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#include "Physics.hh"

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#include "Engine.hh"

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#include "GameState.hh"

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#include "Terrain.hh"

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#include <algorithm>

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#include <functional>

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#include <cmath>

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#include <assert.h>

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PhysicsWorld::PhysicsWorld (Vector gravity, Vector dimensions)

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    : tick_timer(PHYSICS_TICK_MS), tick_counter(0), dimensions(dimensions),

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      gravity(gravity) {

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    terrain = Terrain(1337);

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    slots.connect(tick_timer.sig_timer(), this, &PhysicsWorld::tick);

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    tick_timer.enable();

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}

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void PhysicsWorld::addObject (PhysicsObject *object) {

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    objects.push_back(object);

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}

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void PhysicsWorld::tick () {

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    //    Engine::log(DEBUG, "physics.apply_force") << "*tick*";

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    for (std::vector<PhysicsObject*>::iterator i = objects.begin(); i != objects.end(); i++) {

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        (*i)->tick(); 

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    }

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    tick_counter++;

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}

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uint32_t PhysicsWorld::getTick (void) {

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    return tick_counter;

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}

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PhysicsObject::PhysicsObject (PhysicsWorld &world, float mass, 

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                              Vector position, Vector velocity)

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    : world(world), position(position), velocity(velocity),

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      mass(mass), inAir(true), aim(0), facingRight(true) {

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    // TODO: Is thir the right way to do this?

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    world.addObject(this);

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}

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Vector PhysicsObject::walk (bool right) {

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    Vector cursor = right ? this->position + Vector(1,0) : 

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        this->position + Vector(-1,0);

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    Vector reached = this->position;

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    //for(int steps = 0; steps < 3; steps++) {

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    // Go up but not if the wall is over two pixels

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    if(world.getType(cursor) != EMPTY) {

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        for(int height = 0, max = 3; height < max+42; height++) {

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            if(height >= max)

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                return reached;

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            cursor.y--;

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            if(world.getType(cursor) == EMPTY) {

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                // Check that the other parts of the worm don't collide with anything

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                if(possibleLocation(cursor)) {

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                    reached = cursor;

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                    continue;

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                } else {

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                    // Can't get any further

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                    return reached;

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                }

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            }

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        }

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    } else {

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        if(possibleLocation(cursor)) {

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            reached = cursor;

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        }

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        // Start checking if the lower squares are empty

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        for(int depth = 0, max = 3; depth < max+42; depth++) {

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            if(depth >= max) {

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                // We can start a free fall now

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                //

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                // TODO it should be set inAir if it falls from a cliff

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                this->inAir = true;

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                // Put some speed there to make loke smoother

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                //this->velocity.y = -5;

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                return reached;

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            }

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            cursor.y++;

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            if(world.getType(cursor) == EMPTY) {

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                // Check that the other parts of the worm don't collide with anything

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                if(possibleLocation(cursor)) {

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                    reached = cursor;

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                    continue;

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                } else {

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                    // Can't get any further

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                    return reached;

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                }

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            }

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        }

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    }      

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    //    cursor.x += right ? 1 : -1;

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    //}

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    return reached;

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}

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void PhysicsObject::jump () {

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    // Jump only if player is "on the ground"

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    if (!this->inAir) {

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 	velocity.y = -100;

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	inAir = true;

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    }

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}

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bool PhysicsObject::possibleLocation (Vector loc) {

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    for(unsigned int i = 0; i < this->shape.size(); i++) {

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        if(world.getType(loc+shape[i]) != EMPTY)

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            return false;

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    }

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    return true;

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}

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   126

/**

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 * Updates object speed and position. This function organises force

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 * integration and collision detection.

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 */   

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void PhysicsObject::updatePosition () {

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    // Add gravity to the force queue

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    forceq.push(world.gravity);

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    // Go trough every force in the queue

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    Force total;

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    posAfterTick = position;

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    velAfterTick = velocity;

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    while (!forceq.empty()) {

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        total += forceq.front();

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        forceq.pop();

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    }

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    // TODO: This is _ugly_ (but not so ugly as the last one I think)

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    // hack. I think we should handle walking from the collision

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    // detection code.

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    if (!this->inAir) {

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        if (total.x != 0)

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            this->position = walk(total.x > 0);

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        return; 

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        //total.x = 0;

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    }

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    integrate(total, PHYSICS_TICK_MS);

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    Vector newPosition = posAfterTick /*+ (velAfterTick * PHYSICS_TICK_MS)/1000*/;

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    this->velocity = velAfterTick;

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    // Collision detection

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    bool collided = false;

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    const Vector diffVec = newPosition-position;

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    const Vector unitVector = diffVec / diffVec.length();

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    Vector reached = position;

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    while ((position-reached).length() < diffVec.length()) {

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        // Check if any of the shapes points collide

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        for (uint64_t i = 0; i < shape.size(); i++) {

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            if (world.getType(reached+shape[i]) != EMPTY) {  // Collision

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                if (inAir) {

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                    //                    Engine::log(DEBUG, "Here");

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                    this->bounce(world.getNormal(reached+shape[i], 

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                                                 reached-unitVector+shape[i]));

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                    //this->velocity *= COLLISION_ELASTICITY;

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                }

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                reached = reached - unitVector; // Return to last point

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                collided = true;

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                if (this->velocity.length() < PLAYER_MIN_SPEED) {

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                    this->inAir = false;

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                    this->velocity = Vector(0,0);

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                }

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                break;

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            }

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        }

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        if (collided)

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            break;

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        reached += unitVector;

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    }

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    /*

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      bool collided = false;

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      //goes 1 unit forward every step and check if has hit anything

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      Vector unitVector = (newPosition-position) / (newPosition-position).length();

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      Vector tmpVector = position;

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      Vector reached = position;

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      int steps = (int) (newPosition-position).length() + 2;

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      //Engine::log(DEBUG, "physics.update_position") << unitVector-newPosition;

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      //Vector foo = position+unitVector*steps-newPosition;

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      //Engine::log(DEBUG, "PhysicsObject.updatePosition") << "Virhe: "<< foo;

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      for(int i = 0; i < steps; i++) {

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      tmpVector += unitVector;

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      float minVelocity = 10;

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      // Check if any of the four corners of the worm collide

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      for(int sh = 0; sh < 4; sh++) {

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      if(world.getType(tmpVector+shape[sh]) != EMPTY) {

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      reached = position + unitVector*(i-1);

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      collided = true;

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      this->bounce(world.getNormal(tmpVector+shape[sh], tmpVector-unitVector+shape[sh]));

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      this->velocity *= 0.4;

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      if(abs(this->velocity.x) < minVelocity && (abs(this->velocity.y) < minVelocity)) {

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      this->inAir = false;

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      this->velocity = Vector(0,0);

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      }

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      break;

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      }

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      }

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      if(collided)

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      break;

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      }

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    */

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    // In case of some float error check the final coordinate

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    if(!collided) {

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        if(world.getType(newPosition+shape[0]) != EMPTY || (world.getType(newPosition+shape[1]) != EMPTY) 

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           || (world.getType(newPosition+shape[2]) != EMPTY) || (world.getType(newPosition+shape[3]) != EMPTY)) {

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            //  Engine::log(DEBUG, "physics.update_position") << "didnt hit";

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            // There was error, and there is ground

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            //newPosition = tmpVector;

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        } else {

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            // This means everything was ok, so no need to do anything

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        }

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    } else {

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        newPosition = reached;

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        onCollision();

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        //this->velocity = Vector(0, 0);

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        //TODO: it shouldn't just stop on collision

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    }

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    this->position = newPosition;

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    Engine::log(DEBUG, "PhysicsObject.updatePosition") << "Pos: " << this->position;

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}

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/**

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 * Gets the index of the given coordinate direction

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 * referring to the DIRECTIONS table in Physics.hh

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int getDirectionIndex (Vector dir) {

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    if(dir.x == 0 && dir.y == -1) {

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        return 0;

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    } else if(dir.x == 1 && dir.y == -1) {

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        return 1;

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    } else if(dir.x == 1 && dir.y == 0) {

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        return 2;

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    } else if(dir.x == 1 && dir.y == 1) {

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        return 3;

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    } else if(dir.x == 0 && dir.y == 1) {

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        return 4;

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    } else if(dir.x == -1 && dir.y == 1) {

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        return 5;

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    } else if(dir.x == -1 && dir.y == 0) {

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        return 6;

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    } else if(dir.x == -1 && dir.y == -1) {

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        return 7;

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    }

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    Engine::log(DEBUG, "physics.getDirectionIndex ") << "invalid direction: " << dir;

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    return 0;

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/**

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 * Computes hitten wall's normal. Calculated from 3*3 grid

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 */

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Vector PhysicsWorld::getNormal (Vector hitPoint, Vector prevPoint) {

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    return terrain.getNormal(hitPoint, prevPoint);

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}

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/**

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 * Bounces from straight wall in any direction.

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 * Direction given as normal of that wall

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 */

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void PhysicsObject::bounce (Vector normal) {

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    if (normal.length() != 0) {

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        // Engine::log(DEBUG, "PhysicsObject.bounce") << "Velocity: " << velocity;

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        Vector nvel = velocity;

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        //        Engine::log(DEBUG, "PhysicsObject.bounce") << "New Velocity: " << nvel;

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        nvel = nvel - (2*((nvel*normal)/(normal*normal))*normal);

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        //        Engine::log(DEBUG, "PhysicsObject.bounce") << "Projection: " << nvel;

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        velocity = nvel;

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        this->velocity *= COLLISION_ELASTICITY;

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    }

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}

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/**

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 * Integrates given force over time and stores new position to

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 * posAfterTick and new velocity to velAfterTick.

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 * @param force Force vector.

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 * @param dt The time the force is applied (<=PHYSICS_TICK_MS)

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 */

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void PhysicsObject::integrate(Force force, TimeMS dt) {

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    Derivative tmpd;

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    Derivative k1 = evaluate(force, 0, tmpd);

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    Derivative k2 = evaluate(force, 0.5f*dt, k1);

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    Derivative k3 = evaluate(force, 0.5f*dt, k2);

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    Derivative k4 = evaluate(force, dt, k3);

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    const Vector dxdt = (k1.dx + (k2.dx + k3.dx) * 2.0f + k4.dx) * 1.0f/6.0f;

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    const Vector dvdt = (k1.dv + (k2.dv + k3.dv) * 2.0f + k4.dv) * 1.0f/6.0f;

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    //    Engine::log(DEBUG, "PhysicsObject.integrate") << "Changes: "<< dxdt << " " << dvdt << " Time: " <<dt;

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    posAfterTick = posAfterTick + (dxdt * dt)/1000;

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    velAfterTick = velAfterTick + (dvdt * dt)/1000;

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    //Engine::log(DEBUG, "PhysicsObject.integrate") << "velAfterTick: " << velAfterTick;

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}

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Derivative PhysicsObject::evaluate(Force force, TimeMS dt, Derivative &d) {

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    Vector curPos = posAfterTick + (d.dx*dt)/1000;

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    Vector curVel = velAfterTick + (d.dv*dt)/1000;

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    Derivative out;

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    out.dx = curVel;

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    out.dv = acceleration(force);

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    //Engine::log(DEBUG, "PhysicsObject.evaluate") << "Out.dx: " << out.dx;

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    return out;

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}

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Vector PhysicsObject::acceleration(const Force &force) {

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    return (force/mass);

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}

   340

   341

void PhysicsObject::applyForce (Force force) {

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    // Add applied force to the queue

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    forceq.push(force);

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}

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void PhysicsObject::changeAim(float da) {

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    this->aim += da;

   348

   349

    if (this->aim > PLAYER_AIM_MAX) this->aim = PLAYER_AIM_MAX;

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    if (this->aim < PLAYER_AIM_MIN) this->aim = PLAYER_AIM_MIN;

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    //Engine::log(DEBUG, "PhysicsObject.changeAim") << "Player aim: " << this->aim;

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}

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void PhysicsObject::setFacing(bool facingRight) {

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    //Engine::log(DEBUG, "PhysicsObject.setFacing") << "Facing: " << right;

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    this->facingRight = facingRight;

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}

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void PhysicsObject::updatePhysics (Vector position, Vector velocity, bool inAir) {

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    this->position = position;

   361

    this->velocity = velocity;

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    this->inAir = inAir;

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}

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   365

Vector PhysicsObject::getPosition () {

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    return this->position;

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}

   368

   369

bool PhysicsObject::getFacing() {

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    return this->facingRight;

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}

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   373

float PhysicsObject::getAim() {

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    return this->aim;

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}

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std::vector<Vector>& PhysicsObject::getShape () {

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    return this->shape;

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}

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   381

void PhysicsObject::setShape (std::vector<Vector> shape) {

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    this->shape = shape;

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}

   384

   385

void PhysicsObject::tick () {

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    this->updatePosition();

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}

   388

   389

void PhysicsObject::draw(CL_GraphicContext *gc) {

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    CL_Quad player(

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                   (position+shape[0]).x, (position+shape[0]).y,

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                   (position+shape[1]).x, (position+shape[1]).y,

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                   (position+shape[2]).x, (position+shape[2]).y,

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                   (position+shape[3]).x, (position+shape[3]).y

   395

                   );

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   397

    gc->fill_quad(player, CL_Color::green);

   398

   399

    const uint16_t chlen = 10;

   400

    uint16_t x = player.center().x;

   401

    uint16_t y = player.center().y;

   402

    if (facingRight) {

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        gc->draw_line(x, y,

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                      x + std::cos(aim)*chlen,

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                      y - std::sin(aim)*chlen,

   406

                      CL_Color::black);

   407

    } else {

   408

        gc->draw_line(x, y,

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                      x - std::cos(aim)*chlen,

   410

                      y - std::sin(aim)*chlen,

   411

                      CL_Color::black);

   412

    }

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}

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/**

   416

 * Returns terrainType in given tile. ROCK if tile is out of area

   417

 * @param pos - coordinate of tile

   418

 */

   419

TerrainType PhysicsWorld::getType(int x, int y) const {

   420

    return terrain.getType((int32_t)x,(int32_t)y);

   421

}

   422

TerrainType PhysicsWorld::getType(Vector pos) const {

   423

    return terrain.getType(pos.x, pos.y);

   424

}

   425

   426

/**

   427

 * Removes ground from given circle. ROCK is not removed.

   428

 * @param (x, y) or pos - center of circle.

   429

 * @param r - radius of circle

   430

 */

   431

void PhysicsWorld::removeGround(int x, int y, float r) {

   432

    terrain.removeGround(Vector(x,y), r);

   433

}

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void PhysicsWorld::removeGround(Vector pos, float r) {

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    terrain.removeGround(pos, r);

   436

}

   437

   438

void PhysicsWorld::drawTerrain(CL_GraphicContext *gc) {

   439

    terrain.draw(gc);

   440

}