -1;
    if (!plot.Held) {
        // If the mouse is not held, highlight plane hovering when mouse over it
        hovered_plane = GetMouseOverPlane(plot, active_faces, corners_pix);
        if (GetMouseOverAxis(plot, active_faces, corners_pix, plane_2d) != -1)
            hovered_plane = -1;
    } else {
        // If the mouse is held, highlight the held plane
        hovered_plane = plot.HeldPlaneIdx;
    }

    for (int a = 0; a < 3; a++) {
        int idx[4]; // Corner indices
        for (int i = 0; i < 4; i++)
            idx[i] = faces[a + 3 * active_faces[a]][i];
        const ImU32 col = ImGui::ColorConvertFloat4ToU32((hovered_plane == a) ? col_bg_hov : col_bg);
        draw_list->AddQuadFilled(corners_pix[idx[0]], corners_pix[idx[1]], corners_pix[idx[2]], corners_pix[idx[3]], col);
    }
}

void RenderPlotBorder(ImDrawList* draw_list, const ImPlot3DPlot& plot, const ImVec2* corners_pix, const bool* active_faces, const int plane_2d) {
    int hovered_edge = -1;
    if (!plot.Held)
        GetMouseOverAxis(plot, active_faces, corners_pix, plane_2d, &hovered_edge);
    else
        hovered_edge = plot.HeldEdgeIdx;

    bool render_edge[12];
    for (int i = 0; i < 12; i++)
        render_edge[i] = false;
    for (int a = 0; a < 3; a++) {
        int face_idx = a + 3 * active_faces[a];
        if (plane_2d != -1 && a != plane_2d)
            continue;
        for (size_t i = 0; i < 4; i++)
            render_edge[face_edges[face_idx][i]] = true;
    }

    ImU32 col_bd = GetStyleColorU32(ImPlot3DCol_PlotBorder);
    for (int i = 0; i < 12; i++) {
        if (render_edge[i]) {
            int idx0 = edges[i][0];
            int idx1 = edges[i][1];
            float thickness = i == hovered_edge ? 3.0f : 1.0f;
            draw_list->AddLine(corners_pix[idx0], corners_pix[idx1], col_bd, thickness);
        }
    }
}

void RenderGrid(ImDrawList* draw_list, const ImPlot3DPlot& plot, const ImPlot3DPoint* corners, const bool* active_faces, const int plane_2d) {
    ImVec4 col_grid = GetStyleColorVec4(ImPlot3DCol_AxisGrid);
    ImU32 col_grid_minor = ImGui::GetColorU32(col_grid * ImVec4(1, 1, 1, 0.3f));
    ImU32 col_grid_major = ImGui::GetColorU32(col_grid * ImVec4(1, 1, 1, 0.6f));
    for (int face = 0; face < 3; face++) {
        if (plane_2d != -1 && face != plane_2d)
            continue;
        int face_idx = face + 3 * active_faces[face];
        const ImPlot3DAxis& axis_u = plot.Axes[(face + 1) % 3];
        const ImPlot3DAxis& axis_v = plot.Axes[(face + 2) % 3];

        // Get the two axes (u and v) that define the face plane
        int idx0 = faces[face_idx][0];
        int idx1 = faces[face_idx][1];
        int idx3 = faces[face_idx][3];

        // Corners of the face in plot space
        ImPlot3DPoint p0 = corners[idx0];
        ImPlot3DPoint p1 = corners[idx1];
        ImPlot3DPoint p3 = corners[idx3];

        // Vectors along the edges
        ImPlot3DPoint u_vec = p1 - p0;
        ImPlot3DPoint v_vec = p3 - p0;

        // Render grid lines along u axis (axis_u)
        if (!ImPlot3D::ImHasFlag(axis_u.Flags, ImPlot3DAxisFlags_NoGridLines))
            for (int t = 0; t < axis_u.Ticker.TickCount(); ++t) {
                const ImPlot3DTick& tick = axis_u.Ticker.Ticks[t];

                // Compute position along u
                double t_u = (tick.PlotPos - axis_u.Range.Min) / (axis_u.Range.Max - axis_u.Range.Min);

                // Skip ticks that are out of range
                if (t_u < 0.0 || t_u > 1.0)
                    continue;

                ImPlot3DPoint p_start = p0 + u_vec * t_u;
                ImPlot3DPoint p_end = p3 + u_vec * t_u;

                // Convert to pixel coordinates
                ImVec2 p_start_pix = PlotToPixels(p_start);
                ImVec2 p_end_pix = PlotToPixels(p_end);

                // Get color
                ImU32 col_line = tick.Major ? col_grid_major : col_grid_minor;

                // Draw the grid line
                draw_list->AddLine(p_start_pix, p_end_pix, col_line);
            }

        // Render grid lines along v axis (axis_v)
        if (!ImPlot3D::ImHasFlag(axis_v.Flags, ImPlot3DAxisFlags_NoGridLines))
            for (int t = 0; t < axis_v.Ticker.TickCount(); ++t) {
                const ImPlot3DTick& tick = axis_v.Ticker.Ticks[t];

                // Compute position along v
                double t_v = (tick.PlotPos - axis_v.Range.Min) / (axis_v.Range.Max - axis_v.Range.Min);

                // Skip ticks that are out of range
                if (t_v < 0.0 || t_v > 1.0)
                    continue;

                ImPlot3DPoint p_start = p0 + v_vec * t_v;
                ImPlot3DPoint p_end = p1 + v_vec * t_v;

                // Convert to pixel coordinates
                ImVec2 p_start_pix = PlotToPixels(p_start);
                ImVec2 p_end_pix = PlotToPixels(p_end);

                // Get color
                ImU32 col_line = tick.Major ? col_grid_major : col_grid_minor;

                // Draw the grid line
                draw_list->AddLine(p_start_pix, p_end_pix, col_line);
            }
    }
}

void RenderTickMarks(ImDrawList* draw_list, const ImPlot3DPlot& plot, const ImPlot3DPoint* corners, const ImVec2* corners_pix,
                     const int axis_corners[3][2], const int plane_2d) {
    ImU32 col_tick = GetStyleColorU32(ImPlot3DCol_AxisTick);

    auto DeterminePlaneForAxis = [&](int axis_idx) {
        if (plane_2d != -1)
            return plane_2d;
        // If no plane chosen (-1), use:
        // X or Y axis -> XY plane (2)
        // Z axis -> YZ plane (0)
        if (axis_idx == 2)
            return 1; // Z-axis use XZ plane
        else
            return 2; // X or Y-axis use XY plane
    };

    for (int a = 0; a < 3; a++) {
        const ImPlot3DAxis& axis = plot.Axes[a];
        if (ImPlot3D::ImHasFlag(axis.Flags, ImPlot3DAxisFlags_NoTickMarks))
            continue;

        int idx0 = axis_corners[a][0];
        int idx1 = axis_corners[a][1];
        if (idx0 == idx1) // axis not visible or invalid
            continue;

        ImPlot3DPoint axis_start = corners[idx0];
        ImPlot3DPoint axis_end = corners[idx1];
        ImPlot3DPoint axis_dir = axis_end - axis_start;
        double axis_len = axis_dir.Length();
        if (axis_len < 1e-12)
            continue;
        axis_dir /= axis_len;

        // Draw axis line
        ImVec2 axis_start_pix = corners_pix[idx0];
        ImVec2 axis_end_pix = corners_pix[idx1];
        draw_list->AddLine(axis_start_pix, axis_end_pix, col_tick);

        // Choose plane
        int chosen_plane = DeterminePlaneForAxis(a);

        // Project axis_dir onto chosen plane
        ImPlot3DPoint proj_dir = axis_dir;
        if (chosen_plane == 0) {
            // YZ plane: zero out x
            proj_dir.x = 0.0f;
        } else if (chosen_plane == 1) {
            // XZ plane: zero out y
            proj_dir.y = 0.0f;
        } else if (chosen_plane == 2) {
            // XY plane: zero out z
            proj_dir.z = 0.0f;
        }

        double proj_len = proj_dir.Length();
        if (proj_len < 1e-12) {
            // Axis is parallel to plane normal or something degenerate, skip ticks
            continue;
        }
        proj_dir /= proj_len;

        // Rotate 90 degrees in chosen plane
        ImPlot3DPoint tick_dir;
        if (chosen_plane == 0) {
            // YZ plane
            // proj_dir=(0,py,pz), rotate 90°: (py,pz) -> (-pz,py)
            tick_dir = ImPlot3DPoint(0, -proj_dir.z, proj_dir.y);
        } else if (chosen_plane == 1) {
            // XZ plane (plane=1)
            // proj_dir=(px,0,pz), rotate 90°: (px,pz) -> (-pz,px)
            tick_dir = ImPlot3DPoint(-proj_dir.z, 0, proj_dir.x);
        } else {
            // XY plane
            // proj_dir=(px,py,0), rotate by 90°: (px,py) -> (-py,px)
            tick_dir = ImPlot3DPoint(-proj_dir.y, proj_dir.x, 0);
        }
        tick_dir.Normalize();

        // Tick lengths in NDC units
        const double major_size_ndc = 0.06;
        const double minor_size_ndc = 0.03;

        for (int t = 0; t < axis.Ticker.TickCount(); ++t) {
            const ImPlot3DTick& tick = axis.Ticker.Ticks[t];
            double v = (tick.PlotPos - axis.Range.Min) / (axis.Range.Max - axis.Range.Min);

            // Skip ticks that are out of range
            if (v < 0.0 || v > 1.0)
                continue;
            ImPlot3DPoint tick_pos_ndc = PlotToNDC(axis_start + axis_dir * (v * axis_len));

            // Half tick on each side of the axis line
            double size_tick_ndc = tick.Major ? major_size_ndc : minor_size_ndc;
            ImPlot3DPoint half_tick_ndc = tick_dir * (size_tick_ndc * 0.5);

            ImPlot3DPoint T1_ndc = tick_pos_ndc - half_tick_ndc;
            ImPlot3DPoint T2_ndc = tick_pos_ndc + half_tick_ndc;

            ImVec2 T1_screen = NDCToPixels(T1_ndc);
            ImVec2 T2_screen = NDCToPixels(T2_ndc);

            draw_list->AddLine(T1_screen, T2_screen, col_tick);
        }
    }
}

void RenderTickLabels(ImDrawList* draw_list, const ImPlot3DPlot& plot, const ImPlot3DPoint* corners, const ImVec2* corners_pix,
                      const int axis_corners[3][2]) {
    ImU32 col_tick_txt = GetStyleColorU32(ImPlot3DCol_AxisText);

    for (int a = 0; a < 3; a++) {
        const ImPlot3DAxis& axis = plot.Axes[a];
        if (ImPlot3D::ImHasFlag(axis.Flags, ImPlot3DAxisFlags_NoTickLabels))
            continue;

        // Corner indices for this axis
        int idx0 = axis_corners[a][0];
        int idx1 = axis_corners[a][1];

        // If normal to the 2D plot, ignore the ticks
        if (idx0 == idx1)
            continue;

        // Start and end points of the axis in plot space
        ImPlot3DPoint axis_start = corners[idx0];
        ImPlot3DPoint axis_end = corners[idx1];

        // Direction vector along the axis
        ImPlot3DPoint axis_dir = axis_end - axis_start;

        // Convert axis start and end to screen space
        ImVec2 axis_start_pix = corners_pix[idx0];
        ImVec2 axis_end_pix = corners_pix[idx1];

        // Screen space axis direction
        ImVec2 axis_screen_dir = axis_end_pix - axis_start_pix;
        float axis_length = ImSqrt(ImLengthSqr(axis_screen_dir));
        if (axis_length != 0.0f)
            axis_screen_dir /= axis_length;
        else
            axis_screen_dir = ImVec2(1.0f, 0.0f); // Default direction if length is zero

        // Perpendicular direction in screen space
        ImVec2 offset_dir_pix = ImVec2(-axis_screen_dir.y, axis_screen_dir.x);

        // Make sure direction points away from cube center
        ImVec2 box_center_pix = PlotToPixels(plot.RangeCenter());
        ImVec2 axis_center_pix = (axis_start_pix + axis_end_pix) * 0.5f;
        ImVec2 center_to_axis_pix = axis_center_pix - box_center_pix;
        center_to_axis_pix /= ImSqrt(ImLengthSqr(center_to_axis_pix));
        if (ImDot(offset_dir_pix, center_to_axis_pix) < 0.0f)
            offset_dir_pix = -offset_dir_pix;

        // Adjust the offset magnitude
        float offset_magnitude = 20.0f; // TODO Calculate based on label size
        ImVec2 offset_pix = offset_dir_pix * offset_magnitude;

        // Compute angle perpendicular to axis in screen space
        float angle = atan2f(-axis_screen_dir.y, axis_screen_dir.x) + IM_PI * 0.5f;

        // Normalize angle to be between -π and π
        if (angle > IM_PI)
            angle -= 2 * IM_PI;
        if (angle < -IM_PI)
            angle += 2 * IM_PI;

        // Adjust angle to keep labels upright
        if (angle > IM_PI * 0.5f)
            angle -= IM_PI;
        if (angle < -IM_PI * 0.5f)
            angle += IM_PI;

        // Loop over ticks
        for (int t = 0; t < axis.Ticker.TickCount(); ++t) {
            const ImPlot3DTick& tick = axis.Ticker.Ticks[t];
            if (!tick.ShowLabel)
                continue;

            // Compute position along the axis
            double t_axis = (tick.PlotPos - axis.Range.Min) / (axis.Range.Max - axis.Range.Min);

            // Skip ticks that are out of range
            if (t_axis < 0.0 || t_axis > 1.0)
                continue;
            ImPlot3DPoint tick_pos = axis_start + axis_dir * t_axis;

            // Convert to pixel coordinates
            ImVec2 tick_pos_pix = PlotToPixels(tick_pos);

            // Get the tick label text
            const char* label = axis.Ticker.GetText(tick);

            // Adjust label position by offset
            ImVec2 label_pos_pix = tick_pos_pix + offset_pix;

            // Render the tick label
            AddTextRotated(draw_list, label_pos_pix, angle, col_tick_txt, label);
        }
    }
}

void RenderAxisLabels(ImDrawList* draw_list, const ImPlot3DPlot& plot, const ImPlot3DPoint* corners, const ImVec2* corners_pix,
                      const int axis_corners[3][2]) {
    for (int a = 0; a < 3; a++) {
        const ImPlot3DAxis& axis = plot.Axes[a];
        if (!axis.HasLabel())
            continue;

        const char* label = axis.GetLabel();

        // Corner indices
        int idx0 = axis_corners[a][0];
        int idx1 = axis_corners[a][1];

        // If normal to the 2D plot, ignore axis label
        if (idx0 == idx1)
            continue;

        // Position at the end of the axis
        ImPlot3DPoint label_pos = (PlotToNDC(corners[idx0]) + PlotToNDC(corners[idx1])) * 0.5f;
        ImPlot3DPoint center_dir = label_pos.Normalized();
        // Add offset
        label_pos += center_dir * 0.3f;

        // Convert to pixel coordinates
        ImVec2 label_pos_pix = NDCToPixels(label_pos);

        // Adjust label position and angle
        ImU32 col_ax_txt = GetStyleColorU32(ImPlot3DCol_AxisText);

        // Compute text angle
        ImVec2 screen_delta = corners_pix[idx1] - corners_pix[idx0];
        float angle = atan2f(-screen_delta.y, screen_delta.x);
        if (angle > IM_PI * 0.5f)
            angle -= IM_PI;
        if (angle < -IM_PI * 0.5f)
            angle += IM_PI;

        AddTextRotated(draw_list, label_pos_pix, angle, col_ax_txt, label);
    }
}

// Function to compute active faces based on the rotation
// If the plot is close to 2D, plane_2d is set to the plane index (0 -> YZ, 1 -> XZ, 2 -> XY)
// plane_2d is set to -1 otherwise
void ComputeActiveFaces(bool* active_faces, const ImPlot3DQuat& rotation, const ImPlot3DAxis* axes, int* plane_2d = nullptr) {
    if (plane_2d)
        *plane_2d = -1;

    ImPlot3DPoint rot_face_n[3] = {
        rotation * ImPlot3DPoint(1.0f, 0.0f, 0.0f),
        rotation * ImPlot3DPoint(0.0f, 1.0f, 0.0f),
        rotation * ImPlot3DPoint(0.0f, 0.0f, 1.0f),
    };

    int num_deg = 0; // Check number of planes that are degenerate (seen as a line)
    for (int i = 0; i < 3; i++) {
        // Determine the active face based on the Z component
        if (fabs(rot_face_n[i].z) < 0.025) {
            // If aligned with the plane, choose the min face for bottom/left
            active_faces[i] = rot_face_n[i].x + rot_face_n[i].y < 0.0f;
            num_deg++;
        } else {
            // Otherwise, determine based on the Z component
            bool is_inverted = ImHasFlag(axes[i].Flags, ImPlot3DAxisFlags_Invert);
            active_faces[i] = is_inverted ? (rot_face_n[i].z > 0.0f) : (rot_face_n[i].z < 0.0f);
            // Set this plane as possible 2d plane
            if (plane_2d)
                *plane_2d = i;
        }
    }
    // Only return 2d plane if there are exactly 2 degenerate planes
    if (num_deg != 2 && plane_2d)
        *plane_2d = -1;
}

// Function to compute the box corners in plot space
void ComputeBoxCorners(ImPlot3DPoint* corners, const ImPlot3DPoint& range_min, const ImPlot3DPoint& range_max) {
    corners[0] = ImPlot3DPoint(range_min.x, range_min.y, range_min.z); // 0
    corners[1] = ImPlot3DPoint(range_max.x, range_min.y, range_min.z); // 1
    corners[2] = ImPlot3DPoint(range_max.x, range_max.y, range_min.z); // 2
    corners[3] = ImPlot3DPoint(range_min.x, range_max.y, range_min.z); // 3
    corners[4] = ImPlot3DPoint(range_min.x, range_min.y, range_max.z); // 4
    corners[5] = ImPlot3DPoint(range_max.x, range_min.y, range_max.z); // 5
    corners[6] = ImPlot3DPoint(range_max.x, range_max.y, range_max.z); // 6
    corners[7] = ImPlot3DPoint(range_min.x, range_max.y, range_max.z); // 7
}

// Convert a position in the plot's NDC to pixels
ImVec2 NDCToPixels(const ImPlot3DPlot& plot, const ImPlot3DPoint& point) {
    ImVec2 center = plot.PlotRect.GetCenter();
    ImPlot3DPoint point_pix = plot.GetViewScale() * (plot.Rotation * point);
    point_pix.y *= -1.0f; // Invert y-axis
    point_pix.x += center.x;
    point_pix.y += center.y;

    return ImVec2((float)point_pix.x, (float)point_pix.y);
}

// Convert a position in the plot's coordinate system to the plot's normalized device coordinate system (NDC)
ImPlot3DPoint PlotToNDC(const ImPlot3DPlot& plot, const ImPlot3DPoint& point) {
    ImPlot3DPoint ndc_point;
    for (int i = 0; i < 3; i++) {
        const ImPlot3DAxis& axis = plot.Axes[i];
        // Apply forward transform if needed, then normalize to [0, 1]
        double plt = point[i];
        double t;
        if (axis.TransformForward != nullptr) {
            double s = axis.TransformForward(plt, axis.TransformData);
            t = (s - axis.ScaledRange.Min) / (axis.ScaledRange.Max - axis.ScaledRange.Min);
        } else {
            t = (plt - axis.Range.Min) / (axis.Range.Max - axis.Range.Min);
        }
        // Convert point to NDC range [-0.5*NDCScale, 0.5*NDCScale]
        const double ndc_range = 0.5;
        ndc_point[i] = (ImPlot3D::ImHasFlag(axis.Flags, ImPlot3DAxisFlags_Invert) ? (ndc_range - t) : (t - ndc_range)) * axis.NDCScale;
    }
    return ndc_point;
}

// Convert a position in the plot's coordinate system to pixels
ImVec2 PlotToPixels(const ImPlot3DPlot& plot, const ImPlot3DPoint& point) { return NDCToPixels(plot, PlotToNDC(plot, point)); }

// Function to compute the box corners in pixel space
void ComputeBoxCornersPix(const ImPlot3DPlot& plot, ImVec2* corners_pix, const ImPlot3DPoint* corners) {
    for (int i = 0; i < 8; i++) {
        corners_pix[i] = PlotToPixels(plot, corners[i]);
    }
}

// Function to get axes parameters which can then be used later down the line
void GetAxesParameters(const ImPlot3DPlot& plot, bool* active_faces, ImVec2* corners_pix, ImPlot3DPoint* corners, int& plane_2d,
                       int axis_corners[3][2]) {
    // Get plot parameters
    const ImPlot3DQuat& rotation = plot.Rotation;
    ImPlot3DPoint range_min = plot.RangeMin();
    ImPlot3DPoint range_max = plot.RangeMax();

    // Compute active faces
    ComputeActiveFaces(active_faces, rotation, plot.Axes, &plane_2d);
    bool is_2d = plane_2d != -1;

    // Compute box corners in plot space
    ComputeBoxCorners(corners, range_min, range_max);

    // Compute box corners in pixel space
    ComputeBoxCornersPix(plot, corners_pix, corners);

    // Compute axes start and end corners (given current rotation)
    if (is_2d) {
        int face = plane_2d + 3 * active_faces[plane_2d]; // Face of the 2D plot
        int common_edges[2] = {-1, -1};                   // Edges shared by the 3 faces

        // Find the common edges between the 3 faces
        for (int i = 0; i < 4; i++) {
            int edge = face_edges[face][i];
            for (int j = 0; j < 2; j++) {
                int axis = (plane_2d + 1 + j) % 3;
                int face_idx = axis + active_faces[axis] * 3;
                for (int k = 0; k < 4; k++) {
                    if (face_edges[face_idx][k] == edge) {
                        common_edges[j] = edge;
                        break;
                    }
                }
            }
        }

        // Get corners from 2 edges (origin is the corner in common)
        int origin_corner = -1;
        int x_corner = -1;
        int y_corner = -1;
        for (int i = 0; i < 2; i++)
            for (int j = 0; j < 2; j++)
                if (edges[common_edges[0]][i] == edges[common_edges[1]][j]) {
                    origin_corner = edges[common_edges[0]][i];
                    x_corner = edges[common_edges[0]][!i];
                    y_corner = edges[common_edges[1]][!j];
                }

        // Swap x and y if they are flipped
        ImVec2 x_vec = corners_pix[x_corner] - corners_pix[origin_corner];
        ImVec2 y_vec = corners_pix[y_corner] - corners_pix[origin_corner];
        if (y_vec.x > x_vec.x)
            ImSwap(x_corner, y_corner);

        // Check which 3d axis the 2d axis refers to
        ImPlot3DPoint origin_3d = corners[origin_corner];
        ImPlot3DPoint x_3d = (corners[x_corner] - origin_3d).Normalized();
        ImPlot3DPoint y_3d = (corners[y_corner] - origin_3d).Normalized();
        int x_axis = -1;
        bool x_inverted = false;
        int y_axis = -1;
        bool y_inverted = false;
        for (int i = 0; i < 2; i++) {
            int axis_i = (plane_2d + 1 + i) % 3;
            if (y_axis != -1 || (ImAbs(x_3d[axis_i]) > 1e-8f && x_axis == -1)) {
                x_axis = axis_i;
                x_inverted = x_3d[axis_i] < 0.0f;
            } else {
                y_axis = axis_i;
                y_inverted = y_3d[axis_i] < 0.0f;
            }
        }

        // Set the 3d axis corners based on the 2d axis corners
        axis_corners[plane_2d][0] = -1;
        axis_corners[plane_2d][1] = -1;
        if (x_inverted) {
            axis_corners[x_axis][0] = x_corner;
            axis_corners[x_axis][1] = origin_corner;
        } else {
            axis_corners[x_axis][0] = origin_corner;
            axis_corners[x_axis][1] = x_corner;
        }
        if (y_inverted) {
            axis_corners[y_axis][0] = y_corner;
            axis_corners[y_axis][1] = origin_corner;
        } else {
            axis_corners[y_axis][0] = origin_corner;
            axis_corners[y_axis][1] = y_corner;
        }
    } else {
        int index = Active3DFacesToAxisLookupIndex(active_faces);
        for (int a = 0; a < 3; a++) {
            axis_corners[a][0] = axis_corners_lookup_3d[index][a][0];
            axis_corners[a][1] = axis_corners_lookup_3d[index][a][1];
        }
    }
}

void RenderPlotBox(ImDrawList* draw_list, const ImPlot3DPlot& plot) {
    bool active_faces[3];
    ImVec2 corners_pix[8];
    ImPlot3DPoint corners[8];
    int plane_2d;
    int axis_corners[3][2];

    GetAxesParameters(plot, active_faces, corners_pix, corners, plane_2d, axis_corners);

    // Render components
    RenderPlotBackground(draw_list, plot, corners_pix, active_faces, plane_2d);
    RenderPlotBorder(draw_list, plot, corners_pix, active_faces, plane_2d);
    RenderGrid(draw_list, plot, corners, active_faces, plane_2d);
    RenderTickMarks(draw_list, plot, corners, corners_pix, axis_corners, plane_2d);
    RenderTickLabels(draw_list, plot, corners, corners_pix, axis_corners);
    RenderAxisLabels(draw_list, plot, corners, corners_pix, axis_corners);
}

//-----------------------------------------------------------------------------
// [SECTION] Formatter
//-----------------------------------------------------------------------------

int Formatter_Default(double value, char* buff, int size, void* data) {
    char* fmt = (char*)data;
    return ImFormatString(buff, size, fmt, value);
}

//------------------------------------------------------------------------------
// [SECTION] Locator
//------------------------------------------------------------------------------

double NiceNum(double x, bool round) {
    double f;
    double nf;
    int expv = (int)floor(ImLog10(x));
    f = x / ImPow(10.0, (double)expv);
    if (round)
        if (f < 1.5)
            nf = 1;
        else if (f < 3)
            nf = 2;
        else if (f < 7)
            nf = 5;
        else
            nf = 10;
    else if (f <= 1)
        nf = 1;
    else if (f <= 2)
        nf = 2;
    else if (f <= 5)
        nf = 5;
    else
        nf = 10;
    return nf * ImPow(10.0, expv);
}

void Locator_Default(ImPlot3DTicker& ticker, const ImPlot3DRange& range, float pixels, ImPlot3DFormatter formatter, void* formatter_data) {
    if (range.Min == range.Max)
        return;
    const int nMinor = ImMin(ImMax(1, (int)IM_ROUND(pixels / 30.0f)), 5);
    const int nMajor = ImMax(2, (int)IM_ROUND(pixels / 80.0f));
    const int max_ticks_labels = 7;
    const double nice_range = NiceNum(range.Size() * 0.99, false);
    const double interval = NiceNum(nice_range / (nMajor - 1), true);
    const double graphmin = floor(range.Min / interval) * interval;
    const double graphmax = ceil(range.Max / interval) * interval;
    bool first_major_set = false;
    int first_major_idx = 0;
    const int idx0 = ticker.TickCount(); // Ticker may have user custom ticks
    for (double major = graphmin; major < graphmax + 0.5 * interval; major += interval) {
        // Is this zero? combat zero formatting issues
        if (major - interval < 0 && major + interval > 0)
            major = 0;
        if (range.Contains(major)) {
            if (!first_major_set) {
                first_major_idx = ticker.TickCount();
                first_major_set = true;
            }
            ticker.AddTick(major, true, true, formatter, formatter_data);
        }
        for (int i = 1; i < nMinor; i++) {
            double minor = major + i * interval / nMinor;
            if (range.Contains(minor)) {
                ticker.AddTick(minor, false, true, formatter, formatter_data);
            }
        }
    }

    // Prune tick labels
    if (ticker.TickCount() > max_ticks_labels) {
        for (int i = first_major_idx - 1; i >= idx0; i -= 2)
            ticker.Ticks[i].ShowLabel = false;
        for (int i = first_major_idx + 1; i < ticker.TickCount(); i += 2)
            ticker.Ticks[i].ShowLabel = false;
    }
}

bool CalcLogarithmicExponents(const ImPlot3DRange& range, float pix, int& exp_min, int& exp_max, int& exp_step) {
    if (range.Min * range.Max > 0) {
        const int nMajor = ImMax(2, (int)IM_ROUND(pix * 0.01f)); // TODO: magic numbers
        double log_min = ImLog10(ImAbs(range.Min));
        double log_max = ImLog10(ImAbs(range.Max));
        double log_a = ImMin(log_min, log_max);
        double log_b = ImMax(log_min, log_max);
        exp_step = ImMax(1, (int)(log_b - log_a) / nMajor);
        exp_min = (int)log_a;
        exp_max = (int)log_b;
        if (exp_step != 1) {
            while (exp_step % 3 != 0)
                exp_step++; // make step size multiple of three
            while (exp_min % exp_step != 0)
                exp_min--; // decrease exp_min until exp_min + N * exp_step will be 0
        }
        return true;
    }
    return false;
}

void AddTicksLogarithmic(const ImPlot3DRange& range, int exp_min, int exp_max, int exp_step, ImPlot3DTicker& ticker, ImPlot3DFormatter formatter,
                         void* data) {
    const double sign = ImSign(range.Max);
    for (int e = exp_min - exp_step; e < (exp_max + exp_step); e += exp_step) {
        double major1 = sign * ImPow(10, (double)(e));
        double major2 = sign * ImPow(10, (double)(e + 1));
        double interval = (major2 - major1) / 9;
        if (major1 >= (range.Min - DBL_EPSILON) && major1 <= (range.Max + DBL_EPSILON))
            ticker.AddTick(major1, true, true, formatter, data);
        for (int j = 0; j < exp_step; ++j) {
            major1 = sign * ImPow(10, (double)(e + j));
            major2 = sign * ImPow(10, (double)(e + j + 1));
            interval = (major2 - major1) / 9;
            for (int i = 1; i < (9 + (int)(j < (exp_step - 1))); ++i) {
                double minor = major1 + i * interval;
                if (minor >= (range.Min - DBL_EPSILON) && minor <= (range.Max + DBL_EPSILON))
                    ticker.AddTick(minor, false, false, formatter, data);
            }
        }
    }
}

void Locator_Log10(ImPlot3DTicker& ticker, const ImPlot3DRange& range, float pixels, ImPlot3DFormatter formatter, void* formatter_data) {
    int exp_min, exp_max, exp_step;
    if (CalcLogarithmicExponents(range, pixels, exp_min, exp_max, exp_step))
        AddTicksLogarithmic(range, exp_min, exp_max, exp_step, ticker, formatter, formatter_data);
}

float CalcSymLogPixel(double plt, const ImPlot3DRange& range, float pixels) {
    double scaleToPixels = pixels / range.Size();
    double scaleMin = TransformForward_SymLog(range.Min, nullptr);
    double scaleMax = TransformForward_SymLog(range.Max, nullptr);
    double s = TransformForward_SymLog(plt, nullptr);
    double t = (s - scaleMin) / (scaleMax - scaleMin);
    plt = range.Min + range.Size() * t;

    return (float)(0 + scaleToPixels * (plt - range.Min));
}

void Locator_SymLog(ImPlot3DTicker& ticker, const ImPlot3DRange& range, float pixels, ImPlot3DFormatter formatter, void* formatter_data) {
    if (range.Min >= -1 && range.Max <= 1)
        Locator_Default(ticker, range, pixels, formatter, formatter_data);
    else if (range.Min * range.Max < 0) { // cross zero
        const float pix_min = 0;
        const float pix_max = pixels;
        const float pix_p1 = CalcSymLogPixel(1, range, pixels);
        const float pix_n1 = CalcSymLogPixel(-1, range, pixels);
        int exp_min_p, exp_max_p, exp_step_p;
        int exp_min_n, exp_max_n, exp_step_n;
        CalcLogarithmicExponents(ImPlot3DRange(1, range.Max), ImAbs(pix_max - pix_p1), exp_min_p, exp_max_p, exp_step_p);
        CalcLogarithmicExponents(ImPlot3DRange(range.Min, -1), ImAbs(pix_n1 - pix_min), exp_min_n, exp_max_n, exp_step_n);
        int exp_step = ImMax(exp_step_n, exp_step_p);
        ticker.AddTick(0, true, true, formatter, formatter_data);
        AddTicksLogarithmic(ImPlot3DRange(1, range.Max), exp_min_p, exp_max_p, exp_step, ticker, formatter, formatter_data);
        AddTicksLogarithmic(ImPlot3DRange(range.Min, -1), exp_min_n, exp_max_n, exp_step, ticker, formatter, formatter_data);
    } else {
        Locator_Log10(ticker, range, pixels, formatter, formatter_data);
    }
}

void AddTicksCustom(const double* values, const char* const labels[], int n, ImPlot3DTicker& ticker, ImPlot3DFormatter formatter, void* data) {
    for (int i = 0; i < n; i++) {
        if (labels != nullptr)
            ticker.AddTick(values[i], false, true, labels[i]);
        else
            ticker.AddTick(values[i], false, true, formatter, data);
    }
}

//------------------------------------------------------------------------------
// [SECTION] Context Menus
//------------------------------------------------------------------------------

static const char* axis_contexts[3] = {"##XAxisContext", "##YAxisContext", "##ZAxisContext"};
static const char* axis_labels[3] = {"X-Axis", "Y-Axis", "Z-Axis"};
static const char* plane_contexts[3] = {"##YZPlaneContext", "##XZPlaneContext", "##XYPlaneContext"};
static const char* plane_labels[3] = {"YZ-Plane", "XZ-Plane", "XY-Plane"};

bool ShowLegendContextMenu(ImPlot3DLegend& legend, bool visible) {
    const float s = ImGui::GetFrameHeight();
    bool ret = false;
    if (ImGui::Checkbox("Show", &visible))
        ret = true;
    if (ImGui::RadioButton("H", ImPlot3D::ImHasFlag(legend.Flags, ImPlot3DLegendFlags_Horizontal)))
        legend.Flags |= ImPlot3DLegendFlags_Horizontal;
    ImGui::SameLine();
    if (ImGui::RadioButton("V", !ImPlot3D::ImHasFlag(legend.Flags, ImPlot3DLegendFlags_Horizontal)))
        legend.Flags &= ~ImPlot3DLegendFlags_Horizontal;
    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(2, 2));
    // clang-format off
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_NorthWest),ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_NorthWest; } ImGui::SameLine();
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_North) , ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_North;     } ImGui::SameLine();
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_NorthEast), ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_NorthEast; }
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_West), ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_West;      } ImGui::SameLine();
    if (ImGui::InvisibleButton(GetShortLegendLocationName(ImPlot3DLocation_Center), ImVec2(1.5f*s,s))) {     } ImGui::SameLine();
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_East), ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_East;      }
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_SouthWest),ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_SouthWest; } ImGui::SameLine();
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_South), ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_South;     } ImGui::SameLine();
    if (ImGui::Button(GetShortLegendLocationName(ImPlot3DLocation_SouthEast),ImVec2(1.5f*s,s))) { legend.Location = ImPlot3DLocation_SouthEast; }
    // clang-format on
    ImGui::PopStyleVar();
    return ret;
}

void ShowAxisContextMenu(ImPlot3DPlot& plot, ImAxis3D axis_id) {
    ImGui::PushItemWidth(75);
    ImPlot3DAxis& axis = plot.Axes[axis_id];
    bool always_locked = axis.IsRangeLocked() || axis.IsAutoFitting();
    bool label = axis.HasLabel();
    bool grid = axis.HasGridLines();
    bool ticks = axis.HasTickMarks();
    bool labels = axis.HasTickLabels();
    double drag_speed =
        (axis.Range.Size() <= DBL_EPSILON) ? DBL_EPSILON * 1.0e+13 : 0.01 * axis.Range.Size(); // Recover from almost equal axis limits
    const bool equal_aspect = ImPlot3D::ImHasFlag(plot.Flags, ImPlot3DFlags_Equal);

    ImGui::BeginDisabled(always_locked);
    ImGui::CheckboxFlags("##LockMin", (unsigned int*)&axis.Flags, ImPlot3DAxisFlags_LockMin);
    ImGui::EndDisabled();
    ImGui::SameLine();

    ImGui::BeginDisabled(axis.IsLockedMin() || always_locked);
    double temp_min = axis.Range.Min;
    if (ImGui::DragScalar("Min", ImGuiDataType_Double, &temp_min, (float)drag_speed, &axis.ConstraintRange.Min, &axis.Range.Max)) {
        axis.SetMin(temp_min, true);
        // Apply equal aspect if needed
        if (equal_aspect)
            plot.ApplyEqualAspect(axis_id);
    }
    ImGui::EndDisabled();

    ImGui::BeginDisabled(always_locked);
    ImGui::CheckboxFlags("##LockMax", (unsigned int*)&axis.Flags, ImPlot3DAxisFlags_LockMax);
    ImGui::EndDisabled();
    ImGui::SameLine();
    ImGui::BeginDisabled(axis.IsLockedMax() || always_locked);
    double temp_max = axis.Range.Max;
    if (ImGui::DragScalar("Max", ImGuiDataType_Double, &temp_max, (float)drag_speed, &axis.Range.Min, &axis.ConstraintRange.Max)) {
        axis.SetMax(temp_max, true);
        // Apply equal aspect if needed
        if (equal_aspect)
            plot.ApplyEqualAspect(axis_id);
    }
    ImGui::EndDisabled();

    ImGui::Separator();

    // Flags
    ImGui::CheckboxFlags("Auto-Fit", (unsigned int*)&axis.Flags, ImPlot3DAxisFlags_AutoFit);
    ImGui::Separator();

    bool inverted = ImPlot3D::ImHasFlag(axis.Flags, ImPlot3DAxisFlags_Invert);
    if (ImGui::Checkbox("Invert", &inverted))
        ImFlipFlag(axis.Flags, ImPlot3DAxisFlags_Invert);

    ImGui::Separator();

    ImGui::BeginDisabled(axis.Label.empty());
    if (ImGui::Checkbox("Label", &label))
        ImFlipFlag(axis.Flags, ImPlot3DAxisFlags_NoLabel);
    ImGui::EndDisabled();

    if (ImGui::Checkbox("Grid Lines", &grid))
        ImFlipFlag(axis.Flags, ImPlot3DAxisFlags_NoGridLines);
    if (ImGui::Checkbox("Tick Marks", &ticks))
        ImFlipFlag(axis.Flags, ImPlot3DAxisFlags_NoTickMarks);
    if (ImGui::Checkbox("Tick Labels", &labels))
        ImFlipFlag(axis.Flags, ImPlot3DAxisFlags_NoTickLabels);
}

void ShowPlaneContextMenu(ImPlot3DPlot& plot, int plane_idx) {
    for (int i = 0; i < 3; i++) {
        if (i == plane_idx)
            continue;
        ImPlot3DAxis& axis = plot.Axes[i];
        ImGui::PushID(i);
        if (ImGui::BeginMenu(axis.HasLabel() ? axis.GetLabel() : axis_labels[i])) {
            ShowAxisContextMenu(plot, i);
            ImGui::EndMenu();
        }
        ImGui::PopID();
    }
}

void ShowPlotContextMenu(ImPlot3DPlot& plot) {
    char buf[16] = {};
    for (int i = 0; i < 3; i++) {
        ImPlot3DAxis& axis = plot.Axes[i];
        ImGui::PushID(i);
        ImFormatString(buf, sizeof(buf) - 1, i == 0 ? "X-Axis" : "X-Axis %d", i + 1);
        if (ImGui::BeginMenu(axis.HasLabel() ? axis.GetLabel() : axis_labels[i])) {
            ShowAxisContextMenu(plot, i);
            ImGui::EndMenu();
        }
        ImGui::PopID();
    }

    ImGui::Separator();

    if ((ImGui::BeginMenu("Box"))) {
        ImGui::PushItemWidth(75);
        float temp_scale[3] = {(float)plot.Axes[0].NDCScale, (float)plot.Axes[1].NDCScale, (float)plot.Axes[2].NDCScale};
        if (ImGui::DragFloat("Scale X", &temp_scale[0], 0.01f, 0.1f, 3.0f))
            plot.Axes[0].NDCScale = ImMax(temp_scale[0], 0.01f);
        if (ImGui::DragFloat("Scale Y", &temp_scale[1], 0.01f, 0.1f, 3.0f))
            plot.Axes[1].NDCScale = ImMax(temp_scale[1], 0.01f);
        if (ImGui::DragFloat("Scale Z", &temp_scale[2], 0.01f, 0.1f, 3.0f))
            plot.Axes[2].NDCScale = ImMax(temp_scale[2], 0.01f);
        ImGui::PopItemWidth();
        ImGui::EndMenu();
    }

    ImGui::Separator();

    if ((ImGui::BeginMenu("Legend"))) {
        if (ShowLegendContextMenu(plot.Items.Legend, !ImPlot3D::ImHasFlag(plot.Flags, ImPlot3DFlags_NoLegend)))
            ImFlipFlag(plot.Flags, ImPlot3DFlags_NoLegend);
        ImGui::EndMenu();
    }

    if ((ImGui::BeginMenu("Settings"))) {
        if (ImGui::MenuItem("Equal", nullptr, ImHasFlag(plot.Flags, ImPlot3DFlags_Equal)))
            ImFlipFlag(plot.Flags, ImPlot3DFlags_Equal);
        ImGui::BeginDisabled(plot.Title.empty());
        if (ImGui::MenuItem("Title", nullptr, plot.HasTitle()))
            ImFlipFlag(plot.Flags, ImPlot3DFlags_NoTitle);
        ImGui::EndDisabled();
        if (ImGui::MenuItem("Clip", nullptr, !ImHasFlag(plot.Flags, ImPlot3DFlags_NoClip)))
            ImFlipFlag(plot.Flags, ImPlot3DFlags_NoClip);
        if (ImGui::MenuItem("Mouse Position", nullptr, !ImHasFlag(plot.Flags, ImPlot3DFlags_NoMouseText)))
            ImFlipFlag(plot.Flags, ImPlot3DFlags_NoMouseText);
        ImGui::EndMenu();
    }
}

//-----------------------------------------------------------------------------
// [SECTION] Begin/End Plot
//-----------------------------------------------------------------------------

bool BeginPlot(const char* title_id, const ImVec2& size, ImPlot3DFlags flags) {
    IMPLOT3D_CHECK_CTX();
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot == nullptr, "Mismatched BeginPlot()/EndPlot()!");

    // Get window
    ImGuiContext& g = *GImGui;
    ImGuiWindow* window = g.CurrentWindow;

    // Skip if needed
    if (window->SkipItems)
        return false;

    // Get or create plot
    const ImGuiID ID = window->GetID(title_id);
    const bool just_created = gp.Plots.GetByKey(ID) == nullptr;
    gp.CurrentPlot = gp.Plots.GetOrAddByKey(ID);
    gp.CurrentItems = &gp.CurrentPlot->Items;
    ImPlot3DPlot& plot = *gp.CurrentPlot;

    // Populate plot
    plot.ID = ID;
    plot.JustCreated = just_created;
    if (just_created) {
        plot.Rotation = plot.InitialRotation;
        plot.FitThisFrame = true;
        for (int i = 0; i < 3; i++) {
            plot.Axes[i] = ImPlot3DAxis();
            plot.Axes[i].FitThisFrame = true;
        }
    }
    if (plot.PreviousFlags != flags)
        plot.Flags = flags;
    plot.PreviousFlags = flags;
    plot.SetupLocked = false;
    plot.OpenContextThisFrame = false;
    plot.RotationCond = ImPlot3DCond_None;

    // Populate title
    plot.SetTitle(title_id);

    // Calculate frame size
    ImVec2 frame_size = ImGui::CalcItemSize(size, gp.Style.PlotDefaultSize.x, gp.Style.PlotDefaultSize.y);
    if (frame_size.x < gp.Style.PlotMinSize.x && size.x < 0.0f)
        frame_size.x = gp.Style.PlotMinSize.x;
    if (frame_size.y < gp.Style.PlotMinSize.y && size.y < 0.0f)
        frame_size.y = gp.Style.PlotMinSize.y;

    // Create plot ImGui item
    plot.FrameRect = ImRect(window->DC.CursorPos, window->DC.CursorPos + frame_size);
    ImGui::ItemSize(plot.FrameRect);
    if (!ImGui::ItemAdd(plot.FrameRect, plot.ID, &plot.FrameRect)) {
        gp.CurrentPlot = nullptr;
        gp.CurrentItems = nullptr;
        gp.CurrentItem = nullptr;
        return false;
    }

    // Reset legend
    plot.Items.Legend.Reset();

    // Reset axes
    for (int i = 0; i < ImAxis3D_COUNT; i++)
        plot.Axes[i].Reset();

    // Push frame rect clipping
    ImGui::PushClipRect(plot.FrameRect.Min, plot.FrameRect.Max, true);
    plot.DrawList._Flags = window->DrawList->Flags;
    plot.DrawList._SharedData = ImGui::GetDrawListSharedData();

    return true;
}

void EndPlot() {
    IMPLOT3D_CHECK_CTX();
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "Mismatched BeginPlot()/EndPlot()!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;

    // Move triangles from 3D draw list to ImGui draw list
    plot.DrawList.SortedMoveToImGuiDrawList();

    // Handle data fitting
    if (plot.FitThisFrame) {
        plot.FitThisFrame = false;

        const bool axis_equal = ImHasFlag(plot.Flags, ImPlot3DFlags_Equal);
        if (!axis_equal) {
            // Apply fit to all axes independently
            for (int i = 0; i < 3; i++) {
                if (plot.Axes[i].FitThisFrame) {
                    plot.Axes[i].FitThisFrame = false;
                    plot.Axes[i].ApplyFit();
                }
            }
        } else {
            // Find the fitted axis with the highest aspect ratio (units per NDC unit) after fit
            // This axis will require the most space and should be used as reference
            ImAxis3D ref_axis = ImAxis3D_X;
            double max_aspect = 0.0;

            // First, apply fit to all axes
            for (int i = 0; i < 3; i++) {
                if (plot.Axes[i].FitThisFrame) {
                    plot.Axes[i].FitThisFrame = false;
                    plot.Axes[i].ApplyFit();

                    // Get aspect ratio for this axis
                    double aspect = plot.Axes[i].GetAspect();
                    if (aspect > max_aspect) {
                        max_aspect = aspect;
                        ref_axis = (ImAxis3D)i;
                    }
                }
            }

            // Then, apply equal aspect constraint if enabled
            // This ensures data remains centered and visible
            plot.ApplyEqualAspect(ref_axis);
        }
    }

    // Lock setup if not already done
    SetupLock();

    // Pop plot rect clipping
    ImGui::PopClipRect();

    // Reset legend hover
    plot.Items.Legend.Hovered = false;

    // Render legend
    RenderLegend();

    // Render mouse position
    RenderMousePos();

    // Legend context menu
    if (ImGui::BeginPopup("##LegendContext")) {
        ImGui::Text("Legend");
        ImGui::Separator();
        if (ShowLegendContextMenu(plot.Items.Legend, !ImPlot3D::ImHasFlag(plot.Flags, ImPlot3DFlags_NoLegend)))
            ImFlipFlag(plot.Flags, ImPlot3DFlags_NoLegend);
        ImGui::EndPopup();
    }

    // Axis context menus
    for (int i = 0; i < 3; i++) {
        ImPlot3DAxis& axis = plot.Axes[i];
        if (ImGui::BeginPopup(axis_contexts[i])) {
            ImGui::Text(axis.HasLabel() ? axis.GetLabel() : "%c-Axis", 'X' + i);
            ImGui::Separator();
            ShowAxisContextMenu(plot, i);
            ImGui::EndPopup();
        }
    }

    // Plane context menus
    for (int i = 0; i < 3; i++) {
        if (ImGui::BeginPopup(plane_contexts[i])) {
            ImGui::Text("%s", plane_labels[i]);
            ImGui::Separator();
            ShowPlaneContextMenu(plot, i);
            ImGui::EndPopup();
        }
    }

    // Plot context menu
    if (ImGui::BeginPopup("##PlotContext")) {
        ShowPlotContextMenu(plot);
        ImGui::EndPopup();
    }

    // Pop frame rect clipping
    ImGui::PopClipRect();

    // Reset current plot
    gp.CurrentPlot = nullptr;
    gp.CurrentItems = nullptr;
    gp.CurrentItem = nullptr;

    // Reset the plot items for the next frame
    for (int i = 0; i < plot.Items.GetItemCount(); i++)
        plot.Items.GetItemByIndex(i)->SeenThisFrame = false;
}

//-----------------------------------------------------------------------------
// [SECTION] Setup
//-----------------------------------------------------------------------------

static const float ANIMATION_ANGULAR_VELOCITY = 2 * 3.1415f;

float CalcAnimationTime(ImPlot3DQuat q0, ImPlot3DQuat q1) {
    // Compute the angular distance between orientations
    double dot_product = ImClamp(q0.Dot(q1), -1.0, 1.0);
    float angle = 2.0f * acosf(fabsf((float)dot_product));

    // Calculate animation time for constant the angular velocity
    return angle / ANIMATION_ANGULAR_VELOCITY;
}

void SetupAxis(ImAxis3D idx, const char* label, ImPlot3DAxisFlags flags) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "SetupAxis() needs to be called after BeginPlot() and before any setup locking functions (e.g. PlotX)!");

    // Get plot and axis
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    if (axis.PreviousFlags != flags)
        axis.Flags = flags;
    axis.PreviousFlags = flags;
    axis.SetLabel(label);
}

void SetupAxisLimits(ImAxis3D idx, double min_lim, double max_lim, ImPlot3DCond cond) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "SetupAxisLimits() needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    if (!plot.Initialized || cond == ImPlot3DCond_Always) {
        axis.SetRange(min_lim, max_lim);
        axis.RangeCond = cond;
        axis.FitThisFrame = false;
        // Apply equal aspect ratio constraint if needed
        if (ImHasFlag(plot.Flags, ImPlot3DFlags_Equal))
            plot.ApplyEqualAspect(idx);
    }
}

void SetupAxisFormat(ImAxis3D idx, ImPlot3DFormatter formatter, void* data) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    axis.Formatter = formatter;
    axis.FormatterData = data;
}

void SetupAxisTicks(ImAxis3D idx, const double* values, int n_ticks, const char* const labels[], bool keep_default) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    axis.ShowDefaultTicks = keep_default;
    AddTicksCustom(values, labels, n_ticks, axis.Ticker, axis.Formatter ? axis.Formatter : Formatter_Default,
                   (axis.Formatter && axis.FormatterData) ? axis.FormatterData : (void*)IMPLOT3D_LABEL_FORMAT);
}

void SetupAxisTicks(ImAxis3D idx, double v_min, double v_max, int n_ticks, const char* const labels[], bool keep_default) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    n_ticks = n_ticks < 2 ? 2 : n_ticks;
    ImVector<double> temp;
    FillRange(temp, n_ticks, v_min, v_max);
    SetupAxisTicks(idx, temp.Data, n_ticks, labels, keep_default);
}

void SetupAxisScale(ImAxis3D idx, ImPlot3DScale scale) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    axis.Scale = scale;
    switch (scale) {
        case ImPlot3DScale_Log10:
            axis.TransformForward = TransformForward_Log10;
            axis.TransformInverse = TransformInverse_Log10;
            axis.TransformData = nullptr;
            axis.Locator = Locator_Log10;
            axis.ConstraintRange = ImPlot3DRange(FLT_MIN, INFINITY);
            break;
        case ImPlot3DScale_SymLog:
            axis.TransformForward = TransformForward_SymLog;
            axis.TransformInverse = TransformInverse_SymLog;
            axis.TransformData = nullptr;
            axis.Locator = Locator_SymLog;
            axis.ConstraintRange = ImPlot3DRange(-INFINITY, INFINITY);
            break;
        default:
            axis.TransformForward = nullptr;
            axis.TransformInverse = nullptr;
            axis.TransformData = nullptr;
            axis.Locator = nullptr;
            axis.ConstraintRange = ImPlot3DRange(-INFINITY, INFINITY);
            break;
    }
}

void SetupAxisScale(ImAxis3D idx, ImPlot3DTransform forward, ImPlot3DTransform inverse, void* data) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    axis.Scale = IMPLOT3D_AUTO;
    axis.TransformForward = forward;
    axis.TransformInverse = inverse;
    axis.TransformData = data;
}

void SetupAxisLimitsConstraints(ImAxis3D idx, double v_min, double v_max) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    axis.ConstraintRange.Min = v_min;
    axis.ConstraintRange.Max = v_max;
}

void SetupAxisZoomConstraints(ImAxis3D idx, double zoom_min, double zoom_max) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "Setup needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DAxis& axis = plot.Axes[idx];
    axis.ConstraintZoom.Min = zoom_min;
    axis.ConstraintZoom.Max = zoom_max;
}

void SetupAxes(const char* x_label, const char* y_label, const char* z_label, ImPlot3DAxisFlags x_flags, ImPlot3DAxisFlags y_flags,
               ImPlot3DAxisFlags z_flags) {
    SetupAxis(ImAxis3D_X, x_label, x_flags);
    SetupAxis(ImAxis3D_Y, y_label, y_flags);
    SetupAxis(ImAxis3D_Z, z_label, z_flags);
}

void SetupAxesLimits(double x_min, double x_max, double y_min, double y_max, double z_min, double z_max, ImPlot3DCond cond) {
    SetupAxisLimits(ImAxis3D_X, x_min, x_max, cond);
    SetupAxisLimits(ImAxis3D_Y, y_min, y_max, cond);
    SetupAxisLimits(ImAxis3D_Z, z_min, z_max, cond);
    if (cond == ImPlot3DCond_Once)
        GImPlot3D->CurrentPlot->FitThisFrame = false;
}

void SetupBoxRotation(double elevation, double azimuth, bool animate, ImPlot3DCond cond) {
    // Convert angles from degrees to radians
    double elev_rad = elevation * IM_PI / 180.0;
    double azim_rad = azimuth * IM_PI / 180.0;

    // Call quaternion SetupBoxRotation
    SetupBoxRotation(ImPlot3DQuat::FromElAz(elev_rad, azim_rad), animate, cond);
}

void SetupBoxRotation(ImPlot3DQuat rotation, bool animate, ImPlot3DCond cond) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "SetupBoxRotation() needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;

    if (!plot.Initialized || cond == ImPlot3DCond_Always) {
        if (!animate) {
            plot.Rotation = rotation;
            plot.AnimationTime = 0.0f; // Force any running rotation animation to stop
        } else {
            plot.RotationAnimationEnd = rotation;
            plot.AnimationTime = CalcAnimationTime(plot.Rotation, plot.RotationAnimationEnd);
        }
        plot.RotationCond = cond;
    }
}

void SetupBoxInitialRotation(double elevation, double azimuth) {
    // Convert angles from degrees to radians
    double elev_rad = elevation * IM_PI / 180.0;
    double azim_rad = azimuth * IM_PI / 180.0;

    // Call quaternion SetupBoxInitialRotation
    SetupBoxInitialRotation(ImPlot3DQuat::FromElAz(elev_rad, azim_rad));
}

void SetupBoxInitialRotation(ImPlot3DQuat rotation) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "SetupBoxInitialRotation() needs to be called after BeginPlot and before any setup locking functions (e.g. PlotX)!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;

    plot.InitialRotation = rotation;
}

void SetupBoxScale(double x, double y, double z) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "SetupBoxScale() needs to be called after BeginPlot() and before any setup locking functions (e.g. PlotX)!");
    IM_ASSERT_USER_ERROR(x > 0.0 && y > 0.0 && z > 0.0, "SetupBoxScale() requires all aspect ratios to be greater than 0!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    plot.Axes[0].NDCScale = x;
    plot.Axes[1].NDCScale = y;
    plot.Axes[2].NDCScale = z;
}

void SetupLegend(ImPlot3DLocation location, ImPlot3DLegendFlags flags) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr && !gp.CurrentPlot->SetupLocked,
                         "SetupLegend() needs to be called after BeginPlot() and before any setup locking functions (e.g. PlotX)!");
    IM_ASSERT_USER_ERROR(gp.CurrentItems != nullptr, "SetupLegend() needs to be called within an itemized context!");
    ImPlot3DLegend& legend = gp.CurrentItems->Legend;
    if (legend.PreviousLocation != location)
        legend.Location = location;
    legend.PreviousLocation = location;
    if (legend.PreviousFlags != flags)
        legend.Flags = flags;
    legend.PreviousFlags = flags;
}

//-----------------------------------------------------------------------------
// [SECTION] Plot Utils
//-----------------------------------------------------------------------------

ImPlot3DPlot* GetCurrentPlot() { return GImPlot3D->CurrentPlot; }

void BustPlotCache() {
    ImPlot3DContext& gp = *GImPlot3D;
    gp.Plots.Clear();
}

ImVec2 PlotToPixels(const ImPlot3DPoint& point) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "PlotToPixels() needs to be called between BeginPlot() and EndPlot()!");
    return NDCToPixels(PlotToNDC(point));
}

ImVec2 PlotToPixels(double x, double y, double z) { return PlotToPixels(ImPlot3DPoint(x, y, z)); }

ImPlot3DRay PixelsToPlotRay(const ImVec2& pix) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "PixelsToPlotRay() needs to be called between BeginPlot() and EndPlot()!");
    return NDCRayToPlotRay(PixelsToNDCRay(pix));
}

ImPlot3DRay PixelsToPlotRay(double x, double y) { return PixelsToPlotRay(ImVec2((float)x, (float)y)); }

ImPlot3DPoint PixelsToPlotPlane(const ImVec2& pix, ImPlane3D plane, bool mask) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "PixelsToPlotPlane() needs to be called between BeginPlot() and EndPlot()!");

    ImPlot3DPlot& plot = *gp.CurrentPlot;
    ImPlot3DRay ray = PixelsToNDCRay(pix);
    const ImPlot3DPoint& O = ray.Origin;
    const ImPlot3DPoint& D = ray.Direction;

    // Helper lambda to check intersection with a given coordinate and return intersection point if valid.
    auto IntersectPlane = [&](double coord) -> ImPlot3DPoint {
        // Solve for t in O[axis] + D[axis]*t = coord
        double denom = 0.0;
        double numer = 0.0;
        if (plane == ImPlane3D_YZ) {
            denom = D.x;
            numer = coord - O.x;
        } else if (plane == ImPlane3D_XZ) {
            denom = D.y;
            numer = coord - O.y;
        } else if (plane == ImPlane3D_XY) {
            denom = D.z;
            numer = coord - O.z;
        }

        if (ImAbs(denom) < 1e-12f) {
            // Ray is parallel or nearly parallel to the plane
            return ImPlot3DPoint(NAN, NAN, NAN);
        }

        double t = numer / denom;
        if (t < 0.0f) {
            // Intersection behind the ray origin
            return ImPlot3DPoint(NAN, NAN, NAN);
        }

        return O + D * t;
    };

    // Compute which plane to intersect with
    bool active_faces[3];
    ComputeActiveFaces(active_faces, plot.Rotation, plot.Axes);

    // Calculate intersection point with the planes
    ImPlot3DPoint P = IntersectPlane(active_faces[plane] ? 0.5f * plot.Axes[plane].NDCScale : -0.5f * plot.Axes[plane].NDCScale);
    if (P.IsNaN())
        return P;

    // Helper lambda to check if point P is within the plot box
    auto InRange = [&](const ImPlot3DPoint& P) {
        ImPlot3DPoint box_scale = plot.GetBoxScale();
        return P.x >= -0.5f * box_scale.x && P.x <= 0.5f * box_scale.x && P.y >= -0.5f * box_scale.y && P.y <= 0.5f * box_scale.y &&
               P.z >= -0.5f * box_scale.z && P.z <= 0.5f * box_scale.z;
    };

    // Handle mask (if one of the intersections is out of range, set it to NAN)
    if (mask) {
        switch (plane) {
            case ImPlane3D_YZ:
                if (!InRange(ImPlot3DPoint(0.0, P.y, P.z)))
                    return ImPlot3DPoint(NAN, NAN, NAN);
                break;
            case ImPlane3D_XZ:
                if (!InRange(ImPlot3DPoint(P.x, 0.0, P.z)))
                    return ImPlot3DPoint(NAN, NAN, NAN);
                break;
            case ImPlane3D_XY:
                if (!InRange(ImPlot3DPoint(P.x, P.y, 0.0)))
                    return ImPlot3DPoint(NAN, NAN, NAN);
                break;
        }
    }

    return NDCToPlot(P);
}

ImPlot3DPoint PixelsToPlotPlane(double x, double y, ImPlane3D plane, bool mask) { return PixelsToPlotPlane(ImVec2((float)x, (float)y), plane, mask); }

ImVec2 GetPlotRectPos() {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "GetPlotRectPos() needs to be called between BeginPlot() and EndPlot()!");
    SetupLock();
    return gp.CurrentPlot->PlotRect.Min;
}

ImVec2 GetPlotRectSize() {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "GetPlotRectSize() needs to be called between BeginPlot() and EndPlot()!");
    SetupLock();
    return gp.CurrentPlot->PlotRect.GetSize();
}

ImVec2 GetFramePos() {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "GetFramePos() needs to be called between BeginPlot() and EndPlot()!");
    return gp.CurrentPlot->FrameRect.Min;
}

ImVec2 GetFrameSize() {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "GetFrameSize() needs to be called between BeginPlot() and EndPlot()!");
    return gp.CurrentPlot->FrameRect.GetSize();
}

ImPlot3DPoint PlotToNDC(const ImPlot3DPoint& point) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "PlotToNDC() needs to be called between BeginPlot() and EndPlot()!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    SetupLock();

    return PlotToNDC(plot, point);
}

ImPlot3DPoint NDCToPlot(const ImPlot3DPoint& point) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "NDCToPlot() needs to be called between BeginPlot() and EndPlot()!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    SetupLock();

    ImPlot3DPoint plot_point;
    for (int i = 0; i < 3; i++) {
        ImPlot3DAxis& axis = plot.Axes[i];
        double ndc_range = 0.5 * axis.NDCScale;
        double ndc_point = point[i];
        double t = ImPlot3D::ImHasFlag(axis.Flags, ImPlot3DAxisFlags_Invert) ? (ndc_range - ndc_point) : (ndc_point + ndc_range);
        t /= axis.NDCScale;
        plot_point[i] = axis.NDCToPlot(t);
    }
    return plot_point;
}

ImVec2 NDCToPixels(const ImPlot3DPoint& point) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "NDCToPixels() needs to be called between BeginPlot() and EndPlot()!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    SetupLock();

    return NDCToPixels(plot, point);
}

ImPlot3DRay PixelsToNDCRay(const ImVec2& pix) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "PixelsToNDCRay() needs to be called between BeginPlot() and EndPlot()!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    SetupLock();

    // Calculate zoom factor and plot center
    float zoom = plot.GetViewScale();
    ImVec2 center = plot.PlotRect.GetCenter();

    // Undo screen transformations to get back to NDC space
    float x = (pix.x - center.x) / zoom;
    float y = -(pix.y - center.y) / zoom; // Invert y-axis

    // Define near and far points in NDC space along the z-axis
    ImPlot3DPoint ndc_near = plot.Rotation.Inverse() * ImPlot3DPoint(x, y, 10.0f);
    ImPlot3DPoint ndc_far = plot.Rotation.Inverse() * ImPlot3DPoint(x, y, -10.0f);

    // Create the ray in NDC space
    ImPlot3DRay ndc_ray;
    ndc_ray.Origin = ndc_near;
    ndc_ray.Direction = (ndc_far - ndc_near).Normalized();

    return ndc_ray;
}

ImPlot3DRay NDCRayToPlotRay(const ImPlot3DRay& ray) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "NDCRayToPlotRay() needs to be called between BeginPlot() and EndPlot()!");
    SetupLock();

    // Convert NDC origin and a point along the ray to plot coordinates
    ImPlot3DPoint plot_origin = NDCToPlot(ray.Origin);
    ImPlot3DPoint ndc_point_along_ray = ray.Origin + ray.Direction;
    ImPlot3DPoint plot_point_along_ray = NDCToPlot(ndc_point_along_ray);

    // Compute the direction in plot coordinates
    ImPlot3DPoint plot_direction = (plot_point_along_ray - plot_origin).Normalized();

    // Create the ray in plot coordinates
    ImPlot3DRay plot_ray;
    plot_ray.Origin = plot_origin;
    plot_ray.Direction = plot_direction;

    return plot_ray;
}

//-----------------------------------------------------------------------------
// [SECTION] Setup Utils
//-----------------------------------------------------------------------------

static const float MOUSE_CURSOR_DRAG_THRESHOLD = 5.0f;

void HandleInput(ImPlot3DPlot& plot) {
    if (ImHasFlag(plot.Flags, ImPlot3DFlags_NoInputs))
        return;

    ImGuiIO& IO = ImGui::GetIO();

    // clang-format off
    const ImGuiButtonFlags plot_button_flags = ImGuiButtonFlags_AllowOverlap
                                             | ImGuiButtonFlags_PressedOnClick
                                             | ImGuiButtonFlags_PressedOnDoubleClick
                                             | ImGuiButtonFlags_MouseButtonLeft
                                             | ImGuiButtonFlags_MouseButtonRight
                                             | ImGuiButtonFlags_MouseButtonMiddle;
    // clang-format on
    const bool plot_clicked = ImGui::ButtonBehavior(plot.PlotRect, plot.ID, &plot.Hovered, &plot.Held, plot_button_flags);
#if (IMGUI_VERSION_NUM < 18966)
    ImGui::SetItemAllowOverlap(); // Handled by ButtonBehavior()
#endif

    // State
    const ImVec2 rot_drag = ImGui::GetMouseDragDelta(ImGuiMouseButton_Right);
    const bool rotating = ImLengthSqr(rot_drag) > MOUSE_CURSOR_DRAG_THRESHOLD;
    const bool axis_equal = ImHasFlag(plot.Flags, ImPlot3DFlags_Equal);
    const bool allow_rotate = !ImHasFlag(plot.Flags, ImPlot3DFlags_NoRotate);
    const bool allow_pan = !ImHasFlag(plot.Flags, ImPlot3DFlags_NoPan);
    const bool allow_zoom = !ImHasFlag(plot.Flags, ImPlot3DFlags_NoZoom);

    // HOVERING STATE -------------------------------------------------------------------

    // Check if any axis/plane is hovered
    const ImPlot3DQuat& rotation = plot.Rotation;
    ImPlot3DPoint range_min = plot.RangeMin();
    ImPlot3DPoint range_max = plot.RangeMax();
    bool active_faces[3];
    int plane_2d = -1;
    ComputeActiveFaces(active_faces, rotation, plot.Axes, &plane_2d);
    ImPlot3DPoint corners[8];
    ComputeBoxCorners(corners, range_min, range_max);
    ImVec2 corners_pix[8];
    ComputeBoxCornersPix(plot, corners_pix, corners);
    int hovered_plane_idx = -1;
    int hovered_plane = GetMouseOverPlane(plot, active_faces, corners_pix, &hovered_plane_idx);
    int hovered_edge_idx = -1;
    int hovered_axis = GetMouseOverAxis(plot, active_faces, corners_pix, plane_2d, &hovered_edge_idx);
    if (hovered_axis != -1) {
        hovered_plane_idx = -1;
        hovered_plane = -1;
    }

    // If the user is no longer pressing the translation/zoom buttons, set axes as not held
    if (!ImGui::IsMouseDown(ImGuiMouseButton_Left) && !ImGui::IsMouseDown(ImGuiMouseButton_Middle)) {
        for (int i = 0; i < 3; i++)
            plot.Axes[i].Held = false;
    }

    // Reset held edge/plane indices (it will be set if mouse button is down)
    if (!plot.Held) {
        plot.HeldEdgeIdx = -1;
        plot.HeldPlaneIdx = -1;
    }

    // Check which axes should be transformed (fit/zoom/translate)
    bool any_axis_held = plot.Axes[0].Held || plot.Axes[1].Held || plot.Axes[2].Held;
    if (!any_axis_held) {
        // Only update the transformation axes if the user is not already performing a transformation
        plot.Axes[0].Hovered = plot.Axes[1].Hovered = plot.Axes[2].Hovered = false;
        if (hovered_axis != -1) {
            plot.Axes[hovered_axis].Hovered = true;
        } else if (hovered_plane != -1) {
            plot.Axes[(hovered_plane + 1) % 3].Hovered = true;
            plot.Axes[(hovered_plane + 2) % 3].Hovered = true;
        } else {
            plot.Axes[0].Hovered = plot.Axes[1].Hovered = plot.Axes[2].Hovered = true;
        }
    }

    // Compute plane that is being hovered by mouse
    ImPlane3D mouse_plane = ImPlane3D_XY;
    if (plane_2d != -1)
        mouse_plane = plane_2d;
    else if (plot.Axes[1].Hovered && plot.Axes[2].Hovered)
        mouse_plane = ImPlane3D_YZ;
    else if (plot.Axes[0].Hovered && plot.Axes[2].Hovered)
        mouse_plane = ImPlane3D_XZ;
    else if (plot.Axes[0].Hovered && plot.Axes[1].Hovered)
        mouse_plane = ImPlane3D_XY;
    else if (plot.HeldEdgeIdx != -1 || hovered_edge_idx != -1) {
        // Single axis hovered: use the edge index and active faces to pick the visible plane
        // Each edge belongs to exactly 2 faces. We pick the active (visible) one.

        // If the user is holding an edge, use that index; otherwise, use the hovered edge index
        int curr_edge_idx = plot.HeldEdgeIdx != -1 ? plot.HeldEdgeIdx : hovered_edge_idx;

        // Map edge index to the two faces it belongs to, and corresponding plane
        // Format: {face_index, plane_enum}
        static const int edge_to_faces[12][2][2] = {
            {{1, ImPlane3D_XZ}, {2, ImPlane3D_XY}}, // Edge 0: Y-min face, Z-min face
            {{2, ImPlane3D_XY}, {3, ImPlane3D_YZ}}, // Edge 1: Z-min face, X-max face
            {{2, ImPlane3D_XY}, {4, ImPlane3D_XZ}}, // Edge 2: Z-min face, Y-max face
            {{0, ImPlane3D_YZ}, {2, ImPlane3D_XY}}, // Edge 3: X-min face, Z-min face
            {{1, ImPlane3D_XZ}, {5, ImPlane3D_XY}}, // Edge 4: Y-min face, Z-max face
            {{3, ImPlane3D_YZ}, {5, ImPlane3D_XY}}, // Edge 5: X-max face, Z-max face
            {{4, ImPlane3D_XZ}, {5, ImPlane3D_XY}}, // Edge 6: Y-max face, Z-max face
            {{0, ImPlane3D_YZ}, {5, ImPlane3D_XY}}, // Edge 7: X-min face, Z-max face
            {{0, ImPlane3D_YZ}, {1, ImPlane3D_XZ}}, // Edge 8: X-min face, Y-min face
            {{1, ImPlane3D_XZ}, {3, ImPlane3D_YZ}}, // Edge 9: Y-min face, X-max face
            {{3, ImPlane3D_YZ}, {4, ImPlane3D_XZ}}, // Edge 10: X-max face, Y-max face
            {{0, ImPlane3D_YZ}, {4, ImPlane3D_XZ}}, // Edge 11: X-min face, Y-max face
        };

        // Check which of the two faces is active (visible from camera)
        int face0 = edge_to_faces[curr_edge_idx][0][0];
        int face1 = edge_to_faces[curr_edge_idx][1][0];

        // Determine which face is active based on active_faces
        // Faces 0-2 are min faces (active when active_faces[i] == false)
        // Faces 3-5 are max faces (active when active_faces[i] == true)
        bool face0_active = (face0 < 3) ? !active_faces[face0] : active_faces[face0 - 3];
        bool face1_active = (face1 < 3) ? !active_faces[face1] : active_faces[face1 - 3];

        // Pick the plane corresponding to the active face
        if (face0_active) {
            mouse_plane = (ImPlane3D)edge_to_faces[curr_edge_idx][0][1];
        } else if (face1_active) {
            mouse_plane = (ImPlane3D)edge_to_faces[curr_edge_idx][1][1];
        } else {
            // Fallback: both could be active in some edge cases, use first one
            mouse_plane = (ImPlane3D)edge_to_faces[curr_edge_idx][0][1];
        }
    }
    ImVec2 mouse_pos = ImGui::GetMousePos();
    ImPlot3DPoint mouse_pos_plot = PixelsToPlotPlane(mouse_pos, mouse_plane, false);

    // AUTO FIT -------------------------------------------------------------------

    // Handle translation/zoom fit with double click
    if (plot_clicked && (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Left) || ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Middle)) &&
        (allow_pan && allow_zoom)) {
        plot.FitThisFrame = true;
        for (int i = 0; i < 3; i++)
            plot.Axes[i].FitThisFrame = plot.Axes[i].Hovered;
    }

    // Handle auto fit
    for (int i = 0; i < 3; i++)
        if (plot.Axes[i].IsAutoFitting()) {
            plot.FitThisFrame = true;
            plot.Axes[i].FitThisFrame = true;
        }

    // TRANSLATION -------------------------------------------------------------------

    // Handle translation with right mouse button
    if (plot.Held && ImGui::IsMouseDown(ImGuiMouseButton_Left) && allow_pan) {
        ImVec2 delta(IO.MouseDelta.x, IO.MouseDelta.y);

        if (plot.Axes[0].Hovered && plot.Axes[1].Hovered && plot.Axes[2].Hovered) {
            // Perform unconstrained translation (translate on the viewer's plane)

            // Compute delta_pixels in 3D (invert y-axis)
            ImPlot3DPoint delta_pixels(delta.x, -delta.y, 0.0f);

            // Convert delta to NDC space
            float zoom = plot.GetViewScale();
            ImPlot3DPoint delta_NDC = plot.Rotation.Inverse() * (delta_pixels / zoom);

            // Create points in NDC space representing the new shifted range
            ImPlot3DPoint p_min_ndc, p_max_ndc;
            for (int i = 0; i < 3; i++) {
                double half_scale = 0.5 * plot.Axes[i].NDCScale;
                p_min_ndc[i] = -half_scale - delta_NDC[i];
                p_max_ndc[i] = half_scale - delta_NDC[i];
            }

            // Convert these NDC points to Plot space to get the new range
            // NDCToPlot handles axis inversions and non-linear transforms
            ImPlot3DPoint p_min_plt = NDCToPlot(p_min_ndc);
            ImPlot3DPoint p_max_plt = NDCToPlot(p_max_ndc);

            // Adjust plot range to translate the plot
            for (int i = 0; i < 3; i++) {
                if (plot.Axes[i].Hovered) {
                    double v1 = p_min_plt[i];
                    double v2 = p_max_plt[i];
                    double new_min = ImMin(v1, v2);
                    double new_max = ImMax(v1, v2);

                    bool increasing = new_min > plot.Axes[i].Range.Min;
                    if ((new_min != plot.Axes[i].Range.Min || new_max != plot.Axes[i].Range.Max) && !plot.Axes[i].IsPanLocked(increasing)) {
                        // Update axis range
                        plot.Axes[i].SetRange(new_min, new_max);
                        // Apply equal aspect ratio constraint
                        if (axis_equal)
                            plot.ApplyEqualAspect(i);
                    }
                    plot.Axes[i].Held = true;
                }
                // If no axis was held before (user started translating in this frame), set the held edge/plane indices
                if (!any_axis_held) {
                    plot.HeldEdgeIdx = hovered_edge_idx;
                    plot.HeldPlaneIdx = hovered_plane_idx;
                }
            }
        } else if (plot.Axes[0].Hovered || plot.Axes[1].Hovered || plot.Axes[2].Hovered) {
            // Translate along plane/axis
            //
            // For transforms like log scale, we use the approach from ImPlot:
            // Transform reference points with the mouse delta applied, which properly handles non-linear scales.
            // The key: use points that lie on the interaction plane, not arbitrary box corners.

            ImVec2 mouse_delta(IO.MouseDelta.x, IO.MouseDelta.y);

            // Create reference points on the interaction plane at the axis range extremes
            // We use the current mouse position as a template, then vary each axis independently
            ImPlot3DPoint ref_base = mouse_pos_plot;

            for (int i = 0; i < 3; i++) {
                if (plot.Axes[i].Hovered) {
                    ImPlot3DAxis& axis = plot.Axes[i];

                    // Create two reference points on the interaction plane:
                    // - One at the minimum of this axis
                    // - One at the maximum of this axis
                    // Keep other coordinates the same (on the plane)
                    ImPlot3DPoint p_min = ref_base;
                    ImPlot3DPoint p_max = ref_base;
                    p_min[i] = axis.Range.Min;
                    p_max[i] = axis.Range.Max;

                    // Transform to pixels, apply mouse delta, transform back
                    ImVec2 pix_min = PlotToPixels(plot, p_min);
                    ImVec2 pix_max = PlotToPixels(plot, p_max);

                    pix_min.x -= mouse_delta.x;
                    pix_min.y -= mouse_delta.y;
                    pix_max.x -= mouse_delta.x;
                    pix_max.y -= mouse_delta.y;

                    // Project back to plot space via the interaction plane
                    ImPlot3DPoint new_p_min = PixelsToPlotPlane(pix_min, mouse_plane, false);
                    ImPlot3DPoint new_p_max = PixelsToPlotPlane(pix_max, mouse_plane, false);

                    // Extract the new range for this axis
                    double new_min = new_p_min[i];
                    double new_max = new_p_max[i];

                    // Check if we should update
                    bool increasing = (new_min < axis.Range.Min);
                    if ((new_min != axis.Range.Min || new_max != axis.Range.Max) && !axis.IsPanLocked(increasing)) {
                        axis.SetRange(new_min, new_max);

                        // Apply equal aspect ratio constraint
                        if (axis_equal)
                            plot.ApplyEqualAspect(i);
                    }
                    axis.Held = true;
                }
                if (!any_axis_held) {
                    plot.HeldEdgeIdx = hovered_edge_idx;
                    plot.HeldPlaneIdx = hovered_plane_idx;
                }
            }
        }
    }

    // ROTATION -------------------------------------------------------------------

    // Handle reset rotation with left mouse double click
    if (plot.Held && ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right) && !plot.IsRotationLocked() && allow_rotate) {
        plot.RotationAnimationEnd = plot.Rotation;

        // Calculate rotation to align the z-axis with the camera direction
        if (hovered_plane == -1) {
            plot.RotationAnimationEnd = plot.InitialRotation;
        } else {
            // Compute plane normal
            ImPlot3DPoint axis_normal = ImPlot3DPoint(0.0f, 0.0f, 0.0f);
            axis_normal[hovered_plane] = active_faces[hovered_plane] ? -1.0f : 1.0f;
            if (ImPlot3D::ImHasFlag(plot.Axes[hovered_plane].Flags, ImPlot3DAxisFlags_Invert))
                axis_normal[hovered_plane] *= -1;

            // Compute rotation to align the plane normal with the z-axis
            ImPlot3DQuat align_normal = ImPlot3DQuat::FromTwoVectors(plot.RotationAnimationEnd * axis_normal, ImPlot3DPoint(0.0f, 0.0f, 1.0f));
            plot.RotationAnimationEnd = align_normal * plot.RotationAnimationEnd;

            if (hovered_plane != 2) {
                // Compute rotation to point z-axis up
                ImPlot3DQuat align_up =
                    ImPlot3DQuat::FromTwoVectors(plot.RotationAnimationEnd * ImPlot3DPoint(0.0f, 0.0f, 1.0f), ImPlot3DPoint(0.0f, 1.0f, 0.0f));
                plot.RotationAnimationEnd = align_up * plot.RotationAnimationEnd;
            } else {
                // Find the axis most aligned with the up direction
                ImPlot3DPoint up(0.0f, 1.0f, 0.0f);
                ImPlot3DPoint x_axis = plot.RotationAnimationEnd * ImPlot3DPoint(1.0f, 0.0f, 0.0f);
                ImPlot3DPoint y_axis = plot.RotationAnimationEnd * ImPlot3DPoint(0.0f, 1.0f, 0.0f);
                ImPlot3DPoint neg_x_axis = plot.RotationAnimationEnd * ImPlot3DPoint(-1.0f, 0.0f, 0.0f);
                ImPlot3DPoint neg_y_axis = plot.RotationAnimationEnd * ImPlot3DPoint(0.0f, -1.0f, 0.0f);

                struct AxisAlignment {
                    ImPlot3DPoint axis;
                    float dot;
                };

                AxisAlignment candidates[] = {
                    {x_axis, (float)x_axis.Dot(up)},
                    {y_axis, (float)y_axis.Dot(up)},
                    {neg_x_axis, (float)neg_x_axis.Dot(up)},
                    {neg_y_axis, (float)neg_y_axis.Dot(up)},
                };

                // Find the candidate with the maximum dot product
                AxisAlignment* best_candidate = &candidates[0];
                for (int i = 1; i < 4; i++) {
                    if (candidates[i].dot > best_candidate->dot) {
                        best_candidate = &candidates[i];
                    }
                }

                // Compute the rotation to align the best candidate with the up direction
                ImPlot3DQuat align_up = ImPlot3DQuat::FromTwoVectors(best_candidate->axis, up);
                plot.RotationAnimationEnd = align_up * plot.RotationAnimationEnd;
            }
        }

        // Calculate animation time
        plot.AnimationTime = CalcAnimationTime(plot.Rotation, plot.RotationAnimationEnd);
    }

    // Handle rotation with left mouse dragging
    if (plot.Held && ImGui::IsMouseDown(ImGuiMouseButton_Right) && !plot.IsRotationLocked() && allow_rotate) {
        ImVec2 delta(IO.MouseDelta.x, IO.MouseDelta.y);

        // Map delta to rotation angles (in radians)
        float angle_x = delta.x * (3.1415f / 180.0f);
        float angle_y = delta.y * (3.1415f / 180.0f);

        // If drag just started, determine and store the rotation axis
        if (plot.DragRotationAxis == ImPlot3DPoint(0.0f, 0.0f, 0.0f)) {
            ImPlot3DPoint up_vector = plot.Rotation * ImPlot3DPoint(0.0f, 0.0f, 1.0f);
            bool is_upside_down = up_vector.z < 0.0f;
            plot.DragRotationAxis = is_upside_down ? ImPlot3DPoint(0.0f, 0.0f, -1.0f) : ImPlot3DPoint(0.0f, 0.0f, 1.0f);
        }

        // Create quaternions for the rotations
        ImPlot3DQuat quat_x(angle_y, ImPlot3DPoint(1.0f, 0.0f, 0.0f));
        ImPlot3DQuat quat_z(angle_x, plot.DragRotationAxis);

        // Combine the new rotations with the current rotation
        plot.Rotation = quat_x * plot.Rotation * quat_z;
        plot.Rotation.Normalize();
    } else {
        // Reset drag rotation axis when not dragging
        plot.DragRotationAxis = ImPlot3DPoint(0.0f, 0.0f, 0.0f);
    }

    // ZOOM -------------------------------------------------------------------

    // Handle zoom with mouse wheel
    if (plot.Hovered && allow_zoom) {
        ImGui::SetKeyOwner(ImGuiKey_MouseWheelY, plot.ID);
        if (ImGui::IsMouseDown(ImGuiMouseButton_Middle) || IO.MouseWheel != 0.0f) {
            float delta = ImGui::IsMouseDown(ImGuiMouseButton_Middle) ? (-0.01f * IO.MouseDelta.y) : (-0.1f * IO.MouseWheel);
            float zoom_rate = delta; // Positive = zoom in, negative = zoom out

            // For transforms like log scale, we use the approach from ImPlot:
            // Transform reference points with zoom expansion/contraction applied in pixel/NDC space,
            // which properly handles non-linear scales.

            const bool zoom_around_mouse = (hovered_axis != -1 || hovered_plane != -1);

            // Zoom all hovered axes independently
            ImAxis3D ref_axis = ImAxis3D_X;
            for (int i = 0; i < 3; i++) {
                if (!plot.Axes[i].Hovered || plot.Axes[i].IsInputLocked())
                    continue;

                ImPlot3DAxis& axis = plot.Axes[i];

                // Create reference points on the interaction plane at range extremes
                ImPlot3DPoint p_min = mouse_pos_plot;
                ImPlot3DPoint p_max = mouse_pos_plot;
                p_min[i] = axis.Range.Min;
                p_max[i] = axis.Range.Max;

                // Transform to pixels
                ImVec2 pix_min = PlotToPixels(plot, p_min);
                ImVec2 pix_max = PlotToPixels(plot, p_max);

                // Compute the pixel distance from mouse to each endpoint
                ImVec2 mouse_pix = PlotToPixels(plot, mouse_pos_plot);
                float dist_min =
                    ImSqrt((pix_min.x - mouse_pix.x) * (pix_min.x - mouse_pix.x) + (pix_min.y - mouse_pix.y) * (pix_min.y - mouse_pix.y));
                float dist_max =
                    ImSqrt((pix_max.x - mouse_pix.x) * (pix_max.x - mouse_pix.x) + (pix_max.y - mouse_pix.y) * (pix_max.y - mouse_pix.y));

                if (zoom_around_mouse && (dist_min > 0 || dist_max > 0)) {
                    // Zoom around mouse: expand/contract distances from mouse position
                    // Direction vectors from mouse to endpoints
                    ImVec2 dir_min = pix_min - mouse_pix;
                    ImVec2 dir_max = pix_max - mouse_pix;

                    // Apply zoom by scaling the distances
                    // Note: zoom_rate is negative when zooming in (MouseWheel > 0), so we add it
                    pix_min = mouse_pix + dir_min * (1.0f + zoom_rate);
                    pix_max = mouse_pix + dir_max * (1.0f + zoom_rate);

                    // Project back to plot space via the plane
                    ImPlot3DPoint new_p_min = PixelsToPlotPlane(pix_min, mouse_plane, false);
                    ImPlot3DPoint new_p_max = PixelsToPlotPlane(pix_max, mouse_plane, false);

                    // Extract the new range for this axis
                    double new_min = new_p_min[i];
                    double new_max = new_p_max[i];

                    // Update the range
                    axis.SetRange(new_min, new_max);
                } else {
                    // Zoom around center
                    double ndc_limit = 0.5 * axis.NDCScale;
                    double zoom_factor = 1.0f + zoom_rate;

                    // Create points in NDC space representing the new zoomed range
                    ImPlot3DPoint p_min(0.0f, 0.0f, 0.0f);
                    ImPlot3DPoint p_max(0.0f, 0.0f, 0.0f);
                    p_min[i] = -ndc_limit * zoom_factor;
                    p_max[i] = ndc_limit * zoom_factor;

                    // Convert these NDC points to Plot space to get the new range
                    ImPlot3DPoint plt_min = NDCToPlot(p_min);
                    ImPlot3DPoint plt_max = NDCToPlot(p_max);

                    axis.SetRange(plt_min[i], plt_max[i]);
                }

                axis.Held = true;

                // Use a hovered axis as reference
                ref_axis = (ImAxis3D)i;
            }

            // Apply equal constraint using the reference axis
            if (axis_equal)
                plot.ApplyEqualAspect(ref_axis);

            // If no axis was held before (user started zoom in this frame), set the held edge/plane indices
            if (!any_axis_held) {
                plot.HeldEdgeIdx = hovered_edge_idx;
                plot.HeldPlaneIdx = hovered_plane_idx;
            }
        }
    }

    // CONTEXT MENU -------------------------------------------------------------------

    // Handle context click with right mouse button
    if (plot.Held && ImGui::IsMouseClicked(ImGuiMouseButton_Right) && !ImPlot3D::ImHasFlag(plot.Flags, ImPlot3DFlags_NoMenus))
        plot.ContextClick = true;
    if (rotating || (ImGui::IsMouseDoubleClicked(ImGuiMouseButton_Right) && allow_rotate))
        plot.ContextClick = false;

    // Handle context menu (should not happen if it is not a double click action)
    bool not_double_click = allow_rotate ? (float)(ImGui::GetTime() - IO.MouseClickedTime[ImGuiMouseButton_Right]) > IO.MouseDoubleClickTime : true;
    if (plot.Hovered && plot.ContextClick && not_double_click && !ImGui::IsMouseDown(ImGuiMouseButton_Right)) {
        plot.ContextClick = false;
        plot.OpenContextThisFrame = true;
    }

    if (plot.OpenContextThisFrame) {
        if (plot.Items.Legend.Hovered)
            ImGui::OpenPopup("##LegendContext");
        else if (hovered_axis != -1) {
            ImGui::OpenPopup(axis_contexts[hovered_axis]);
        } else if (hovered_plane != -1) {
            ImGui::OpenPopup(plane_contexts[hovered_plane]);
        } else if (plot.Hovered) {
            ImGui::OpenPopup("##PlotContext");
        }
    }
}

void SetupLock() {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentPlot != nullptr, "SetupLock() needs to be called between BeginPlot() and EndPlot()!");
    ImPlot3DPlot& plot = *gp.CurrentPlot;
    if (plot.SetupLocked)
        return;
    // Lock setup
    plot.SetupLocked = true;

    ImGuiContext& g = *GImGui;
    ImGuiWindow* window = g.CurrentWindow;
    ImDrawList* draw_list = window->DrawList;

    // Set default formatter/locator
    for (int i = 0; i < 3; i++) {
        ImPlot3DAxis& axis = plot.Axes[i];

        // Set formatter
        if (axis.Formatter == nullptr) {
            axis.Formatter = Formatter_Default;
            if (axis.FormatterData == nullptr)
                axis.FormatterData = (void*)IMPLOT3D_LABEL_FORMAT;
        }

        // Set locator
        if (axis.Locator == nullptr)
            axis.Locator = Locator_Default;
    }

    // Draw frame background
    ImU32 f_bg_color = GetStyleColorU32(ImPlot3DCol_FrameBg);
    draw_list->AddRectFilled(plot.FrameRect.Min, plot.FrameRect.Max, f_bg_color);

    // Compute canvas/canvas rectangle
    plot.CanvasRect = ImRect(plot.FrameRect.Min + gp.Style.PlotPadding, plot.FrameRect.Max - gp.Style.PlotPadding);
    plot.PlotRect = plot.CanvasRect;

    // Apply equal axis aspect constraint if not approximately equal
    const bool axis_equal = ImHasFlag(plot.Flags, ImPlot3DFlags_Equal);
    if (axis_equal) {
        double xar = plot.Axes[ImAxis3D_X].GetAspect();
        double yar = plot.Axes[ImAxis3D_Y].GetAspect();
        double zar = plot.Axes[ImAxis3D_Z].GetAspect();
        if (!ImAlmostEqual(xar, yar) || !ImAlmostEqual(xar, zar)) {
            double aspect = (xar + yar + zar) / 3.0;
            plot.Axes[ImAxis3D_X].SetAspect(aspect);
            plot.Axes[ImAxis3D_Y].SetAspect(aspect);
            plot.Axes[ImAxis3D_Z].SetAspect(aspect);
        }
    }

    // Compute ticks
    for (int i = 0; i < 3; i++) {
        ImPlot3DAxis& axis = plot.Axes[i];
        if (axis.ShowDefaultTicks) {
            float pixels = float(plot.GetViewScale() * axis.NDCScale);
            axis.Locator(axis.Ticker, axis.Range, pixels, axis.Formatter, axis.FormatterData);
        }
    }

    // Render title
    if (plot.HasTitle()) {
        ImU32 col = GetStyleColorU32(ImPlot3DCol_TitleText);
        ImVec2 top_center = ImVec2(plot.FrameRect.GetCenter().x, plot.CanvasRect.Min.y);
        AddTextCentered(draw_list, top_center, col, plot.GetTitle());
        plot.PlotRect.Min.y += ImGui::GetTextLineHeight() + gp.Style.LabelPadding.y;
    }

    // Handle animation
    if (plot.AnimationTime > 0.0f) {
        float dt = ImGui::GetIO().DeltaTime;
        float t = ImClamp(dt / plot.AnimationTime, 0.0f, 1.0f);
        plot.AnimationTime -= dt;
        if (plot.AnimationTime < 0.0f)
            plot.AnimationTime = 0.0f;
        plot.Rotation = ImPlot3DQuat::Slerp(plot.Rotation, plot.RotationAnimationEnd, t);
    }

    plot.Initialized = true;

    // Handle user input
    HandleInput(plot);

    // Push plot rect clipping
    ImGui::PushClipRect(plot.PlotRect.Min, plot.PlotRect.Max, true);

    // Render plot box
    RenderPlotBox(draw_list, plot);
}

//-----------------------------------------------------------------------------
// [SECTION] Miscellaneous
//-----------------------------------------------------------------------------

ImDrawList* GetPlotDrawList() { return ImGui::GetWindowDrawList(); }

//-----------------------------------------------------------------------------
// [SECTION] Styles
//-----------------------------------------------------------------------------

struct ImPlot3DStyleVarInfo {
    ImGuiDataType Type;
    ImU32 Count;
    ImU32 Offset;
    void* GetVarPtr(ImPlot3DStyle* style) const { return (void*)((unsigned char*)style + Offset); }
};

static const ImPlot3DStyleVarInfo GPlot3DStyleVarInfo[] = {
    // Item style
    {ImGuiDataType_Float, 1, (ImU32)offsetof(ImPlot3DStyle, LineWeight)},   // ImPlot3DStyleVar_LineWeight
    {ImGuiDataType_S32, 1, (ImU32)offsetof(ImPlot3DStyle, Marker)},         // ImPlot3DStyleVar_Marker
    {ImGuiDataType_Float, 1, (ImU32)offsetof(ImPlot3DStyle, MarkerSize)},   // ImPlot3DStyleVar_MarkerSize
    {ImGuiDataType_Float, 1, (ImU32)offsetof(ImPlot3DStyle, MarkerWeight)}, // ImPlot3DStyleVar_MarkerWeight
    {ImGuiDataType_Float, 1, (ImU32)offsetof(ImPlot3DStyle, FillAlpha)},    // ImPlot3DStyleVar_FillAlpha

    // Plot style
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, PlotDefaultSize)}, // ImPlot3DStyleVar_Plot3DDefaultSize
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, PlotMinSize)},     // ImPlot3DStyleVar_Plot3DMinSize
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, PlotPadding)},     // ImPlot3DStyleVar_Plot3DPadding
    {ImGuiDataType_Float, 1, (ImU32)offsetof(ImPlot3DStyle, ViewScaleFactor)}, // ImPlot3DStyleVar_ViewScaleFactor

    // Label style
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, LabelPadding)},       // ImPlot3DStyleVar_LabelPaddine
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, LegendPadding)},      // ImPlot3DStyleVar_LegendPadding
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, LegendInnerPadding)}, // ImPlot3DStyleVar_LegendInnerPadding
    {ImGuiDataType_Float, 2, (ImU32)offsetof(ImPlot3DStyle, LegendSpacing)},      // ImPlot3DStyleVar_LegendSpacing
};

static const ImPlot3DStyleVarInfo* GetPlotStyleVarInfo(ImPlot3DStyleVar idx) {
    IM_ASSERT(idx >= 0 && idx < ImPlot3DStyleVar_COUNT);
    IM_ASSERT(IM_ARRAYSIZE(GPlot3DStyleVarInfo) == ImPlot3DStyleVar_COUNT);
    return &GPlot3DStyleVarInfo[idx];
}

ImPlot3DStyle& GetStyle() { return GImPlot3D->Style; }
void SetStyle(const ImPlot3DStyle& style) { GImPlot3D->Style = style; }

void StyleColorsAuto(ImPlot3DStyle* dst) {
    ImPlot3DStyle* style = dst ? dst : &ImPlot3D::GetStyle();
    ImVec4* colors = style->Colors;

    colors[ImPlot3DCol_Line] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_Fill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerOutline] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerFill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_TitleText] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_InlayText] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_FrameBg] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_PlotBg] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_PlotBorder] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_LegendBg] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_LegendBorder] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_LegendText] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_AxisText] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_AxisGrid] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_AxisTick] = IMPLOT3D_AUTO_COL;
}

void StyleColorsDark(ImPlot3DStyle* dst) {
    ImPlot3DStyle* style = dst ? dst : &ImPlot3D::GetStyle();
    ImVec4* colors = style->Colors;

    colors[ImPlot3DCol_Line] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_Fill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerOutline] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerFill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_TitleText] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f);
    colors[ImPlot3DCol_InlayText] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f);
    colors[ImPlot3DCol_FrameBg] = ImVec4(1.00f, 1.00f, 1.00f, 0.07f);
    colors[ImPlot3DCol_PlotBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.50f);
    colors[ImPlot3DCol_PlotBorder] = ImVec4(0.43f, 0.43f, 0.50f, 0.50f);
    colors[ImPlot3DCol_LegendBg] = ImVec4(0.08f, 0.08f, 0.08f, 0.94f);
    colors[ImPlot3DCol_LegendBorder] = ImVec4(0.43f, 0.43f, 0.50f, 0.50f);
    colors[ImPlot3DCol_LegendText] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f);
    colors[ImPlot3DCol_AxisText] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f);
    colors[ImPlot3DCol_AxisGrid] = ImVec4(1.00f, 1.00f, 1.00f, 0.25f);
    colors[ImPlot3DCol_AxisTick] = IMPLOT3D_AUTO_COL;
}

void StyleColorsLight(ImPlot3DStyle* dst) {
    ImPlot3DStyle* style = dst ? dst : &ImPlot3D::GetStyle();
    ImVec4* colors = style->Colors;

    colors[ImPlot3DCol_Line] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_Fill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerOutline] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerFill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_TitleText] = ImVec4(0.00f, 0.00f, 0.00f, 1.00f);
    colors[ImPlot3DCol_InlayText] = ImVec4(0.00f, 0.00f, 0.00f, 1.00f);
    colors[ImPlot3DCol_FrameBg] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f);
    colors[ImPlot3DCol_PlotBg] = ImVec4(0.42f, 0.57f, 1.00f, 0.13f);
    colors[ImPlot3DCol_PlotBorder] = ImVec4(0.00f, 0.00f, 0.00f, 0.00f);
    colors[ImPlot3DCol_LegendBg] = ImVec4(1.00f, 1.00f, 1.00f, 0.98f);
    colors[ImPlot3DCol_LegendBorder] = ImVec4(0.82f, 0.82f, 0.82f, 0.80f);
    colors[ImPlot3DCol_LegendText] = ImVec4(0.00f, 0.00f, 0.00f, 1.00f);
    colors[ImPlot3DCol_AxisText] = ImVec4(0.00f, 0.00f, 0.00f, 1.00f);
    colors[ImPlot3DCol_AxisGrid] = ImVec4(1.00f, 1.00f, 1.00f, 1.00f);
    colors[ImPlot3DCol_AxisTick] = IMPLOT3D_AUTO_COL;
}

void StyleColorsClassic(ImPlot3DStyle* dst) {
    ImPlot3DStyle* style = dst ? dst : &ImPlot3D::GetStyle();
    ImVec4* colors = style->Colors;

    colors[ImPlot3DCol_Line] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_Fill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerOutline] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_MarkerFill] = IMPLOT3D_AUTO_COL;
    colors[ImPlot3DCol_TitleText] = ImVec4(0.90f, 0.90f, 0.90f, 1.00f);
    colors[ImPlot3DCol_InlayText] = ImVec4(0.90f, 0.90f, 0.90f, 1.00f);
    colors[ImPlot3DCol_FrameBg] = ImVec4(0.43f, 0.43f, 0.43f, 0.39f);
    colors[ImPlot3DCol_PlotBg] = ImVec4(0.00f, 0.00f, 0.00f, 0.35f);
    colors[ImPlot3DCol_PlotBorder] = ImVec4(0.50f, 0.50f, 0.50f, 0.50f);
    colors[ImPlot3DCol_LegendBg] = ImVec4(0.11f, 0.11f, 0.14f, 0.92f);
    colors[ImPlot3DCol_LegendBorder] = ImVec4(0.50f, 0.50f, 0.50f, 0.50f);
    colors[ImPlot3DCol_LegendText] = ImVec4(0.90f, 0.90f, 0.90f, 1.00f);
    colors[ImPlot3DCol_AxisText] = ImVec4(0.90f, 0.90f, 0.90f, 1.00f);
    colors[ImPlot3DCol_AxisGrid] = ImVec4(0.90f, 0.90f, 0.90f, 0.25f);
    colors[ImPlot3DCol_AxisTick] = IMPLOT3D_AUTO_COL;
}

bool ShowStyleSelector(const char* label) {
    static int style_idx = -1;
    if (ImGui::Combo(label, &style_idx, "Auto\0Classic\0Dark\0Light\0")) {
        switch (style_idx) {
            case 0: StyleColorsAuto(); break;
            case 1: StyleColorsClassic(); break;
            case 2: StyleColorsDark(); break;
            case 3: StyleColorsLight(); break;
        }
        return true;
    }
    return false;
}

bool ShowColormapSelector(const char* label) {
    ImPlot3DContext& gp = *GImPlot3D;
    bool set = false;
    if (ImGui::BeginCombo(label, gp.ColormapData.GetName(gp.Style.Colormap))) {
        for (int i = 0; i < gp.ColormapData.Count; ++i) {
            const char* name = gp.ColormapData.GetName(i);
            if (ImGui::Selectable(name, gp.Style.Colormap == i)) {
                gp.Style.Colormap = i;
                BustItemCache();
                set = true;
            }
        }
        ImGui::EndCombo();
    }
    return set;
}

void PushStyleColor(ImPlot3DCol idx, ImU32 col) {
    ImPlot3DContext& gp = *GImPlot3D;
    ImGuiColorMod backup;
    backup.Col = (ImGuiCol)idx;
    backup.BackupValue = gp.Style.Colors[idx];
    gp.ColorModifiers.push_back(backup);
    gp.Style.Colors[idx] = ImGui::ColorConvertU32ToFloat4(col);
}

void PushStyleColor(ImPlot3DCol idx, const ImVec4& col) {
    ImPlot3DContext& gp = *GImPlot3D;
    ImGuiColorMod backup;
    backup.Col = (ImGuiCol)idx;
    backup.BackupValue = gp.Style.Colors[idx];
    gp.ColorModifiers.push_back(backup);
    gp.Style.Colors[idx] = col;
}

void PopStyleColor(int count) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(count <= gp.ColorModifiers.Size, "You can't pop more modifiers than have been pushed!");
    while (count > 0) {
        ImGuiColorMod& backup = gp.ColorModifiers.back();
        gp.Style.Colors[backup.Col] = backup.BackupValue;
        gp.ColorModifiers.pop_back();
        count--;
    }
}

void PushStyleVar(ImPlot3DStyleVar idx, float val) {
    ImPlot3DContext& gp = *GImPlot3D;
    const ImPlot3DStyleVarInfo* var_info = GetPlotStyleVarInfo(idx);
    if (var_info->Type == ImGuiDataType_Float && var_info->Count == 1) {
        float* pvar = (float*)var_info->GetVarPtr(&gp.Style);
        gp.StyleModifiers.push_back(ImGuiStyleMod((ImGuiStyleVar)idx, *pvar));
        *pvar = val;
        return;
    }
    IM_ASSERT(0 && "Called PushStyleVar() float variant but variable is not a float!");
}

void PushStyleVar(ImPlot3DStyleVar idx, int val) {
    ImPlot3DContext& gp = *GImPlot3D;
    const ImPlot3DStyleVarInfo* var_info = GetPlotStyleVarInfo(idx);
    if (var_info->Type == ImGuiDataType_S32 && var_info->Count == 1) {
        int* pvar = (int*)var_info->GetVarPtr(&gp.Style);
        gp.StyleModifiers.push_back(ImGuiStyleMod((ImGuiStyleVar)idx, *pvar));
        *pvar = val;
        return;
    } else if (var_info->Type == ImGuiDataType_Float && var_info->Count == 1) {
        float* pvar = (float*)var_info->GetVarPtr(&gp.Style);
        gp.StyleModifiers.push_back(ImGuiStyleMod((ImGuiStyleVar)idx, *pvar));
        *pvar = (float)val;
        return;
    }
    IM_ASSERT(0 && "Called PushStyleVar() int variant but variable is not a int!");
}

void PushStyleVar(ImPlot3DStyleVar idx, const ImVec2& val) {
    ImPlot3DContext& gp = *GImPlot3D;
    const ImPlot3DStyleVarInfo* var_info = GetPlotStyleVarInfo(idx);
    if (var_info->Type == ImGuiDataType_Float && var_info->Count == 2) {
        ImVec2* pvar = (ImVec2*)var_info->GetVarPtr(&gp.Style);
        gp.StyleModifiers.push_back(ImGuiStyleMod((ImGuiStyleVar)idx, *pvar));
        *pvar = val;
        return;
    }
    IM_ASSERT(0 && "Called PushStyleVar() ImVec2 variant but variable is not a ImVec2!");
}

void PopStyleVar(int count) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(count <= gp.StyleModifiers.Size, "You can't pop more modifiers than have been pushed!");
    while (count > 0) {
        ImGuiStyleMod& backup = gp.StyleModifiers.back();
        const ImPlot3DStyleVarInfo* info = GetPlotStyleVarInfo(backup.VarIdx);
        void* data = info->GetVarPtr(&gp.Style);
        if (info->Type == ImGuiDataType_Float && info->Count == 1) {
            ((float*)data)[0] = backup.BackupFloat[0];
        } else if (info->Type == ImGuiDataType_Float && info->Count == 2) {
            ((float*)data)[0] = backup.BackupFloat[0];
            ((float*)data)[1] = backup.BackupFloat[1];
        } else if (info->Type == ImGuiDataType_S32 && info->Count == 1) {
            ((int*)data)[0] = backup.BackupInt[0];
        }
        gp.StyleModifiers.pop_back();
        count--;
    }
}

ImVec4 GetStyleColorVec4(ImPlot3DCol idx) { return IsColorAuto(idx) ? GetAutoColor(idx) : GImPlot3D->Style.Colors[idx]; }

ImU32 GetStyleColorU32(ImPlot3DCol idx) { return ImGui::ColorConvertFloat4ToU32(ImPlot3D::GetStyleColorVec4(idx)); }

//------------------------------------------------------------------------------
// [SECTION] Colormaps
//------------------------------------------------------------------------------

ImPlot3DColormap AddColormap(const char* name, const ImVec4* colormap, int size, bool qual) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(size > 1, "The colormap size must be greater than 1!");
    IM_ASSERT_USER_ERROR(gp.ColormapData.GetIndex(name) == -1, "The colormap name has already been used!");
    ImVector<ImU32> buffer;
    buffer.resize(size);
    for (int i = 0; i < size; i++)
        buffer[i] = ImGui::ColorConvertFloat4ToU32(colormap[i]);
    return gp.ColormapData.Append(name, buffer.Data, size, qual);
}

ImPlot3DColormap AddColormap(const char* name, const ImU32* colormap, int size, bool qual) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(size > 1, "The colormap size must be greater than 1!");
    IM_ASSERT_USER_ERROR(gp.ColormapData.GetIndex(name) == -1, "The colormap name has already be used!");
    return gp.ColormapData.Append(name, colormap, size, qual);
}

int GetColormapCount() {
    ImPlot3DContext& gp = *GImPlot3D;
    return gp.ColormapData.Count;
}

const char* GetColormapName(ImPlot3DColormap colormap) {
    ImPlot3DContext& gp = *GImPlot3D;
    return gp.ColormapData.GetName(colormap);
}

ImPlot3DColormap GetColormapIndex(const char* name) {
    ImPlot3DContext& gp = *GImPlot3D;
    return gp.ColormapData.GetIndex(name);
}

void PushColormap(ImPlot3DColormap colormap) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(colormap >= 0 && colormap < gp.ColormapData.Count, "The colormap index is invalid!");
    gp.ColormapModifiers.push_back(gp.Style.Colormap);
    gp.Style.Colormap = colormap;
}

void PushColormap(const char* name) {
    ImPlot3DContext& gp = *GImPlot3D;
    ImPlot3DColormap idx = gp.ColormapData.GetIndex(name);
    IM_ASSERT_USER_ERROR(idx != -1, "The colormap name is invalid!");
    PushColormap(idx);
}

void PopColormap(int count) {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(count <= gp.ColormapModifiers.Size, "You can't pop more modifiers than have been pushed!");
    while (count > 0) {
        const ImPlot3DColormap& backup = gp.ColormapModifiers.back();
        gp.Style.Colormap = backup;
        gp.ColormapModifiers.pop_back();
        count--;
    }
}

ImU32 NextColormapColorU32() {
    ImPlot3DContext& gp = *GImPlot3D;
    IM_ASSERT_USER_ERROR(gp.CurrentItems != nullptr, "NextColormapColor() needs to be called between BeginPlot() and EndPlot()!");
    int idx = gp.CurrentItems->ColormapIdx % gp.ColormapData.GetKeyCount(gp.Style.Colormap);
    ImU32 col = gp.ColormapData.GetKeyColor(gp.Style.Colormap, idx);
    gp.CurrentItems->ColormapIdx++;
    return col;
}

ImVec4 NextColormapColor() { return ImGui::ColorConvertU32ToFloat4(NextColormapColorU32()); }

int GetColormapSize(ImPlot3DColormap cmap) {
    ImPlot3DContext& gp = *GImPlot3D;
    cmap = cmap == IMPLOT3D_AUTO ? gp.Style.Colormap : cmap;
    IM_ASSERT_USER_ERROR(cmap >= 0 && cmap < gp.ColormapData.Count, "Invalid colormap index!");
    return gp.ColormapData.GetKeyCount(cmap);
}

ImU32 GetColormapColorU32(int idx, ImPlot3DColormap cmap) {
    ImPlot3DContext& gp = *GImPlot3D;
    cmap = cmap == IMPLOT3D_AUTO ? gp.Style.Colormap : cmap;
    IM_ASSERT_USER_ERROR(cmap >= 0 && cmap < gp.ColormapData.Count, "Invalid colormap index!");
    idx = idx % gp.ColormapData.GetKeyCount(cmap);
    return gp.ColormapData.GetKeyColor(cmap, idx);
}

ImVec4 GetColormapColor(int idx, ImPlot3DColormap cmap) { return ImGui::ColorConvertU32ToFloat4(GetColormapColorU32(idx, cmap)); }

ImU32 SampleColormapU32(float t, ImPlot3DColormap cmap) {
    ImPlot3DContext& gp = *GImPlot3D;
    cmap = cmap == IMPLOT3D_AUTO ? gp.Style.Colormap : cmap;
    IM_ASSERT_USER_ERROR(cmap >= 0 && cmap < gp.ColormapData.Count, "Invalid colormap index!");
    return gp.ColormapData.LerpTable(cmap, t);
}

ImVec4 SampleColormap(float t, ImPlot3DColormap cmap) { return ImGui::ColorConvertU32ToFloat4(SampleColormapU32(t, cmap)); }

void RenderColorBar(const ImU32* colors, int size, ImDrawList& DrawList, const ImRect& bounds, bool vert, bool reversed, bool continuous) {
    const int n = continuous ? size - 1 : size;
    ImU32 col1, col2;
    if (vert) {
        const float step = bounds.GetHeight() / n;
        ImRect rect(bounds.Min.x, bounds.Min.y, bounds.Max.x, bounds.Min.y + step);
        for (int i = 0; i < n; ++i) {
            if (reversed) {
                col1 = colors[size - i - 1];
                col2 = continuous ? colors[size - i - 2] : col1;
            } else {
                col1 = colors[i];
                col2 = continuous ? colors[i + 1] : col1;
            }
            DrawList.AddRectFilledMultiColor(rect.Min, rect.Max, col1, col1, col2, col2);
            rect.TranslateY(step);
        }
    } else {
        const float step = bounds.GetWidth() / n;
        ImRect rect(bounds.Min.x, bounds.Min.y, bounds.Min.x + step, bounds.Max.y);
        for (int i = 0; i < n; ++i) {
            if (reversed) {
                col1 = colors[size - i - 1];
                col2 = continuous ? colors[size - i - 2] : col1;
            } else {
                col1 = colors[i];
                col2 = continuous ? colors[i + 1] : col1;
            }
            DrawList.AddRectFilledMultiColor(rect.Min, rect.Max, col1, col2, col2, col1);
            rect.TranslateX(step);
        }
    }
}

bool ColormapSlider(const char* label, float* t, ImVec4* out, const char* format, ImPlot3DColormap cmap) {
    *t = ImClamp(*t, 0.0f, 1.0f);
    ImGuiContext& G = *GImGui;
    ImGuiWindow* Window = G.CurrentWindow;
    if (Window->SkipItems)
        return false;
    ImPlot3DContext& gp = *GImPlot3D;
    cmap = cmap == IMPLOT3D_AUTO ? gp.Style.Colormap : cmap;
    IM_ASSERT_USER_ERROR(cmap >= 0 && cmap < gp.ColormapData.Count, "Invalid colormap index!");
    const ImU32* keys = gp.ColormapData.GetKeys(cmap);
    const int count = gp.ColormapData.GetKeyCount(cmap);
    const bool qual = gp.ColormapData.IsQual(cmap);
    const ImVec2 pos = ImGui::GetCurrentWindow()->DC.CursorPos;
    const float w = ImGui::CalcItemWidth();
    const float h = ImGui::GetFrameHeight();
    const ImRect rect = ImRect(pos.x, pos.y, pos.x + w, pos.y + h);
    RenderColorBar(keys, count, *ImGui::GetWindowDrawList(), rect, false, false, !qual);
    const ImU32 grab = CalcTextColor(gp.ColormapData.LerpTable(cmap, *t));
    // const ImU32 text = CalcTextColor(gp.ColormapData.LerpTable(cmap,0.5f));
    ImGui::PushStyleColor(ImGuiCol_FrameBg, IM_COL32_BLACK_TRANS);
    ImGui::PushStyleColor(ImGuiCol_FrameBgActive, IM_COL32_BLACK_TRANS);
    ImGui::PushStyleColor(ImGuiCol_FrameBgHovered, ImVec4(1, 1, 1, 0.1f));
    ImGui::PushStyleColor(ImGuiCol_SliderGrab, grab);
    ImGui::PushStyleColor(ImGuiCol_SliderGrabActive, grab);
    ImGui::PushStyleVar(ImGuiStyleVar_GrabMinSize, 2);
    ImGui::PushStyleVar(ImGuiStyleVar_FrameRounding, 0);
    const bool changed = ImGui::SliderFloat(label, t, 0, 1, format);
    ImGui::PopStyleColor(5);
    ImGui::PopStyleVar(2);
    if (out != nullptr)
        *out = ImGui::ColorConvertU32ToFloat4(gp.ColormapData.LerpTable(cmap, *t));
    return changed;
}

//-----------------------------------------------------------------------------
// [SECTION] Context Utils
//-----------------------------------------------------------------------------

#define IMPLOT3D_APPEND_CMAP(name, qual) ctx->ColormapData.Append(#name, name, sizeof(name) / sizeof(ImU32), qual)
#define IM_RGB(r, g, b) IM_COL32(r, g, b, 255)

void InitializeContext(ImPlot3DContext* ctx) {
    ResetContext(ctx);

    const ImU32 Deep[] = {4289753676, 4283598045, 4285048917, 4283584196, 4289950337, 4284512403, 4291005402, 4287401100, 4285839820, 4291671396};
    const ImU32 Dark[] = {4280031972, 4290281015, 4283084621, 4288892568, 4278222847, 4281597951, 4280833702, 4290740727, 4288256409};
    const ImU32 Pastel[] = {4289639675, 4293119411, 4291161036, 4293184478, 4289124862, 4291624959, 4290631909, 4293712637, 4294111986};
    const ImU32 Paired[] = {4293119554, 4290017311, 4287291314, 4281114675, 4288256763, 4280031971,
                            4285513725, 4278222847, 4292260554, 4288298346, 4288282623, 4280834481};
    const ImU32 Viridis[] = {4283695428, 4285867080, 4287054913, 4287455029, 4287526954, 4287402273,
                             4286883874, 4285579076, 4283552122, 4280737725, 4280674301};
    const ImU32 Plasma[] = {4287039501, 4288480321, 4289200234, 4288941455, 4287638193, 4286072780,
                            4284638433, 4283139314, 4281771772, 4280667900, 4280416752};
    const ImU32 Hot[] = {4278190144, 4278190208, 4278190271, 4278190335, 4278206719, 4278223103,
                         4278239231, 4278255615, 4283826175, 4289396735, 4294967295};
    const ImU32 Cool[] = {4294967040, 4294960666, 4294954035, 4294947661, 4294941030, 4294934656,
                          4294928025, 4294921651, 4294915020, 4294908646, 4294902015};
    const ImU32 Pink[] = {4278190154, 4282532475, 4284308894, 4285690554, 4286879686, 4287870160,
                          4288794330, 4289651940, 4291685869, 4293392118, 4294967295};
    const ImU32 Jet[] = {4289331200, 4294901760, 4294923520, 4294945280, 4294967040, 4289396565,
                         4283826090, 4278255615, 4278233855, 4278212095, 4278190335};
    const ImU32 Twilight[] = {IM_RGB(226, 217, 226), IM_RGB(166, 191, 202), IM_RGB(109, 144, 192), IM_RGB(95, 88, 176),
                              IM_RGB(83, 30, 124),   IM_RGB(47, 20, 54),    IM_RGB(100, 25, 75),   IM_RGB(159, 60, 80),
                              IM_RGB(192, 117, 94),  IM_RGB(208, 179, 158), IM_RGB(226, 217, 226)};
    const ImU32 RdBu[] = {IM_RGB(103, 0, 31),    IM_RGB(178, 24, 43),   IM_RGB(214, 96, 77),   IM_RGB(244, 165, 130),
                          IM_RGB(253, 219, 199), IM_RGB(247, 247, 247), IM_RGB(209, 229, 240), IM_RGB(146, 197, 222),
                          IM_RGB(67, 147, 195),  IM_RGB(33, 102, 172),  IM_RGB(5, 48, 97)};
    const ImU32 BrBG[] = {IM_RGB(84, 48, 5),     IM_RGB(140, 81, 10),   IM_RGB(191, 129, 45),  IM_RGB(223, 194, 125),
                          IM_RGB(246, 232, 195), IM_RGB(245, 245, 245), IM_RGB(199, 234, 229), IM_RGB(128, 205, 193),
                          IM_RGB(53, 151, 143),  IM_RGB(1, 102, 94),    IM_RGB(0, 60, 48)};
    const ImU32 PiYG[] = {IM_RGB(142, 1, 82),    IM_RGB(197, 27, 125),  IM_RGB(222, 119, 174), IM_RGB(241, 182, 218),
                          IM_RGB(253, 224, 239), IM_RGB(247, 247, 247), IM_RGB(230, 245, 208), IM_RGB(184, 225, 134),
                          IM_RGB(127, 188, 65),  IM_RGB(77, 146, 33),   IM_RGB(39, 100, 25)};
    const ImU32 Spectral[] = {IM_RGB(158, 1, 66),    IM_RGB(213, 62, 79),   IM_RGB(244, 109, 67),  IM_RGB(253, 174, 97),
                              IM_RGB(254, 224, 139), IM_RGB(255, 255, 191), IM_RGB(230, 245, 152), IM_RGB(171, 221, 164),
                              IM_RGB(102, 194, 165), IM_RGB(50, 136, 189),  IM_RGB(94, 79, 162)};
    const ImU32 Greys[] = {IM_COL32_WHITE, IM_COL32_BLACK};

    IMPLOT3D_APPEND_CMAP(Deep, true);
    IMPLOT3D_APPEND_CMAP(Dark, true);
    IMPLOT3D_APPEND_CMAP(Pastel, true);
    IMPLOT3D_APPEND_CMAP(Paired, true);
    IMPLOT3D_APPEND_CMAP(Viridis, false);
    IMPLOT3D_APPEND_CMAP(Plasma, false);
    IMPLOT3D_APPEND_CMAP(Hot, false);
    IMPLOT3D_APPEND_CMAP(Cool, false);
    IMPLOT3D_APPEND_CMAP(Pink, false);
    IMPLOT3D_APPEND_CMAP(Jet, false);
    IMPLOT3D_APPEND_CMAP(Twilight, false);
    IMPLOT3D_APPEND_CMAP(RdBu, false);
    IMPLOT3D_APPEND_CMAP(BrBG, false);
    IMPLOT3D_APPEND_CMAP(PiYG, false);
    IMPLOT3D_APPEND_CMAP(Spectral, false);
    IMPLOT3D_APPEND_CMAP(Greys, false);
}

void ResetContext(ImPlot3DContext* ctx) {
    ctx->Plots.Clear();
    ctx->CurrentPlot = nullptr;
    ctx->CurrentItems = nullptr;
    ctx->CurrentItem = nullptr;
    ctx->NextItemData.Reset();
    ctx->Style = ImPlot3DStyle();
}

//-----------------------------------------------------------------------------
// [SECTION] Style Utils
//-----------------------------------------------------------------------------

bool IsColorAuto(const ImVec4& col) { return col.w == -1.0f; }

bool IsColorAuto(ImPlot3DCol idx) { return IsColorAuto(GImPlot3D->Style.Colors[idx]); }

ImVec4 GetAutoColor(ImPlot3DCol idx) {
    switch (idx) {
        case ImPlot3DCol_Line: return IMPLOT3D_AUTO_COL;          // Plot dependent
        case ImPlot3DCol_Fill: return IMPLOT3D_AUTO_COL;          // Plot dependent
        case ImPlot3DCol_MarkerOutline: return IMPLOT3D_AUTO_COL; // Plot dependent
        case ImPlot3DCol_MarkerFill: return IMPLOT3D_AUTO_COL;    // Plot dependent
        case ImPlot3DCol_TitleText: return ImGui::GetStyleColorVec4(ImGuiCol_Text);
        case ImPlot3DCol_InlayText: return ImGui::GetStyleColorVec4(ImGuiCol_Text);
        case ImPlot3DCol_FrameBg: return ImGui::GetStyleColorVec4(ImGuiCol_FrameBg);
        case ImPlot3DCol_PlotBg: return ImGui::GetStyleColorVec4(ImGuiCol_WindowBg);
        case ImPlot3DCol_PlotBorder: return ImGui::GetStyleColorVec4(ImGuiCol_Border);
        case ImPlot3DCol_LegendBg: return ImGui::GetStyleColorVec4(ImGuiCol_PopupBg);
        case ImPlot3DCol_LegendBorder: return ImGui::GetStyleColorVec4(ImGuiCol_Border);
        case ImPlot3DCol_LegendText: return ImGui::GetStyleColorVec4(ImGuiCol_Text);
        case ImPlot3DCol_AxisText: return ImGui::GetStyleColorVec4(ImGuiCol_Text);
        case ImPlot3DCol_AxisGrid: return ImGui::GetStyleColorVec4(ImGuiCol_Text) * ImVec4(1, 1, 1, 0.25f);
        case ImPlot3DCol_AxisTick: return GetStyleColorVec4(ImPlot3DCol_AxisGrid);
        default: return IMPLOT3D_AUTO_COL;
    }
}

const char* GetStyleColorName(ImPlot3DCol idx) {
    static const char* color_names[ImPlot3DCol_COUNT] = {
        "Line",       "Fill",     "MarkerOutline", "MarkerFill", "TitleText", "InlayText", "FrameBg",  "PlotBg",
        "PlotBorder", "LegendBg", "LegendBorder",  "LegendText", "AxisText",  "AxisGrid",  "AxisTick",
    };
    return color_names[idx];
}

const ImPlot3DNextItemData& GetItemData() { return GImPlot3D->NextItemData; }

} // namespace ImPlot3D

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DPoint
//-----------------------------------------------------------------------------

ImPlot3DPoint ImPlot3DPoint::operator*(double rhs) const { return ImPlot3DPoint(x * rhs, y * rhs, z * rhs); }
ImPlot3DPoint ImPlot3DPoint::operator/(double rhs) const { return ImPlot3DPoint(x / rhs, y / rhs, z / rhs); }
ImPlot3DPoint ImPlot3DPoint::operator+(const ImPlot3DPoint& rhs) const { return ImPlot3DPoint(x + rhs.x, y + rhs.y, z + rhs.z); }
ImPlot3DPoint ImPlot3DPoint::operator-(const ImPlot3DPoint& rhs) const { return ImPlot3DPoint(x - rhs.x, y - rhs.y, z - rhs.z); }
ImPlot3DPoint ImPlot3DPoint::operator*(const ImPlot3DPoint& rhs) const { return ImPlot3DPoint(x * rhs.x, y * rhs.y, z * rhs.z); }
ImPlot3DPoint ImPlot3DPoint::operator/(const ImPlot3DPoint& rhs) const { return ImPlot3DPoint(x / rhs.x, y / rhs.y, z / rhs.z); }
ImPlot3DPoint ImPlot3DPoint::operator-() const { return ImPlot3DPoint(-x, -y, -z); }

ImPlot3DPoint& ImPlot3DPoint::operator*=(double rhs) {
    x *= rhs;
    y *= rhs;
    z *= rhs;
    return *this;
}
ImPlot3DPoint& ImPlot3DPoint::operator/=(double rhs) {
    x /= rhs;
    y /= rhs;
    z /= rhs;
    return *this;
}
ImPlot3DPoint& ImPlot3DPoint::operator+=(const ImPlot3DPoint& rhs) {
    x += rhs.x;
    y += rhs.y;
    z += rhs.z;
    return *this;
}
ImPlot3DPoint& ImPlot3DPoint::operator-=(const ImPlot3DPoint& rhs) {
    x -= rhs.x;
    y -= rhs.y;
    z -= rhs.z;
    return *this;
}
ImPlot3DPoint& ImPlot3DPoint::operator*=(const ImPlot3DPoint& rhs) {
    x *= rhs.x;
    y *= rhs.y;
    z *= rhs.z;
    return *this;
}
ImPlot3DPoint& ImPlot3DPoint::operator/=(const ImPlot3DPoint& rhs) {
    x /= rhs.x;
    y /= rhs.y;
    z /= rhs.z;
    return *this;
}

bool ImPlot3DPoint::operator==(const ImPlot3DPoint& rhs) const { return x == rhs.x && y == rhs.y && z == rhs.z; }
bool ImPlot3DPoint::operator!=(const ImPlot3DPoint& rhs) const { return !(*this == rhs); }

double ImPlot3DPoint::Dot(const ImPlot3DPoint& rhs) const { return x * rhs.x + y * rhs.y + z * rhs.z; }

ImPlot3DPoint ImPlot3DPoint::Cross(const ImPlot3DPoint& rhs) const {
    return ImPlot3DPoint(y * rhs.z - z * rhs.y, z * rhs.x - x * rhs.z, x * rhs.y - y * rhs.x);
}

double ImPlot3DPoint::Length() const { return sqrt(x * x + y * y + z * z); }

double ImPlot3DPoint::LengthSquared() const { return x * x + y * y + z * z; }

void ImPlot3DPoint::Normalize() {
    double l = Length();
    x /= l;
    y /= l;
    z /= l;
}

ImPlot3DPoint ImPlot3DPoint::Normalized() const {
    double l = Length();
    return ImPlot3DPoint(x / l, y / l, z / l);
}

ImPlot3DPoint operator*(double lhs, const ImPlot3DPoint& rhs) { return ImPlot3DPoint(lhs * rhs.x, lhs * rhs.y, lhs * rhs.z); }

bool ImPlot3DPoint::IsNaN() const { return ImPlot3D::ImNan(x) || ImPlot3D::ImNan(y) || ImPlot3D::ImNan(z); }

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DBox
//-----------------------------------------------------------------------------

void ImPlot3DBox::Expand(const ImPlot3DPoint& point) {
    Min.x = ImMin(Min.x, point.x);
    Min.y = ImMin(Min.y, point.y);
    Min.z = ImMin(Min.z, point.z);
    Max.x = ImMax(Max.x, point.x);
    Max.y = ImMax(Max.y, point.y);
    Max.z = ImMax(Max.z, point.z);
}

bool ImPlot3DBox::Contains(const ImPlot3DPoint& point) const {
    return (point.x >= Min.x && point.x <= Max.x) && (point.y >= Min.y && point.y <= Max.y) && (point.z >= Min.z && point.z <= Max.z);
}

bool ImPlot3DBox::ClipLineSegment(const ImPlot3DPoint& p0, const ImPlot3DPoint& p1, ImPlot3DPoint& p0_clipped, ImPlot3DPoint& p1_clipped) const {
    // Check if the line segment is completely inside the box
    if (Contains(p0) && Contains(p1)) {
        p0_clipped = p0;
        p1_clipped = p1;
        return true;
    }

    // Perform Liang-Barsky 3D clipping
    double t0 = 0.0;
    double t1 = 1.0;
    ImPlot3DPoint d = p1 - p0;

    // Define the clipping boundaries
    const double xmin = Min.x, xmax = Max.x;
    const double ymin = Min.y, ymax = Max.y;
    const double zmin = Min.z, zmax = Max.z;

    // Lambda function to update t0 and t1
    auto update = [&](double p, double q) -> bool {
        if (p == 0.0) {
            if (q < 0.0)
                return false; // Line is parallel and outside the boundary
            else
                return true; // Line is parallel and inside or coincident with boundary
        }
        double r = q / p;
        if (p < 0.0) {
            if (r > t1)
                return false; // Line is outside
            if (r > t0)
                t0 = r; // Move up t0
        } else {
            if (r < t0)
                return false; // Line is outside
            if (r < t1)
                t1 = r; // Move down t1
        }
        return true;
    };

    // Clip against each boundary
    if (!update(-d.x, p0.x - xmin))
        return false; // Left
    if (!update(d.x, xmax - p0.x))
        return false; // Right
    if (!update(-d.y, p0.y - ymin))
        return false; // Bottom
    if (!update(d.y, ymax - p0.y))
        return false; // Top
    if (!update(-d.z, p0.z - zmin))
        return false; // Near
    if (!update(d.z, zmax - p0.z))
        return false; // Far

    // Compute clipped points
    p0_clipped = p0 + d * t0;
    p1_clipped = p0 + d * t1;

    return true;
}

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DRange
//-----------------------------------------------------------------------------

void ImPlot3DRange::Expand(double value) {
    Min = ImMin(Min, value);
    Max = ImMax(Max, value);
}

bool ImPlot3DRange::Contains(double value) const { return value >= Min && value <= Max; }

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DQuat
//-----------------------------------------------------------------------------

ImPlot3DQuat::ImPlot3DQuat(double _angle, const ImPlot3DPoint& _axis) {
    double half_angle = _angle * 0.5;
    double s = sin(half_angle);
    x = s * _axis.x;
    y = s * _axis.y;
    z = s * _axis.z;
    w = cos(half_angle);
}

ImPlot3DQuat ImPlot3DQuat::FromTwoVectors(const ImPlot3DPoint& v0, const ImPlot3DPoint& v1) {
    ImPlot3DQuat q;

    // Compute the dot product and lengths of the vectors
    double dot = v0.Dot(v1);
    double length_v0 = v0.Length();
    double length_v1 = v1.Length();

    // Normalize the dot product
    double normalized_dot = dot / (length_v0 * length_v1);

    // Handle edge cases: if vectors are very close or identical
    const double epsilon = 1e-6;
    if (ImAbs(normalized_dot - 1.0) < epsilon) {
        // v0 and v1 are nearly identical; return an identity quaternion
        q.x = 0.0;
        q.y = 0.0;
        q.z = 0.0;
        q.w = 1.0;
        return q;
    }

    // Handle edge case: if vectors are opposite
    if (ImAbs(normalized_dot + 1.0) < epsilon) {
        // v0 and v1 are opposite; choose an arbitrary orthogonal axis
        ImPlot3DPoint arbitrary_axis = ImAbs(v0.x) > ImAbs(v0.z) ? ImPlot3DPoint(-v0.y, v0.x, 0.0) : ImPlot3DPoint(0.0, -v0.z, v0.y);
        arbitrary_axis.Normalize();
        q.x = arbitrary_axis.x;
        q.y = arbitrary_axis.y;
        q.z = arbitrary_axis.z;
        q.w = 0.0;
        return q;
    }

    // General case
    ImPlot3DPoint axis = v0.Cross(v1);
    axis.Normalize();
    double angle = acos(normalized_dot);
    double half_angle = angle * 0.5;
    double s = sin(half_angle);
    q.x = s * axis.x;
    q.y = s * axis.y;
    q.z = s * axis.z;
    q.w = cos(half_angle);

    return q;
}

ImPlot3DQuat ImPlot3DQuat::FromElAz(double elevation, double azimuth) {
    // Create quaternions for azimuth and elevation
    ImPlot3DQuat azimuth_quat(azimuth, ImPlot3DPoint(0.0, 0.0, 1.0));     // Rotate around Z-axis
    ImPlot3DQuat elevation_quat(elevation, ImPlot3DPoint(1.0, 0.0, 0.0)); // Rotate around X-axis
    ImPlot3DQuat zero_quat(-IM_PI / 2, ImPlot3DPoint(1.0, 0.0, 0.0));     // Rotate to zero azimuth/elevation orientation

    // Combine rotations
    return elevation_quat * zero_quat * azimuth_quat;
}

double ImPlot3DQuat::Length() const { return sqrt(x * x + y * y + z * z + w * w); }

ImPlot3DQuat ImPlot3DQuat::Normalized() const {
    double l = Length();
    return ImPlot3DQuat(x / l, y / l, z / l, w / l);
}

ImPlot3DQuat ImPlot3DQuat::Conjugate() const { return ImPlot3DQuat(-x, -y, -z, w); }

ImPlot3DQuat ImPlot3DQuat::Inverse() const {
    double l_squared = x * x + y * y + z * z + w * w;
    return ImPlot3DQuat(-x / l_squared, -y / l_squared, -z / l_squared, w / l_squared);
}

ImPlot3DQuat ImPlot3DQuat::operator*(const ImPlot3DQuat& rhs) const {
    return ImPlot3DQuat(w * rhs.x + x * rhs.w + y * rhs.z - z * rhs.y, w * rhs.y - x * rhs.z + y * rhs.w + z * rhs.x,
                        w * rhs.z + x * rhs.y - y * rhs.x + z * rhs.w, w * rhs.w - x * rhs.x - y * rhs.y - z * rhs.z);
}

ImPlot3DQuat& ImPlot3DQuat::Normalize() {
    double l = Length();
    x /= l;
    y /= l;
    z /= l;
    w /= l;
    return *this;
}

ImPlot3DPoint ImPlot3DQuat::operator*(const ImPlot3DPoint& point) const {
    // Extract vector part of the quaternion
    ImPlot3DPoint qv(x, y, z);

    // Compute the cross products needed for rotation
    ImPlot3DPoint uv = qv.Cross(point); // uv = qv x point
    ImPlot3DPoint uuv = qv.Cross(uv);   // uuv = qv x uv

    // Compute the rotated vector
    return point + (uv * w * 2.0) + (uuv * 2.0);
}

bool ImPlot3DQuat::operator==(const ImPlot3DQuat& rhs) const { return x == rhs.x && y == rhs.y && z == rhs.z && w == rhs.w; }

bool ImPlot3DQuat::operator!=(const ImPlot3DQuat& rhs) const { return !(*this == rhs); }

ImPlot3DQuat ImPlot3DQuat::Slerp(const ImPlot3DQuat& q1, const ImPlot3DQuat& q2, double t) {
    // Clamp t to [0, 1]
    t = ImClamp(t, 0.0, 1.0);

    // Compute the dot product (cosine of the angle between quaternions)
    double dot = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;

    // If the dot product is negative, negate one quaternion to take the shorter path
    ImPlot3DQuat q2_ = q2;
    if (dot < 0.0) {
        q2_ = ImPlot3DQuat(-q2.x, -q2.y, -q2.z, -q2.w);
        dot = -dot;
    }

    // If the quaternions are very close, use linear interpolation to avoid numerical instability
    if (dot > 0.9995) {
        return ImPlot3DQuat(q1.x + t * (q2_.x - q1.x), q1.y + t * (q2_.y - q1.y), q1.z + t * (q2_.z - q1.z), q1.w + t * (q2_.w - q1.w)).Normalized();
    }

    // Compute the angle and the interpolation factors
    double theta_0 = acos(dot);        // Angle between input quaternions
    double theta = theta_0 * t;        // Interpolated angle
    double sin_theta = sin(theta);     // Sine of interpolated angle
    double sin_theta_0 = sin(theta_0); // Sine of original angle

    double s1 = cos(theta) - dot * sin_theta / sin_theta_0;
    double s2 = sin_theta / sin_theta_0;

    // Interpolate and return the result
    return ImPlot3DQuat(s1 * q1.x + s2 * q2_.x, s1 * q1.y + s2 * q2_.y, s1 * q1.z + s2 * q2_.z, s1 * q1.w + s2 * q2_.w);
}

double ImPlot3DQuat::Dot(const ImPlot3DQuat& rhs) const { return x * rhs.x + y * rhs.y + z * rhs.z + w * rhs.w; }

//-----------------------------------------------------------------------------
// [SECTION] ImDrawList3D
//-----------------------------------------------------------------------------

void ImDrawList3D::PrimReserve(int idx_count, int vtx_count) {
    IM_ASSERT_PARANOID(idx_count >= 0 && vtx_count >= 0 && idx_count % 3 == 0);

    int vtx_buffer_old_size = VtxBuffer.Size;
    VtxBuffer.resize(vtx_buffer_old_size + vtx_count);
    _VtxWritePtr = VtxBuffer.Data + vtx_buffer_old_size;

    int idx_buffer_old_size = IdxBuffer.Size;
    IdxBuffer.resize(idx_buffer_old_size + idx_count);
    _IdxWritePtr = IdxBuffer.Data + idx_buffer_old_size;

    int z_buffer_old_size = ZBuffer.Size;
    ZBuffer.resize(z_buffer_old_size + idx_count / 3);
    _ZWritePtr = ZBuffer.Data + z_buffer_old_size;
}

void ImDrawList3D::PrimUnreserve(int idx_count, int vtx_count) {
    IM_ASSERT_PARANOID(idx_count >= 0 && vtx_count >= 0 && idx_count % 3 == 0);

    VtxBuffer.shrink(VtxBuffer.Size - vtx_count);
    IdxBuffer.shrink(IdxBuffer.Size - idx_count);
    ZBuffer.shrink(ZBuffer.Size - idx_count / 3);
}

void ImDrawList3D::SetTexture(ImTextureRef tex_ref) {
    if (_TextureBuffer.empty()) {
        // First texture assignment
        _TextureBuffer.push_back({tex_ref, _VtxCurrentIdx});
        return;
    }

    ImTextureBufferItem& prev_item = _TextureBuffer.back();
    if (prev_item.VtxIdx == _VtxCurrentIdx) {
        // Same vertex index: update existing texture ID
        prev_item.TexRef = tex_ref;

        // If the previous texture was the same, remove current texture
        if (_TextureBuffer.Size >= 2) {
            if (_TextureBuffer[_TextureBuffer.Size - 2].TexRef == tex_ref) {
                _TextureBuffer.pop_back();
            }
        }
    } else if (prev_item.TexRef != tex_ref) {
        // New vertex index and different texture: insert new item
        _TextureBuffer.push_back({tex_ref, _VtxCurrentIdx});
    }
}

void ImDrawList3D::ResetTexture() { SetTexture(ImTextureID(0)); }

#ifdef IMGUI_HAS_TEXTURES
#define SET_TEX_REF(cmd, tex_ref) (cmd).TexRef = (tex_ref)
#define GET_TEX_REF(cmd) (cmd).TexRef
#else
#define SET_TEX_REF(cmd, tex_ref) (cmd).TextureId = (tex_ref)
#define GET_TEX_REF(cmd) (cmd).TextureId
#endif

void ImDrawList3D::SortedMoveToImGuiDrawList() {
    ImDrawList& draw_list = *ImGui::GetWindowDrawList();

    const int tri_count = ZBuffer.Size;
    if (tri_count == 0) {
        // No triangles, just reset buffers and return
        ResetBuffers();
        return;
    }

    // Build an array of (z, tri_idx)
    struct TriRef {
        double z;
        int tri_idx;
    };
    TriRef* tris = (TriRef*)IM_ALLOC(sizeof(TriRef) * tri_count);
    for (int i = 0; i < tri_count; i++) {
        tris[i].z = ZBuffer[i];
        tris[i].tri_idx = i;
    }

    // Sort by z (distance from viewer)
    ImQsort(tris, (size_t)tri_count, sizeof(TriRef), [](const void* a, const void* b) {
        double za = ((const TriRef*)a)->z;
        double zb = ((const TriRef*)b)->z;
        return (za < zb) ? -1 : (za > zb) ? 1 : 0;
    });

    // Reserve space in the ImGui draw list
    draw_list.PrimReserve(IdxBuffer.Size, VtxBuffer.Size);

    // Copy vertices (no reordering needed)
    memcpy(draw_list._VtxWritePtr, VtxBuffer.Data, VtxBuffer.Size * sizeof(ImDrawVert));
    unsigned int idx_offset = draw_list._VtxCurrentIdx;
    draw_list._VtxWritePtr += VtxBuffer.Size;
    draw_list._VtxCurrentIdx += (unsigned int)VtxBuffer.Size;

    // Maximum index allowed to not overflow ImDrawIdx
    unsigned int max_index_allowed = MaxIdx() - idx_offset;

    // Copy indices with triangle sorting based on distance from viewer
    ImDrawIdx* idx_out_begin = draw_list._IdxWritePtr;
    ImDrawIdx* idx_out = idx_out_begin;
    ImDrawIdx* idx_in = IdxBuffer.Data;
    for (int i = 0; i < tri_count; i++) {
        int tri_i = tris[i].tri_idx;
        int base_idx = tri_i * 3;
        unsigned int i0 = (unsigned int)idx_in[base_idx + 0];
        unsigned int i1 = (unsigned int)idx_in[base_idx + 1];
        unsigned int i2 = (unsigned int)idx_in[base_idx + 2];

        // Check if after adding offset any of these indices exceed max_index_allowed
        if (i0 > max_index_allowed || i1 > max_index_allowed || i2 > max_index_allowed)
            continue;

        idx_out[0] = (ImDrawIdx)(i0 + idx_offset);
        idx_out[1] = (ImDrawIdx)(i1 + idx_offset);
        idx_out[2] = (ImDrawIdx)(i2 + idx_offset);

        idx_out += 3;
    }
    ImDrawIdx* idx_out_end = idx_out;
    draw_list._IdxWritePtr = idx_out_end;

    // If multiple textures were used (e.g. PlotImage was called), generate multiple ImDrawCmd
    if (_TextureBuffer.Size > 1) {
        ImTextureRef default_tex = GET_TEX_REF(draw_list._CmdHeader);
        ImTextureRef curr_tex = default_tex;

        // Remove elements reserved from PrimReserve
        draw_list.CmdBuffer.back().ElemCount -= IdxBuffer.Size;
        ImDrawIdx* last_cmd_buffer_idx = idx_out_begin;

        // For each triangle added to the draw_list
        for (idx_out = idx_out_begin; idx_out < idx_out_end; idx_out += 3) {
            // Get index of first vertex in the triangle
            unsigned int idx_in = (unsigned int)(*idx_out - idx_offset);

            // Get the texture for this triangle
            const ImTextureRef invalid_tex = ImTextureID(0);
            ImTextureRef tri_tex = invalid_tex;
            for (int j = 0; j < _TextureBuffer.Size; j++)
                if (idx_in >= _TextureBuffer[j].VtxIdx)
                    tri_tex = _TextureBuffer[j].TexRef;

            // If tri_tex is invalid, the default texture should be used
            if (tri_tex == invalid_tex)
                tri_tex = default_tex;

            if (tri_tex != curr_tex) {
                // Update element count of previous draw cmd
                draw_list.CmdBuffer.back().ElemCount += (unsigned int)(idx_out - last_cmd_buffer_idx);
                last_cmd_buffer_idx = idx_out;

                // Set custom texture
                curr_tex = tri_tex;
                SET_TEX_REF(draw_list._CmdHeader, curr_tex);

                // Add new draw cmd for the new texture
                ImDrawCmd draw_cmd;
                draw_cmd.ClipRect = draw_list._CmdHeader.ClipRect;
                SET_TEX_REF(draw_cmd, GET_TEX_REF(draw_list._CmdHeader));
                draw_cmd.VtxOffset = draw_list._CmdHeader.VtxOffset;
                draw_cmd.IdxOffset = (unsigned int)(idx_out - draw_list.IdxBuffer.Data);
                draw_list.CmdBuffer.push_back(draw_cmd);
            }
        }
        // Flush last elements to cmd buffer
        draw_list.CmdBuffer.back().ElemCount += (unsigned int)(&draw_list.IdxBuffer.back() - last_cmd_buffer_idx + 1);

        // Check if the last texture was not the default texture
        if (curr_tex != default_tex) {
            // Restore default texture
            SET_TEX_REF(draw_list._CmdHeader, default_tex);

            // Flush last draw cmd with custom texture
            draw_list.AddDrawCmd();
        }
    }

    // Reset buffers since we've moved them
    ResetBuffers();

    IM_FREE(tris);
}

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DAxis
//-----------------------------------------------------------------------------

bool ImPlot3DAxis::HasLabel() const { return !Label.empty() && !ImPlot3D::ImHasFlag(Flags, ImPlot3DAxisFlags_NoLabel); }
bool ImPlot3DAxis::HasGridLines() const { return !ImPlot3D::ImHasFlag(Flags, ImPlot3DAxisFlags_NoGridLines); }
bool ImPlot3DAxis::HasTickLabels() const { return !ImPlot3D::ImHasFlag(Flags, ImPlot3DAxisFlags_NoTickLabels); }
bool ImPlot3DAxis::HasTickMarks() const { return !ImPlot3D::ImHasFlag(Flags, ImPlot3DAxisFlags_NoTickMarks); }
bool ImPlot3DAxis::IsAutoFitting() const { return ImPlot3D::ImHasFlag(Flags, ImPlot3DAxisFlags_AutoFit); }

void ImPlot3DAxis::ExtendFit(double value) {
    // Only extend fit with values that are within the constraint range
    // This is critical for log scale where negative/zero values should be ignored
    if (!ImPlot3D::ImNanOrInf(value) && value >= ConstraintRange.Min && value <= ConstraintRange.Max) {
        FitExtents.Min = ImMin(FitExtents.Min, value);
        FitExtents.Max = ImMax(FitExtents.Max, value);
    }
}

void ImPlot3DAxis::ApplyFit() {
    if (!IsLockedMin() && !ImPlot3D::ImNanOrInf(FitExtents.Min))
        Range.Min = FitExtents.Min;
    if (!IsLockedMax() && !ImPlot3D::ImNanOrInf(FitExtents.Max))
        Range.Max = FitExtents.Max;
    if (ImPlot3D::ImAlmostEqual(Range.Min, Range.Max)) {
        Range.Max += 0.5;
        Range.Min -= 0.5;
    }
    Constrain();
    UpdateTransformCache();
    FitExtents.Min = HUGE_VAL;
    FitExtents.Max = -HUGE_VAL;
}

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DPlot
//-----------------------------------------------------------------------------

void ImPlot3DPlot::ExtendFit(const ImPlot3DPoint& point) {
    for (int i = 0; i < 3; i++) {
        if (!ImPlot3D::ImNanOrInf(point[i]) && Axes[i].FitThisFrame)
            Axes[i].ExtendFit(point[i]);
    }
}

ImPlot3DPoint ImPlot3DPlot::RangeMin() const { return ImPlot3DPoint(Axes[0].Range.Min, Axes[1].Range.Min, Axes[2].Range.Min); }

ImPlot3DPoint ImPlot3DPlot::RangeMax() const { return ImPlot3DPoint(Axes[0].Range.Max, Axes[1].Range.Max, Axes[2].Range.Max); }

ImPlot3DPoint ImPlot3DPlot::RangeCenter() const {
    return ImPlot3DPoint((Axes[0].Range.Min + Axes[0].Range.Max) * 0.5f, (Axes[1].Range.Min + Axes[1].Range.Max) * 0.5f,
                         (Axes[2].Range.Min + Axes[2].Range.Max) * 0.5f);
}

void ImPlot3DPlot::SetRange(const ImPlot3DPoint& min, const ImPlot3DPoint& max) {
    Axes[0].SetRange(min.x, max.x);
    Axes[1].SetRange(min.y, max.y);
    Axes[2].SetRange(min.z, max.z);
}

float ImPlot3DPlot::GetViewScale() const {
    return ImMin(PlotRect.GetWidth(), PlotRect.GetHeight()) / 1.8f * ImPlot3D::GImPlot3D->Style.ViewScaleFactor;
}

ImPlot3DPoint ImPlot3DPlot::GetBoxScale() const { return ImPlot3DPoint(Axes[0].NDCSize(), Axes[1].NDCSize(), Axes[2].NDCSize()); }

void ImPlot3DPlot::ApplyEqualAspect(ImAxis3D ref_axis) {
    double aspect = Axes[ref_axis].GetAspect();
    for (int i = 0; i < 3; i++) {
        if (i != ref_axis && !Axes[i].IsInputLocked()) {
            Axes[i].SetAspect(aspect);
        }
    }
}

//-----------------------------------------------------------------------------
// [SECTION] ImPlot3DStyle
//-----------------------------------------------------------------------------

ImPlot3DStyle::ImPlot3DStyle() {
    // Item style
    LineWeight = 1.0f;
    Marker = ImPlot3DMarker_None;
    MarkerSize = 4.0f;
    MarkerWeight = 1.0f;
    FillAlpha = 1.0f;
    // Plot style
    PlotDefaultSize = ImVec2(400, 400);
    PlotMinSize = ImVec2(200, 200);
    PlotPadding = ImVec2(10, 10);
    LabelPadding = ImVec2(5, 5);
    ViewScaleFactor = 1.0f;
    // Legend style
    LegendPadding = ImVec2(10, 10);
    LegendInnerPadding = ImVec2(5, 5);
    LegendSpacing = ImVec2(5, 0);
    // Colors
    ImPlot3D::StyleColorsAuto(this);
    Colormap = ImPlot3DColormap_Deep;
};

//-----------------------------------------------------------------------------
// [SECTION] Metrics
//-----------------------------------------------------------------------------

void ShowTicksMetrics(const ImPlot3DTicker& ticker) { ImGui::BulletText("Size: %d", ticker.TickCount()); }

void ShowAxisMetrics(const ImPlot3DAxis& axis) {
    ImGui::BulletText("Label: %s", axis.GetLabel());
    ImGui::BulletText("Flags: 0x%08X", axis.Flags);
    // Range
    ImGui::BulletText("Range: [%f,%f]", axis.Range.Min, axis.Range.Max);
    ImGui::BulletText("NDC Scale: %f", axis.NDCScale);
    ImGui::BulletText("NDC Range: [%f,%f]", -0.5f * axis.NDCScale, 0.5f * axis.NDCScale);
    ImGui::BulletText("Aspect: %f", axis.GetAspect());
    // Ticks
    ImGui::BulletText("ShowDefaultTicks: %s", axis.ShowDefaultTicks ? "true" : "false");
    // Fit data
    ImGui::BulletText("FitThisFrame: %s", axis.FitThisFrame ? "true" : "false");
    ImGui::BulletText("FitExtents: [%f,%f]", axis.FitExtents.Min, axis.FitExtents.Min);
    // Constraints
    ImGui::BulletText("ConstraintRange: [%f,%f]", axis.ConstraintRange.Min, axis.ConstraintRange.Min);
    ImGui::BulletText("ConstraintZoom: [%f,%f]", axis.ConstraintZoom.Min, axis.ConstraintZoom.Min);
    // User input
    ImGui::BulletText("Hovered: %s", axis.Hovered ? "true" : "false");
    ImGui::BulletText("Held: %s", axis.Held ? "true" : "false");

    if (ImGui::TreeNode("Ticks")) {
        ShowTicksMetrics(axis.Ticker);
        ImGui::TreePop();
    }
}

void ImPlot3D::ShowMetricsWindow(bool* p_popen) {
    static bool show_frame_rects = false;
    static bool show_canvas_rects = false;
    static bool show_plot_rects = false;
    static bool show_plot_box = false;
    static bool show_axis_line = false;
    static bool show_axis_corner_indexes = false;
    static bool show_axis_face_indexes = false;
    static bool show_axis_edge_indexes = false;
    static bool show_legend_rects = false;

    ImDrawList& fg = *ImGui::GetForegroundDrawList();

    ImPlot3DContext& gp = *GImPlot3D;
    ImGuiIO& io = ImGui::GetIO();
    ImGui::Begin("Metrics (ImPlot3D)", p_popen);
    ImGui::Text("ImPlot3D " IMPLOT3D_VERSION);
    ImGui::Text("Application average %.3f ms/frame (%.1f FPS)", 1000.0f / io.Framerate, io.Framerate);
    ImGui::Text("Mouse Position: [%.0f,%.0f]", io.MousePos.x, io.MousePos.y);
    ImGui::Separator();
    if (ImGui::TreeNode("Tools")) {
        if (ImGui::Button("Bust Plot Cache"))
            BustPlotCache();
        ImGui::SameLine();
        if (ImGui::Button("Bust Item Cache"))
            BustItemCache();
        ImGui::Checkbox("Show Frame Rects", &show_frame_rects);
        ImGui::Checkbox("Show Canvas Rects", &show_canvas_rects);
        ImGui::Checkbox("Show Plot Rects", &show_plot_rects);
        ImGui::Checkbox("Show Plot Box", &show_plot_box);
        ImGui::Checkbox("Show Axis Line", &show_axis_line);
        ImGui::Checkbox("Show Axis Corner Indexes", &show_axis_corner_indexes);
        ImGui::Checkbox("Show Axis Face Indexes", &show_axis_face_indexes);
        ImGui::Checkbox("Show Axis Edge Indexes", &show_axis_edge_indexes);
        ImGui::Checkbox("Show Legend Rects", &show_legend_rects);
        ImGui::TreePop();
    }
    const int n_plots = gp.Plots.GetBufSize();
    bool active_faces[3];
    ImVec2 corners_pix[8];
    ImPlot3DPoint corners[8];
    int plane_2d;
    int axis_corners[3][2];
    char buff[16];
    // Enum used to indicate how a certain type will be displayed
    enum class DisplayedType {
        Hidden,   // Hidden type that is not displayed. Used when the object should not be displayed. Will be used when:
                  // 1. 2D plot and this type should not be used,
                  // 2. The flag show_plot_box is disabled
        Active,   // Part of the faces of the box that are active
        NotActive // Part of the faces of the box that are not active when show_plot_box is active
    };

    // Render rectangles
    for (int p = 0; p < n_plots; ++p) {
        ImPlot3DPlot& plot = *gp.Plots.GetByIndex(p);
        if (show_frame_rects)
            fg.AddRect(plot.FrameRect.Min, plot.FrameRect.Max, IM_COL32(255, 0, 255, 255));
        if (show_canvas_rects)
            fg.AddRect(plot.CanvasRect.Min, plot.CanvasRect.Max, IM_COL32(0, 255, 255, 255));
        if (show_plot_rects)
            fg.AddRect(plot.PlotRect.Min, plot.PlotRect.Max, IM_COL32(255, 255, 0, 255));
        if (show_plot_box || show_axis_line || show_axis_corner_indexes || show_axis_face_indexes || show_axis_edge_indexes)
            GetAxesParameters(plot, active_faces, corners_pix, corners, plane_2d, axis_corners);
        if (show_plot_box || show_axis_edge_indexes) {
            // Determine which display type each of the edges are
            DisplayedType edge_types[12];
            for (int e = 0; e < 12; e++) {
                if (plane_2d == -1 && show_plot_box)
                    edge_types[e] = DisplayedType::NotActive;
                else
                    edge_types[e] = DisplayedType::Hidden;
            }
            for (int a = 0; a < 3; a++) {
                int face_idx = a + 3 * active_faces[a];
                for (size_t i = 0; (plane_2d == -1 || a == plane_2d) && i < 4; i++)
                    edge_types[face_edges[face_idx][i]] = DisplayedType::Active;
            }

            // Go through each edge and use the display type
            for (int e = 0; e < 12; e++) {
                int idx0 = edges[e][0];
                int idx1 = edges[e][1];

                if (show_plot_box) {
                    // Draw different lines depending on the type that the renderer thinks it is
                    if (edge_types[e] == DisplayedType::Active)
                        fg.AddLine(corners_pix[idx0], corners_pix[idx1], IM_COL32(255, 200, 0, 255));
                    else if (edge_types[e] == DisplayedType::NotActive)
                        fg.AddLine(corners_pix[idx0], corners_pix[idx1], IM_COL32(100, 255, 0, 125));
                    // If the render edge type is Hidden then there this edge does not get rendered
                }
                if (show_axis_edge_indexes) {
                    if (edge_types[e] == DisplayedType::Active || edge_types[e] == DisplayedType::NotActive) {
                        // Display the text in the middle between the points and at the same angle between the two points
                        ImVec2 edge_middle = (corners_pix[idx0] + corners_pix[idx1]) / 2;
                        ImVec2 point_difference = (corners_pix[idx1] - corners_pix[idx0]);
                        float angle = ImAtan2(-point_difference.y, point_difference.x);
                        // Adjust angle to keep labels upright
                        if (angle > IM_PI * 0.5f)
                            angle -= IM_PI;
                        if (angle < -IM_PI * 0.5f)
                            angle += IM_PI;

                        ImFormatString(buff, IM_ARRAYSIZE(buff), "E%d", e);
                        AddTextRotated(&fg, edge_middle, angle, IM_COL32(200, 0, 0, 200), buff);
                    }
                }
            }
        }
        if (show_axis_line) {
            // For each axis plot a line between the axis corners
            for (int a = 0; a < 3; a++) {
                if (plane_2d != -1 && a == plane_2d)
                    continue;
                int idx0 = axis_corners[a][0];
                int idx1 = axis_corners[a][1];

                // Draw axis line
                ImVec2 axis_start_pix = corners_pix[idx0];
                ImVec2 axis_end_pix = corners_pix[idx1];
                fg.AddLine(axis_start_pix, axis_end_pix, IM_COL32(0, 255, 255, 255));
            }
        }
        if (show_axis_corner_indexes) {
            // Determine which display type each of the corners are
            DisplayedType corner_types[8];
            for (int c = 0; c < 8; c++) {
                if (plane_2d == -1 && show_plot_box)
                    corner_types[c] = DisplayedType::NotActive;
                else
                    corner_types[c] = DisplayedType::Hidden;
            }
            for (int a = 0; a < 3; a++) {
                int face_idx = a + 3 * active_faces[a];
                for (size_t i = 0; (plane_2d == -1 || a == plane_2d) && i < 4; i++)
                    corner_types[faces[face_idx][i]] = DisplayedType::Active;
            }
            // Go through each corner and use the display type
            for (int c = 0; c < 8; c++) {
                if (corner_types[c] == DisplayedType::Active || corner_types[c] == DisplayedType::NotActive) {
                    ImVec2 corner = corners_pix[c];
                    ImFormatString(buff, IM_ARRAYSIZE(buff), "C%d", c);
                    AddTextRotated(&fg, corner, 0.0f, IM_COL32(0, 200, 0, 200), buff);
                }
            }
        }
        if (show_axis_face_indexes) {
            // Go through each axis and then face to display the face index
            for (int a = 0; a < 3; a++) {
                for (int f = 0; f < 2; f++) {
                    if ((plane_2d == -1 || a == plane_2d) && (f == int(active_faces[a]) || show_plot_box)) {
                        const int face_idx = a + 3 * f;
                        const int* face_indexes = faces[face_idx];
                        // Display the text in the middle of the square by determining the point between two of opposite corner pixels
                        ImVec2 middle_of_face_sqaure = (corners_pix[face_indexes[0]] + corners_pix[face_indexes[2]]) / 2;
                        ImFormatString(buff, IM_ARRAYSIZE(buff), "F%d", face_idx);
                        AddTextRotated(&fg, middle_of_face_sqaure, 0.0f, IM_COL32(0, 200, 200, 200), buff);
                    }
                }
            }
        }
        if (show_legend_rects && plot.Items.GetLegendCount() > 0)
            fg.AddRect(plot.Items.Legend.Rect.Min, plot.Items.Legend.Rect.Max, IM_COL32(255, 192, 0, 255));
    }
    if (ImGui::TreeNode("Plots", "Plots (%d)", n_plots)) {
        for (int p = 0; p < n_plots; ++p) {
            ImPlot3DPlot& plot = *gp.Plots.GetByIndex(p);
            ImGui::PushID(p);
            if (ImGui::TreeNode("Plot", "Plot [0x%08X]", plot.ID)) {
                int n_items = plot.Items.GetItemCount();
                if (ImGui::TreeNode("Items", "Items (%d)", n_items)) {
                    for (int i = 0; i < n_items; ++i) {
                        ImPlot3DItem* item = plot.Items.GetItemByIndex(i);
                        ImGui::PushID(i);
                        if (ImGui::TreeNode("Item", "Item [0x%08X]", item->ID)) {
                            ImGui::Bullet();
                            ImGui::Checkbox("Show", &item->Show);
                            ImGui::Bullet();
                            ImVec4 temp = ImGui::ColorConvertU32ToFloat4(item->Color);
                            if (ImGui::ColorEdit4("Color", &temp.x, ImGuiColorEditFlags_NoInputs))
                                item->Color = ImGui::ColorConvertFloat4ToU32(temp);

                            ImGui::BulletText("NameOffset: %d", item->NameOffset);
                            ImGui::BulletText("Name: %s", item->NameOffset != -1 ? plot.Items.Legend.Labels.Buf.Data + item->NameOffset : "N/A");
                            ImGui::BulletText("Hovered: %s", item->LegendHovered ? "true" : "false");
                            ImGui::TreePop();
                        }
                        ImGui::PopID();
                    }
                    ImGui::TreePop();
                }

                if (ImGui::TreeNode("Axes")) {
                    // Get the axes parameters of this plot and use it to plot
                    GetAxesParameters(plot, active_faces, corners_pix, corners, plane_2d, axis_corners);

                    for (int a = 0; a < 3; ++a) {
                        if (plane_2d != -1 && plane_2d == a)
                            continue;
                        if (ImGui::TreeNode(axis_labels[a])) {
                            ShowAxisMetrics(plot.Axes[a]);
                            ImGui::TreePop();
                        }
                    }

                    if (plane_2d != -1)
                        ImGui::BulletText("Plane2D: %d %s", plane_2d, plane_labels[plane_2d]);
                    else {
                        int active_corner_index = Active3DFacesToAxisLookupIndex(active_faces);
                        ImGui::BulletText("3D Active Faces: [%s,%s,%s]=%d", active_faces[0] ? "X-max" : "X-min", active_faces[1] ? "Y-max" : "Y-min",
                                          active_faces[2] ? "Z-max" : "Z-min", active_corner_index);
                        ImGui::BulletText("3D Active Corner Lookup: [[%d,%d],[%d, %d],[%d, %d]]", axis_corners_lookup_3d[active_corner_index][0][0],
                                          axis_corners_lookup_3d[active_corner_index][0][1], axis_corners_lookup_3d[active_corner_index][1][0],
                                          axis_corners_lookup_3d[active_corner_index][1][1], axis_corners_lookup_3d[active_corner_index][2][0],
                                          axis_corners_lookup_3d[active_corner_index][2][1]);
                        ImGui::BulletText("3D Active Edges Lookup: [%d,%d,%d]", axis_edges_lookup_3d[active_corner_index][0],
                                          axis_edges_lookup_3d[active_corner_index][1], axis_edges_lookup_3d[active_corner_index][2]);
                    }

                    for (int a = 0; a < 3; a++)
                        ImGui::BulletText("%s Label Corners: [%d,%d]", axis_labels[a], axis_corners[a][0], axis_corners[a][1]);
                    for (int c = 0; c < 8; c++)
                        ImGui::BulletText("Corner %d: [%.2f,%.2f,%.2f] [%.2f,%.2f]", c, corners[c].x, corners[c].y, corners[c].z, corners_pix[c].x,
                                          corners_pix[c].y);

                    ImGui::TreePop();
                }

                ImGui::BulletText("Title: %s", plot.HasTitle() ? plot.GetTitle() : "none");
                ImGui::BulletText("Flags: 0x%08X", plot.Flags);
                ImGui::BulletText("Initialized: %s", plot.Initialized ? "true" : "false");
                ImGui::BulletText("Hovered: %s", plot.Hovered ? "true" : "false");
                ImGui::BulletText("Held: %s", plot.Held ? "true" : "false");
                ImGui::BulletText("HeldEdgeIdx: %d", plot.HeldEdgeIdx);
                ImGui::BulletText("HeldPlaneIdx: %d", plot.HeldPlaneIdx);
                ImGui::BulletText("LegendLocation: %s", GetShortLegendLocationName(plot.Items.Legend.Location));
                ImGui::BulletText("LegendHovered: %s", plot.Items.Legend.Hovered ? "true" : "false");
                ImGui::BulletText("LegendHeld: %s", plot.Items.Legend.Held ? "true" : "false");
                ImGui::BulletText("RotationCond: 0x%08X", plot.RotationCond);
                ImGui::BulletText("InitialRotation: [%.2f,%.2f,%.2f,%.2f]", plot.InitialRotation.x, plot.InitialRotation.y, plot.InitialRotation.z,
                                  plot.InitialRotation.w);
                ImGui::BulletText("Rotation: [%.2f,%.2f,%.2f,%.2f]", plot.Rotation.x, plot.Rotation.y, plot.Rotation.z, plot.Rotation.w);
                ImGui::BulletText("Animation: Time=%.4f RotationEnd=[%.2f,%.2f,%.2f,%.2f]", plot.AnimationTime, plot.RotationAnimationEnd.x,
                                  plot.RotationAnimationEnd.y, plot.Rotation.z, plot.RotationAnimationEnd.w);
                ImGui::BulletText("ViewScale: %.2f", plot.GetViewScale());

                ImGui::TreePop();
            }
            ImGui::PopID();
        }
        ImGui::TreePop();
    }

    if (ImGui::TreeNode("Colormaps")) {
        ImGui::BulletText("Colormaps:  %d", gp.ColormapData.Count);
        ImGui::BulletText("Memory: %d bytes", gp.ColormapData.Tables.Size * (int)(sizeof(gp.ColormapData.Tables.Data[0])));
        if (ImGui::TreeNode("Data")) {
            for (int m = 0; m < gp.ColormapData.Count; ++m) {
                if (ImGui::TreeNode(gp.ColormapData.GetName(m))) {
                    int count = gp.ColormapData.GetKeyCount(m);
                    int size = gp.ColormapData.GetTableSize(m);
                    bool qual = gp.ColormapData.IsQual(m);
                    ImGui::BulletText("Qualitative: %s", qual ? "true" : "false");
                    ImGui::BulletText("Key Count: %d", count);
                    ImGui::BulletText("Table Size: %d", size);
                    ImGui::Indent();

                    static float t = 0.5;
                    ImVec4 samp;
                    float wid = 32 * 10 - ImGui::GetFrameHeight() - ImGui::GetStyle().ItemSpacing.x;
                    ImGui::SetNextItemWidth(wid);
                    ColormapSlider("##Sample", &t, &samp, "%.3f", m);
                    ImGui::SameLine();
                    ImGui::ColorButton("Sampler", samp);
                    ImGui::PushStyleColor(ImGuiCol_FrameBg, ImVec4(0, 0, 0, 0));
                    ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, ImVec2(0, 0));
                    for (int c = 0; c < size; ++c) {
                        ImVec4 col = ImGui::ColorConvertU32ToFloat4(gp.ColormapData.GetTableColor(m, c));
                        ImGui::PushID(m * 1000 + c);
                        ImGui::ColorButton("", col, 0, ImVec2(10, 10));
                        ImGui::PopID();
                        if ((c + 1) % 32 != 0 && c != size - 1)
                            ImGui::SameLine();
                    }
                    ImGui::PopStyleVar();
                    ImGui::PopStyleColor();
                    ImGui::Unindent();
                    ImGui::TreePop();
                }
            }
            ImGui::TreePop();
        }
        ImGui::TreePop();
    }
    ImGui::End();
}

//-----------------------------------------------------------------------------
// [SECTION] Obsolete API
//-----------------------------------------------------------------------------

#ifndef IMPLOT3D_DISABLE_OBSOLETE_FUNCTIONS

namespace ImPlot3D {

// OBSOLETED in v0.3
ImVec2 GetPlotPos() { return GetPlotRectPos(); }
ImVec2 GetPlotSize() { return GetPlotRectSize(); }

} // namespace ImPlot3D

#endif // #ifndef IMPLOT3D_DISABLE_OBSOLETE_FUNCTIONS

#endif // #ifndef IMGUI_DISABLE