use bevy::prelude::*;
use bevy_rapier3d::prelude::*;

use crate::planet::PLANET_RADIUS;

pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS * 1.01;

#[derive(Component)]
pub struct CyberBikeBody;

#[derive(Component)]
pub struct CyberBikeCollider;

#[derive(Component, Debug)]
pub struct CyberBikeModel;

#[derive(Component, Debug, Default, Clone, Copy)]
pub struct CyberBikeControl {
    pub roll_sum: f32,
    pub prev_roll_error: f32,
    pub pitch_sum: f32,
    pub prev_pitch_error: f32,
}

const BIKE_BODY_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
const BIKE_WHEEL_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);

fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
    let xform = Transform::from_translation(Vec3::X * SPAWN_ALTITUDE)
        .with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));

    let mut bbody = RigidBodyBundle::default();

    bbody.damping.angular_damping = 0.5;
    bbody.damping.linear_damping = 0.1;
    bbody.activation = RigidBodyActivation::cannot_sleep().into();

    bbody.ccd = RigidBodyCcd {
        ccd_enabled: true,
        ccd_thickness: 0.2,
        ccd_max_dist: 2.7,
        ..Default::default()
    }
    .into();

    let isometry = Isometry::from_parts(xform.translation.into(), xform.rotation.into());
    bbody.position = isometry.into();

    let shape = ColliderShape::capsule(
        Vec3::new(0.0, 0.0, -2.7).into(),
        Vec3::new(0.0, 0.0, 2.5).into(),
        1.0,
    );
    let bcollide = ColliderBundle {
        shape: shape.into(),
        mass_properties: ColliderMassProps::Density(0.2).into(),
        flags: ColliderFlags {
            collision_groups: BIKE_BODY_GROUP,
            ..Default::default()
        }
        .into(),
        material: ColliderMaterial {
            friction: 0.0,
            restitution: 0.0,
            ..Default::default()
        }
        .into(),
        ..Default::default()
    };

    let bike = commands
        .spawn_bundle(bbody)
        .insert_bundle((xform, GlobalTransform::default()))
        .insert(RigidBodyPositionSync::Interpolated { prev_pos: None })
        .with_children(|child_builder| {
            child_builder
                .spawn_bundle(bcollide)
                .insert(ColliderDebugRender {
                    color: Color::GREEN,
                })
                .insert(CyberBikeCollider)
                .insert(ColliderPositionSync::Discrete);
        })
        .with_children(|rider| {
            rider.spawn_scene(asset_server.load("cyber-bike_no_y_up.glb#Scene0"));
        })
        .insert(CyberBikeModel)
        .insert(CyberBikeBody)
        .insert(CyberBikeControl::default())
        .id();

    // seriously the cyberbike is so fucking huge what the heck
    let wheel_positions = vec![-5.1, 4.7, -5.1];
    let wheel_y = -1.8f32;

    for (i, &wheel_z) in wheel_positions.iter().enumerate() {
        let (wheel_x, wheel_rad, stiffness) = match i {
            0 => (-2.6, 1.0, 0.016),
            2 => (2.6, 1.0, 0.016),
            1 => (0.0, 1.2, 0.020),
            _ => unreachable!(),
        };
        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
        let trans = xform.translation + offset;
        let wheel_pos_in_world = Isometry::from_parts(trans.into(), xform.rotation.into());
        let _wheel_rb = commands
            .spawn_bundle(RigidBodyBundle {
                position: wheel_pos_in_world.into(),
                activation: RigidBodyActivation::cannot_sleep().into(),
                damping: RigidBodyDamping {
                    angular_damping: 0.8,
                    ..Default::default()
                }
                .into(),
                ccd: RigidBodyCcd {
                    ccd_enabled: true,
                    ccd_max_dist: wheel_rad,
                    ccd_thickness: 0.01,
                    ..Default::default()
                }
                .into(),
                ..Default::default()
            })
            .insert_bundle(ColliderBundle {
                material: ColliderMaterial::new(0.0, 0.0).into(),
                shape: ColliderShape::ball(wheel_rad).into(),
                mass_properties: ColliderMassProps::Density(0.001).into(),
                flags: ColliderFlags {
                    collision_groups: BIKE_WHEEL_GROUP,
                    ..Default::default()
                }
                .into(),
                ..Default::default()
            })
            .insert(ColliderPositionSync::Discrete)
            .insert(ColliderDebugRender::from(Color::YELLOW))
            .id();

        let damping = 0.3;

        let prismatic = PrismaticJoint::new(Vector::y_axis())
            .local_anchor1(offset.into())
            .motor_position(-0.4, stiffness, damping);

        commands.spawn_bundle(((JointBuilderComponent::new(prismatic, bike, _wheel_rb)),));
    }
}

pub struct CyberBikePlugin;
impl Plugin for CyberBikePlugin {
    #[cfg(feature = "debug_render")]
    fn build(&self, app: &mut App) {
        app.add_plugin(RapierRenderPlugin)
            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
    }

    #[cfg(not(feature = "debug_render"))]
    fn build(&self, app: &mut App) {
        app.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
    }
}