using UnityEngine;

namespace NanoBrain.Breitenberg {

    public class Sensor : MonoBehaviour {
        public float sensorRange = 10f;
        public LayerMask senseLayer; // layer for "light" objects

        public float output {get; protected set; }

        protected virtual void FixedUpdate() {
            output = SampleSensor(this.transform);
        }

        protected virtual float SampleSensor(Transform sensor) {
            // Cast a short set of rays in a cone and accumulate "brightness" from hits.
            int rays = 7;
            float halfAngle = 30f;
            float total = 0f;

            for (int i = 0; i < rays; i++) {
                float t = rays == 1 ? 0.5f : (float)i / (rays - 1);
                float angle = Mathf.Lerp(-halfAngle, halfAngle, t);
                Vector3 dir = Quaternion.AngleAxis(angle, sensor.up) * sensor.forward;

                Debug.DrawRay(sensor.position, dir * sensorRange);
                if (Physics.Raycast(sensor.position, dir, out RaycastHit hit, sensorRange, senseLayer)) {
                    // Strength inversely proportional to distance, clamped to [0,1]
                    float str = 1f - (hit.distance / sensorRange);
                    // You can also sample material emission or color here if desired
                    total += Mathf.Clamp01(str);
                }
            }
            return Mathf.Clamp01(total / rays);
        }
    }
}