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

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

Wheel = class('Wheel', PowertrainComponent)

function Wheel:initialize(config, prefix)
    PowertrainComponent.initialize(self)

    self.prefix = prefix

    self.wireInputs = {
        [prefix .. 'Wheel'] = 'entity'
    }
    self.wireOutputs = {
        [prefix .. 'RPM'] = 'number'
    }

    self.entity = NULL_ENTITY

    hook.add('input', 'vehicle_wheel_update' .. prefix, function(key, val)
        if key == prefix .. 'Wheel' then
            self.entity = val

            if not isValid(val) then
                return
            end

            if config.CalculateInertia then
                --self.entity:setInertia(calculateWheelInertia(val))
                --print(calculateWheelInertia(val))
            end

            self.inertia = self.entity:getInertia().y
        end
    end)
end

function Wheel:updateWireOutputs()
    wire.ports[self.prefix .. 'RPM'] = self:selfRPM()
end

function Wheel:queryAngularVelocity()
    return self.angularVelocity
end

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

    --self.entity:setInertia(self.entity:getInertia():setY(inertia))
    self.entity:applyTorque(torque * self.entity:getRight())
    self.angularVelocity = self.entity:getAngleVelocity().y

    return self.angularVelocity * self.inertia
end