using System;
using System.Collections;
using System.Collections.Generic;
using BITKit.Core.Tuple;
using UnityEngine;

namespace BITKit.Physics
{
	[Serializable]
	public class JointConfigure
	{
		public Transform animate;
		public ConfigurableJoint joint;
		public Quaternion InitialRotation { get; set; }
	}
	public class PhysicsBasedAnimation : MonoBehaviour
	{
		[Range(0, 1)] public float Blend;
		[SerializeField] private JointConfigure[] jointConfigures;
		[SerializeField] private float positionSpring;
		[SerializeField] private float positionDamper;
		[SerializeField] private float maximumForce;
		[SerializeField] private Optional<UnityTuple<Rigidbody, Transform>>  rootSync;
		[SerializeField] private Optional<ConfigurableJointMotion> overrideMotion;
		[SerializeField] private Optional<ConfigurableJointMotion> overrideAngularMotion;
		

		private void Start()
		{
			foreach (var x in jointConfigures)
			{
				x.InitialRotation=x.animate.localRotation;
			}
		}
		private void FixedUpdate()
		{
			//var spring = Mathf.Lerp(Blend,0,angularSprint);
			var drive = new JointDrive
			{
				positionDamper = positionDamper,
				positionSpring =Mathf.Lerp(0,positionSpring,Blend),
				maximumForce = maximumForce,
			};
			foreach (var jointConfigure in jointConfigures)
			{
				jointConfigure.joint.angularXDrive = drive;
				jointConfigure.joint.angularYZDrive = drive;
				// jointConfigure.joint.targetRotation =
				// 	Quaternion.Lerp(
				// 		Quaternion.identity, 
				// 		Quaternion.Inverse(jointConfigure.animate.localRotation) * jointConfigure.InitialRotation,
				// 		Blend
				// 	);
				jointConfigure.joint.targetRotation = Quaternion.Inverse(jointConfigure.animate.localRotation) *
				                                      jointConfigure.InitialRotation;
				jointConfigure.joint.targetPosition = jointConfigure.animate.localPosition;
					
				 if (overrideAngularMotion.Allow)
				 {
					 jointConfigure.joint.angularXMotion = overrideAngularMotion.Value;
					 jointConfigure.joint.angularYMotion = overrideAngularMotion.Value;
					 jointConfigure.joint.angularZMotion = overrideAngularMotion.Value;
				 }

				 if (overrideMotion.Allow)
				 {
					 jointConfigure.joint.xMotion = overrideMotion.Value;
					 jointConfigure.joint.yMotion = overrideMotion.Value;
					 jointConfigure.joint.zMotion = overrideMotion.Value;
				 }
			}

			if (rootSync.Allow)
			{
				var root = rootSync.Value;
				root.Item1.transform.localPosition = root.Item2.localPosition;
				root.Item1.MoveRotation(root.Item2.rotation);
			}

			
		}
	}

}