using UnityEngine;


public class Boid : MonoBehaviour {
    public float speed = 0.2f;
    public int neighbourCount = 0;
    public float inertia = 0.2f;
    public float alignmentForce = 1.0f;
    public float cohesionForce = 1.0f;
    public float separationForce = 1.0f;
    public float separationDistance = 0.5f;
    public float bodyForce = 1;

    public const int BoundaryType = 1;
    public const int BoidType = 2;

    public bool debug = false;

    public SwarmControl sc;
    public Vector3 velocity = Vector3.zero;
    public Vector3 acceleration = Vector3.zero;

    private Bounds innerBounds;
    private Bounds outerBounds;

    readonly Collider[] results = new Collider[10];

    //public SensoryNeuroid[] neighbourSensor = new SensoryNeuroid[6];
    public Perception perception;

    public NeuroidNetwork neuroidNet = new();
    public Neuroid bodyVector;
    public Neuroid cohesion;
    public Neuroid alignment;
    public Neuroid avoidance;
    // public Neuroid target;
    public Neuroid boundary;

    public Neuroid totalForce;

    public int id;

    void Awake() {
        this.id = this.GetInstanceID();

        sc = FindFirstObjectByType<SwarmControl>();

        innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
        outerBounds = new(sc.transform.position, sc.spaceSize);

        perception = new Perception(neuroidNet);

        cohesion = new(neuroidNet, "Cohesion");
        perception.SendPositions(cohesion, 1.0f, BoidType);

        // alignment = new(neuroidNet, "Alignment") { average = true };
        // perception.SendVelocities(alignment);

        avoidance = new(neuroidNet, "Separation") { inverse = true };
        perception.SendPositions(avoidance, sc.avoidanceForce);

        boundary = new(neuroidNet, "Boundary");


        totalForce = new(neuroidNet, "Total");
        //totalForce.GetInputFrom(alignment, sc.alignmentForce);
        //totalForce.GetInputFrom(cohesion, sc.cohesionForce);
        totalForce.GetInputFrom(avoidance, -sc.avoidanceForce);
        //totalForce.GetInputFrom(boundary, sc.boundaryForce);
    }

    void Update() {
        Physics.OverlapSphereNonAlloc(this.transform.position, sc.perceptionDistance, results);
        // foreach (Collider c in results) {
        //     if (c == null)
        //         continue;

        //     if (c as CapsuleCollider != null) {
        //         Boid neighbour = c.GetComponentInParent<Boid>();
        //         if (neighbour == null || neighbour == this)
        //             continue;

        //         Vector3 localPosition = neighbour.transform.position - this.transform.position;
        //         if (debug)
        //             Debug.Log($"   distance {localPosition.magnitude}");

        //         int thingId = neighbour.GetInstanceID();
        //         perception.ProcessStimulus(thingId, localPosition);
        //     }
        // }

        if (!innerBounds.Contains(this.transform.position)) {
            Vector3 point = this.transform.position;
            Vector3 toBounds;
            if (outerBounds.Contains(this.transform.position)) {
                Vector3 pointOnBounds = ClosestPointOnBoundsSurface(outerBounds, point);
                toBounds = this.transform.InverseTransformPoint(pointOnBounds);
            }
            else {
                Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
                toBounds = -this.transform.InverseTransformPoint(pointOnBounds);
            }
            perception.ProcessStimulus(777, BoundaryType, toBounds);
        } else
            perception.RemoveStimulus(777);

        Vector3 totalForceVector = totalForce.outputValue;

        if (this.debug) {
            Debug.Log($"Cohesion {cohesion.outputValue.magnitude} separation {avoidance.outputValue.magnitude} alignment {alignment.outputValue.magnitude}");
        }

        Vector3 worldForce = this.transform.TransformDirection(totalForceVector);
        this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity + (sc.speed * transform.forward);
        //this.velocity = Vector3.ClampMagnitude(this.velocity, sc.speed);

        this.transform.position += this.velocity * Time.deltaTime;

        if (this.velocity != Vector3.zero) {
            Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
            transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation        
        }

        //Debug.Log($"neighbours: {neighbourCount} synapses: {cohesion.synapses.Count}");
        neuroidNet.Update();
    }

    Vector3 ClosestPointOnBoundsSurface(Bounds b, Vector3 p) {
        if (!b.Contains(p)) return b.ClosestPoint(p);
        Vector3 d = p - b.center;
        Vector3 ext = b.extents;
        float sx = ext.x / Mathf.Abs(d.x);
        float sy = ext.y / Mathf.Abs(d.y);
        float sz = ext.z / Mathf.Abs(d.z);
        float m = Mathf.Min(sx, Mathf.Min(sy, sz));
        return b.center + d * m;
    }

    void OnDrawGizmosSelected() {
        Gizmos.DrawWireSphere(transform.position, sc.perceptionDistance);
        Gizmos.color = Color.yellow;
        Gizmos.DrawRay(transform.position, this.transform.TransformDirection(totalForce.outputValue) * 10);
        Gizmos.color = Color.magenta;
        Gizmos.DrawRay(transform.position, this.transform.TransformDirection(avoidance.outputValue) * 10);
    }
}