#if UNITY_5_3_OR_NEWER
using UnityEngine;

namespace RoboidControl.Unity {

    /// <summary>
    /// The Unity representation of a Roboid Control wheel
    /// </summary>
    public class Wheel : Motor {
        /// <summary>
        /// Create the Unity representation
        /// </summary>
        /// <param name="core">The core motor</param>
        /// <returns>The Unity representation of a motorised wheel</returns>
        public static Wheel Create(RoboidControl.Motor core, float wheelRadius) {
            GameObject prefab = (GameObject)Resources.Load("Wheel");
            if (prefab != null) {
                // Use resource prefab when available
                GameObject gameObj = Instantiate(prefab);
                Wheel component = gameObj.GetComponent<Wheel>();
                if (component != null)
                    component.core = core;
                return component;
            }
            else {
                // Fallback implementation
                GameObject gameObj = new(core.name);
                Wheel component = gameObj.AddComponent<Wheel>();
                component.Init(core);
                Debug.Log("Create " + core.name);
                return component;
            }
        }
        public static Wheel Create(Transform parent, byte thingId) {
            GameObject prefab = (GameObject)Resources.Load("Wheel");
            if (prefab != null) {
                // Use resource prefab when available
                GameObject gameObj = Instantiate(prefab);
                Wheel component = gameObj.GetComponent<Wheel>();
                if (component != null)
                    component.core = new RoboidControl.Thing(RoboidControl.Thing.Type.UncontrolledMotor, false);
                return component;
            }
            else {
                // Fallback implementation
                GameObject gameObj = new("Wheel");
                gameObj.transform.parent = parent;
                Wheel component = gameObj.AddComponent<Wheel>();
                SiteServer participant = FindAnyObjectByType<SiteServer>();
                RoboidControl.Thing core = participant.coreParticipant.Get(thingId);
                if (core == null)
                    core = new(participant.coreParticipant, RoboidControl.Thing.Type.UncontrolledMotor, thingId, false);
                else {
                    ;
                }
                component.Init(core);
                SphereCollider collider = gameObj.AddComponent<SphereCollider>();
                collider.radius = 0.00001f;
                collider.material = slidingWheel;
                Debug.Log("Create placeholder Wheel ");
                return component;
            }
        }

        private static PhysicMaterial _slidingWheel;
        public static PhysicMaterial slidingWheel {
            get {
                if (_slidingWheel == null) {
                    _slidingWheel = new() {
                        dynamicFriction = 0.02f, // Dynamic friction
                        staticFriction = 0.01f, // Static friction
                        bounciness = 0f, // Bounciness (bounciness value between 0 and 1)

                        // Set the friction combine and bounce combine methods
                        frictionCombine = PhysicMaterialCombine.Minimum, // How to combine friction
                        bounceCombine = PhysicMaterialCombine.Average // How to combine bounciness
                    };
                }
                return _slidingWheel;
            }
        }

    }
}
#endif