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 bool debug = false;

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

    private Bounds bounds;

    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 separation;
    // public Neuroid target;
    public Neuroid boundary;

    public Neuroid totalForce;

    public int id;

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

        sc = FindFirstObjectByType<SwarmControl>();

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

        perception = new Perception(neuroidNet);

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

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

        separation = new(neuroidNet, "Separation") { inverse = true, exponent = 2 };
        perception.SendPositions(separation, sc.separationForce);

        boundary = new(neuroidNet, "Boundary");


        totalForce = new(neuroidNet, "Total");
        totalForce.GetInputFrom(alignment, sc.alignmentForce);
        totalForce.GetInputFrom(cohesion, sc.cohesionForce);
        totalForce.GetInputFrom(separation, -sc.separationForce);
        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 (!bounds.Contains(this.transform.position)) {
        //     Vector3 point = this.transform.position;
        //     // Vector3 distanceOutside = Vector3.Max(bounds.min - this.transform.position, this.transform.position - bounds.max);
        //     // // Ensure value is > 0 (but isn't this already)
        //     // Vector3 outside = distanceOutside; // Vector3.Max(Vector3.zero, distanceOutside);

        //     Vector3 below = bounds.min - point;    // positive where point < min
        //     Vector3 above = point - bounds.max;    // positive where point > max

        //     // outside distances per axis (0 if inside on that axis)
        //     Vector3 outside = Vector3.Max(Vector3.zero, Vector3.Max(below, above));
        //     float magnitude = outside.magnitude;
        //     Vector3 direction = (sc.transform.position - this.transform.position).normalized;
        //     outside = direction * magnitude;

        //     boundary.SetInput(id, outside, sc.boundaryForce, neuroidNet);
        //     // Debug.Log($"boundary {this.transform.position} {outside} force = {outside * sc.boundaryForce}");
        // }

        Vector3 totalForceVector = totalForce.outputValue;
        //Debug.DrawRay(this.transform.position, totalForceVector, Color.magenta);

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

        this.velocity = (1 - sc.inertia) * (totalForceVector * 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();
    }

    void OnDrawGizmosSelected() {
        Gizmos.DrawWireSphere(transform.position, sc.perceptionDistance);
    }
}