--@include ./powertrain_component.txt
--@include ./enums/gearbox.txt
--@include /koptilnya/libs/constants.txt

require('/koptilnya/libs/constants.txt')
require('./powertrain_component.txt')
local gearboxTypes = require('./enums/gearbox.txt')

Clutch = class('Clutch', PowertrainComponent)

function Clutch:initialize(config)
    PowertrainComponent.initialize(self, 'Clutch')

    self.wireInputs = {
        Clutch = 'number'
    }
    self.wireOutputs = {
        Clutch_Torque = 'number'
    }

    self.inertia = config.Inertia or 0.1
    self.slipTorque = config.SlipTorque or 1000
end

function Clutch:updateWireOutputs()
    wire.ports.Clutch_Torque = self.torque
end

function Clutch:getPress()
    return 1 - wire.ports.Clutch
end

function Clutch:queryInertia()
    if self.output == nil then
        return self.inertia
    end

    return self.inertia + self.output:queryInertia() * self:getPress()
end

function Clutch:queryAngularVelocity(angularVelocity)
    self.angularVelocity = angularVelocity

    if self.output == nil then
        return angularVelocity
    end

    local outputW = self.output:queryAngularVelocity(angularVelocity) * self:getPress()
    local inputW = angularVelocity * (1 - self:getPress())

    return outputW + inputW
end

function Clutch:forwardStep(torque, inertia)
    if self.output == nil then
        return torque
    end

    local press = self:getPress()

    self.torque = math.clamp(torque, -self.slipTorque, self.slipTorque)
    self.torque = self.torque * (1 - (1 - math.pow(press, 0.3)))

    local returnTorque = self.output:forwardStep(self.torque, inertia * press + self.inertia) * press

    return math.clamp(returnTorque, -self.slipTorque, self.slipTorque)
end