--@include ./powertrain_component.txt
--@include ../wheel/wheel.txt
--@include /koptilnya/libs/constants.txt
--@include /koptilnya/libs/entity.txt

local PowertrainComponent = require('./powertrain_component.txt')
local CustomWheel = require('../wheel/wheel.txt')

require('/koptilnya/libs/constants.txt')
require('/koptilnya/libs/entity.txt')

local Wheel = class('Wheel', PowertrainComponent)

function Wheel:initialize(vehicle, name, config)
    PowertrainComponent.initialize(self, vehicle, name, config)

    self.steerLock = config.SteerLock or 0
    self.brakePower = config.BrakePower or 0
    self.handbrakePower = config.HandbrakePower or 0

    self.wireInputs = {
        [self.name] = 'entity'
    }
    self.wireOutputs = {
        [string.format('%s_RPM', self.name)] = 'number',
        [string.format('%s_Mz', self.name)] = 'number',
        [string.format('%s_Fz', self.name)] = 'number'
    }

    self.entity = config.Entity or NULL_ENTITY
    self.holo = self:createHolo(self.entity)

    self.customWheel = CustomWheel:new(config.CustomWheel)

    hook.add('input', 'vehicle_wheel_update' .. self.name, function(name, value)
        if name == self.name then
            self.entity = value
            self.customWheel:setEntity(value)

            if isValid(self.holo) then
                self.holo:remove()
            end

            self.holo = self:createHolo(self.entity)

            if not config.Radius then
                self.customWheel.radius = self:getEntityRadius()
            end
        end
    end)
end

function Wheel:getEntityRadius()
    if not isValid(self.entity) then
        return 0
    end

    return self.entity:getModelRadius() * UNITS_TO_METERS
end

function Wheel:createHolo(entity)
    if not isValid(entity) then
        return NULL_ENTITY
    end

    local holo = holograms.create(entity:getPos(), entity:getAngles(), 'models/props_c17/pulleywheels_small01.mdl')
    holo:setParent(entity)

    return holo
end

function Wheel:updateWireOutputs()
    wire.ports[string.format('%s_RPM', self.name)] = self.customWheel:getRPM()
    wire.ports[string.format('%s_Mz', self.name)] = self.customWheel.mz
    wire.ports[string.format('%s_Fz', self.name)] = self.customWheel.load
end

function Wheel:queryInertia()
    return self.customWheel.inertia
end

function Wheel:queryAngularVelocity()
    return self.angularVelocity
end

function Wheel:forwardStep(torque, inertia)
    if not isValid(self.customWheel) then
        return 0
    end

    self.customWheel.steerAngle = self.vehicle.steer * self.steerLock
    --self.customWheel.inertia = inertia
    --self.customWheel:setInertia(inertia)
    self.customWheel.motorTorque = torque
    self.customWheel.brakeTorque = math.max(self.brakePower * self.vehicle.brake, self.handbrakePower * self.vehicle.handbrake)

    self.customWheel:update()

    self.angularVelocity = self.customWheel.angularVelocity

    if self.customWheel.hasHit and isValid(self.vehicle.basePhysObject) then
        local surfaceForceVector = self.customWheel.right * self.customWheel.sideFriction.force + self.customWheel.forward * self.customWheel.forwardFriction.force

        self.vehicle.basePhysObject:applyForceOffset(surfaceForceVector, self.entity:getPos() - Vector(0, 0, self.customWheel.radius))
    end

    if isValid(self.holo) then
        local angles = self.holo:getAngles()
        --local rot = angles:rotateAroundAxis(self.entity:getForward(), nil, 1)
        local rot = angles:rotateAroundAxis(self.entity:getRight(), nil, -self.angularVelocity * TICK_INTERVAL)
        --local steer = Angle():rotateAroundAxis(self.entity:getUp(), self.customWheel.steerAngle)
        --local rot = self.entity:getRight():getQuaternionFromAxis(-self.angularVelocity * TICK_INTERVAL)
        --local steer = self.entity:getUp():getQuaternionFromAxis(self.steerAngle)

        --self.holo:setAngles(self.entity:localToWorldAngles(Angle(0, 90 - self.customWheel.steerAngle, 0)))
        self.holo:setAngles(rot)
    end

    return self.customWheel.counterTorque
end

return Wheel