using NodeCanvas.Framework;
using ParadoxNotion.Design;
using UnityEngine;


namespace NodeCanvas.Tasks.Conditions
{

    [Category("GameObject")]
    [Description("A combination of line of sight and view angle check")]
    public class CanSeeTarget : ConditionTask<Transform>
    {

        [RequiredField]
        public BBParameter<GameObject> target;
        [Tooltip("Distance within which to look out for.")]
        public BBParameter<float> maxDistance = 50;
        [Tooltip("A layer mask to use for line of sight check.")]
        public BBParameter<LayerMask> layerMask = (LayerMask)( -1 );
        [Tooltip("Distance within which the target can be seen (or rather sensed) regardless of view angle.")]
        public BBParameter<float> awarnessDistance = 0f;
        
        public BBParameter<float> viewAngle = 70f;
        public Vector3 offset;
        
        public string report;

        private RaycastHit hit;

        protected override string info {
            get { return "Can See " + target; }
        }

        protected override bool OnCheck() {

            var t = target.value.transform;

            if ( !t.gameObject.activeInHierarchy ) {
                return false;
            }

            if ( Vector3.Distance(agent.position, t.position) <= awarnessDistance.value ) {
                if ( Physics.Linecast(agent.position + offset, t.position + offset, out hit, layerMask.value) ) {
                    if ( hit.collider != t.GetComponent<Collider>() ) {
                        report = hit.collider.name;
                        return false;
                    }
                }
                report = "Good Vigil Direct Hit";
                return true;
            }

            if ( Vector3.Distance(agent.position, t.position) > maxDistance.value ) {
                report = "Out of max distance";
                return false;
            }

            
            // if ( Vector3.Angle(t.position - agent.position, agent.forward) > viewAngle.value ) {
            //     report = "Out of view angle";
            //     return false;
            // }
            var direction = t.position - agent.position;
            var dir = Quaternion.LookRotation(direction);
            var angle = Quaternion.Angle(agent.rotation, dir);
            if (Vector3.Dot(agent.forward, direction) > 0 && viewAngle.value > angle)
            {
                
            }
            else
            {
                report = $"Out of view angle:{angle}";
                return false;
            }

            if ( Physics.Linecast(agent.position + offset, t.position + offset, out hit, layerMask.value) ) {
                if ( hit.collider != t.GetComponent<Collider>() ) {
                    report = hit.collider.name;
                    return false;
                }
            }

            report = "No Obstacle";
            return true;
        }

        public override void OnDrawGizmosSelected() {
            if ( agent != null ) {
                Gizmos.DrawLine(agent.position, agent.position + offset);
                Gizmos.DrawLine(agent.position + offset, agent.position + offset + ( agent.forward * maxDistance.value ));
                Gizmos.DrawWireSphere(agent.position + offset + ( agent.forward * maxDistance.value ), 0.1f);
                Gizmos.DrawWireSphere(agent.position, awarnessDistance.value);
                Gizmos.matrix = Matrix4x4.TRS(agent.position + offset, agent.rotation, Vector3.one);
                Gizmos.DrawFrustum(Vector3.zero, viewAngle.value, 5, 0, 1f);
            }
        }
    }
}