using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using Cysharp.Threading.Tasks;
using Unity.Mathematics;
using UnityEngine;
namespace BITKit.Sensors
{
    public class RaySensor : Sensor
    {
        [Header(Constant.Header.Settings)]
        [SerializeField] private float radius = 0.16f;
        public float distance;
        public override IEnumerable<Transform> Get() => detected.ValueArray;
        private readonly RaycastHit[] raycasts = new RaycastHit[16];
        private readonly Queue<(Vector3,Vector3)> _drawGizmosQueue = new();
        private readonly CacheList<Transform> detected = new();

        public override UniTask Execute(float delta)
        {
            var _transform = transform;
            var forward = _transform.forward;
            var position = _transform.position;

            var size = 0;
            if (radius is not 0)
            {
                size = Physics.CapsuleCastNonAlloc(position, position + forward * distance, radius, forward,
                    raycasts
                    , distance, detectLayer);
            }
            else
            {
                var ray = new Ray(_transform.position, _transform.forward);
                size = Physics.RaycastNonAlloc(ray, raycasts, distance, detectLayer);
            }
            //var reportBuilder = new StringBuilder();

            detected.Clear();
            foreach (var hit in raycasts
                         .Take(size)
                         .Where(IsValid)
                         .OrderBy(ByDistance))
            {
                detected.Add(hit.transform);
            }

            //Debug.Log(reportBuilder);
            return UniTask.CompletedTask;

            float ByDistance(RaycastHit arg)
            {
                var x = Vector3.Distance(arg.point, position);
                //_drawGizmosQueue.Enqueue(new(arg.collider.bounds.center, arg.point));
                //reportBuilder.AppendLine($"Name:{arg.collider.name},Distance:{x}");
                return x;
            }
        }

        public bool IsValid(RaycastHit hit) => IsValid(hit.collider);
        public override bool IsValid(Collider _collider) => ignoreColliders.Contains(_collider) is false;
        public override float GetDistance() => distance;

        private void OnDrawGizmosSelected()
        {
            while (_drawGizmosQueue.TryDequeue(out var p))
            {
                var (closePoint, point) = p;
                Gizmos.DrawWireCube(point,Vector3.one*0.01f);
                Gizmos.DrawLine(closePoint,point);
            }
        }
    }
}