#if UNITY_5_3_OR_NEWER
using Unity.VisualScripting;
using UnityEngine;

namespace RoboidControl.Unity {

	/// <summary>
	/// The Unity representation of the TouchSensor
	/// </summary>
	public class TouchSensor : Thing {

		public SiteServer participant;
		/// <summary>
		/// The core touch sensor
		/// </summary>
		public RoboidControl.TouchSensor coreSensor {
			get => (RoboidControl.TouchSensor)base.core;
		}

		/// <summary>
		/// Start the Unity represention
		/// </summary>
		protected virtual void Start() {
			if (core == null) {
				participant = FindAnyObjectByType<SiteServer>();
				SetCoreThing(new RoboidControl.TouchSensor(participant.site));
			}
			// Somehow this does not work.

			// Rigidbody rb = GetComponentInParent<Rigidbody>();
			// if (rb == null) {
			//     RoboidControl.Thing thing = core;
			//     while (thing.parent != null)
			//         thing = thing.parent;

			//     Thing unityThing = thing.component;
			//     rb = unityThing.gameObject.AddComponent<Rigidbody>();
			//     rb.isKinematic = true;
			// }
		}

		/// <summary>
		/// Create the Unity representation
		/// </summary>
		/// <param name="core">The core touch sensor</param>
		/// <returns>The Unity representation of the touch sensor</returns>
		public static TouchSensor Create(RoboidControl.TouchSensor core) {
			GameObject gameObj = core.name != null ?
				new(core.name) :
				new("Touch Sensor");
			TouchSensor component = gameObj.AddComponent<TouchSensor>();
			Rigidbody rb = gameObj.AddComponent<Rigidbody>();
			rb.isKinematic = true;

			SphereCollider collider = gameObj.AddComponent<SphereCollider>();
			collider.radius = 0.01f;
			collider.isTrigger = true;

			component.core = core;
			component.participant = FindAnyObjectByType<SiteServer>();
			core.thisParticipant = component.participant.site;

			if (core.parent != null && core.parent.component != null) {
				gameObj.transform.SetParent(core.parent.component.transform, false);
			}

			if (core.position != null)
				gameObj.transform.localPosition = core.position.ToVector3();

			if (gameObj.transform.parent != null && gameObj.transform.localPosition.magnitude > 0) {
				collider.radius = Vector3.Distance(gameObj.transform.position, gameObj.transform.parent.position) / 2;
				gameObj.transform.position = (gameObj.transform.position + gameObj.transform.parent.position) / 2;
			}

			return component;
		}

		private void OnTriggerEnter(Collider other) {
			if (other.isTrigger)
				return;
			if (this.transform.root == other.transform.root)
				return;

			this.coreSensor.touchedSomething = true;
		}
		private void OnTriggerExit(Collider other) {
			if (other.isTrigger)
				return;

			this.coreSensor.touchedSomething = false;
		}
	}
}
#endif