using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Missile : Agent
{

    protected double _sensorUpdateTime = 0.0;

    [SerializeField]
    private Vector3 _boostAcceleration;
    // Return whether a target can be assigned to the missile.
    public override bool IsAssignable() {
        bool assignable = !HasLaunched() && !HasAssignedTarget();
        return assignable;
    }

    // Assign the given target to the missile.    
    public override void AssignTarget(Agent target) {
        base.AssignTarget(target);
    }


    // Unassign the target from the missile.
    public override void UnassignTarget() {
        base.UnassignTarget();
    }

    protected override void UpdateReady(double deltaTime) {
        Vector3 accelerationInput = Vector3.zero;
        Vector3 acceleration = CalculateAcceleration(accelerationInput);
        GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
    }

    protected override void UpdateBoost(double deltaTime)
    {
        // The missile only accelerates along its roll axis (forward in Unity)
        Vector3 rollAxis = transform.forward;

        // Calculate boost acceleration
        float boostAcceleration = StaticConfig.boostConfig.boostAcceleration * Physics.gravity.magnitude;
        Vector3 accelerationInput = boostAcceleration * rollAxis;

        // Calculate the total acceleration
        Vector3 acceleration = CalculateAcceleration(accelerationInput);

        // Apply the acceleration force
        GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
        _boostAcceleration = acceleration;
    }
    protected override void UpdateMidCourse(double deltaTime) {

    }

    protected Vector3 CalculateAcceleration(Vector3 accelerationInput, bool compensateForGravity = true)
    {
        Vector3 gravity = Physics.gravity;
        if (compensateForGravity)
        {
            Vector3 gravityProjection = CalculateGravityProjectionOnPitchAndYaw();
            accelerationInput -= gravityProjection;
        }

        Vector3 airDrag = CalculateDrag();
        Vector3 liftInducedDrag = CalculateLiftInducedDrag(accelerationInput);
        Vector3 dragAcceleration = -(airDrag + liftInducedDrag);

        // Project the drag acceleration onto the forward direction
        Vector3 dragAccelerationAlongRoll = Vector3.Dot(dragAcceleration, transform.forward) * transform.forward;

        return accelerationInput + gravity + dragAccelerationAlongRoll;
    }

    private void OnTriggerEnter(Collider other)
    {
        // Check if the collision is with another Agent
        Agent otherAgent = other.gameObject.GetComponentInParent<Agent>();
        if (otherAgent != null && otherAgent.GetComponent<Target>() != null)
        {
            // Check kill probability before marking as hit
            float killProbability = StaticConfig.hitConfig.killProbability;
            if (Random.value <= killProbability)
            {
                // Mark both this agent and the other agent as hit
                this.MarkAsHit();
                otherAgent.MarkAsHit();
            }
        }
    }

    protected float CalculateMaxAcceleration()
    {
        float maxReferenceAcceleration = StaticConfig.accelerationConfig.maxReferenceAcceleration * Physics.gravity.magnitude;
        float referenceSpeed = StaticConfig.accelerationConfig.referenceSpeed;
        return Mathf.Pow(GetComponent<Rigidbody>().velocity.magnitude / referenceSpeed, 2) * maxReferenceAcceleration;
    }
    protected Vector3 CalculateGravityProjectionOnPitchAndYaw()
    {
        Vector3 gravity = Physics.gravity;
        Vector3 pitchAxis = transform.right;
        Vector3 yawAxis = transform.up;

        // Project the gravity onto the pitch and yaw axes
        float gravityProjectionPitchCoefficient = Vector3.Dot(gravity, pitchAxis);
        float gravityProjectionYawCoefficient = Vector3.Dot(gravity, yawAxis);

        // Return the sum of the projections
        return gravityProjectionPitchCoefficient * pitchAxis + 
               gravityProjectionYawCoefficient * yawAxis;
    }

    private Vector3 CalculateDrag()
    {
        float dragCoefficient = StaticConfig.liftDragConfig.dragCoefficient;
        float crossSectionalArea = StaticConfig.bodyConfig.crossSectionalArea;
        float mass = StaticConfig.bodyConfig.mass;
        float dynamicPressure = (float)GetDynamicPressure();
        float dragForce = dragCoefficient * dynamicPressure * crossSectionalArea;
        return dragForce / mass * Vector3.one;
    }

    private Vector3 CalculateLiftInducedDrag(Vector3 accelerationInput)
    {
        Vector3 principalAxes = transform.forward;
        float liftAcceleration = Vector3.Dot(accelerationInput, principalAxes);
        float liftDragRatio = StaticConfig.liftDragConfig.liftDragRatio;
        return Mathf.Abs(liftAcceleration / liftDragRatio) * Vector3.one;
    }

}