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

/*该scrip用于创建复数条ray于视角内，并探测被ray射到的物体*/

public class RaySensors : MonoBehaviour
{
    [SerializeField] private Camera agentCam;
    [SerializeField] private Camera TPSCam;
    [SerializeField] private Material lineMeterial;
    [SerializeField] private GameObject rayInfoPrefab;
    [SerializeField] private GameObject agentCanvas;

    [SerializeField, Range(0, 500)] public float viewDistance = 100; // how long the ray can detect

    //[SerializeField, Range(0, 1)] public float totalRange = 1f; // Total view range Max = 1
    [SerializeField, Range(0, 1)] public float focusRange = 0.15f; // center focus range

    public int halfOuterRayNum = 7; // >=2
    public int focusRayNum = 5; // >= 1 and must be odd num!

    [Header("InGameLineSetting")]
    public bool showInGameRay = true;

    public bool showDebugRay = true;
    public bool showInGameRayInfo = true;
    public float lineWidth = 0.05f;

    [Header("RayCastResult")]
    public float[] rayTagResult;

    public float[] rayTagResultOneHot;
    public float[] rayDisResult;

    [System.NonSerialized] public int totalRayNum;
    private string myTag = "";
    private GameObject[] linesOBJ;
    private GameObject[] rayInfoOBJ;
    private LineRenderer[] lineRenderers;
    private RayInfoUI[] rayInfoUIs;
    public List<GameObject> inViewEnemies = new List<GameObject>();
    private List<string> tags = new List<string> { "Wall", "Enemy" };
    private Onehot oneHotTags = new Onehot();

    private void Start()
    {
        myTag = gameObject.tag;
        totalRayNum = halfOuterRayNum * 2 + focusRayNum;
        rayTagResult = new float[totalRayNum];
        rayDisResult = new float[totalRayNum];
        rayTagResultOneHot = new float[totalRayNum*ObjectTags.Tags.Count];
        linesOBJ = new GameObject[totalRayNum];
        lineRenderers = new LineRenderer[totalRayNum];
        rayInfoOBJ = new GameObject[totalRayNum];
        rayInfoUIs = new RayInfoUI[totalRayNum];
        oneHotTags.Initialize(tags);
        for (int i = 0; i < totalRayNum; i++)
        {
            linesOBJ[i] = new GameObject();
            linesOBJ[i].name = "rayCastLine-" + Convert.ToString(i);
            linesOBJ[i].transform.parent = agentCam.transform;
            linesOBJ[i].AddComponent<LineRenderer>();
            lineRenderers[i] = linesOBJ[i].GetComponent<LineRenderer>();
            lineRenderers[i].material = lineMeterial;

            rayInfoOBJ[i] = (GameObject)Instantiate(rayInfoPrefab);
            rayInfoOBJ[i].transform.SetParent(agentCanvas.transform, false);
            rayInfoOBJ[i].name = "rayInfo-" + Convert.ToString(i);
            rayInfoUIs[i] = rayInfoOBJ[i].GetComponent<RayInfoUI>();
        }
    }

    private void SingleRaycastUpdate(Ray ray,int rayIndex)
    {
        // get Raycast hit infomation and return Tag and distance
        RaycastHit nowHit;
        Color rayColor = Color.gray;
        float lineLength = viewDistance;
        string rayInfoText = "";
        Vector3 rayInfoPosition;
        if (Physics.Raycast(ray, out nowHit, viewDistance)) // 若在viewDistance范围内有碰撞
        {
            // Tag
            string thisTag = nowHit.collider.tag;
            // result update
            rayTagResult[rayIndex] = ObjectTags.TagToInt(thisTag);
            rayDisResult[rayIndex] = nowHit.distance;
            int oneHotIndex = rayIndex * ObjectTags.Tags.Count + ObjectTags.TagToInt(thisTag);
            rayTagResultOneHot[oneHotIndex] = 1f;
            if (rayTagResult[rayIndex] == ObjectTags.TagToInt("Enemy"))
            {
                inViewEnemies.Add(nowHit.transform.gameObject);
            }
            // ingame info update
            lineLength = nowHit.distance;
            rayInfoText = thisTag + "\n" + Convert.ToString(nowHit.distance);
            rayColor = ObjectTags.TagToCololr(thisTag);
            
        }
        else // 若在viewDistance范围无碰撞
        {
            // Result update
            // rayTagResultOneHot keep zero
            rayTagResult[rayIndex] = -1;
            rayDisResult[rayIndex] = -1;
            // Info
            rayInfoText = "Empty";
        }

        // draw Info In Game
        rayInfoPosition = ray.origin + (ray.direction * lineLength);
        if (showInGameRay)
        {
            DrawLine(ray, lineLength, lineRenderers[rayIndex], rayColor);
        }
        else
        {
            TurnOffLine(lineRenderers[rayIndex], rayColor);
        }
        // drawRay in game
        if (showInGameRayInfo) rayInfoUIs[rayIndex].UpdateInfo(rayInfoText, rayInfoPosition, rayColor, TPSCam);
        // Show log
        if (showDebugRay) Debug.DrawRay(ray.origin, ray.direction * viewDistance, rayColor); // drawRay in debug
        // Debug.Log(ray.origin + ray.direction);
        // Debug.Log(thisRayTagResult);
        // Debug.Log(tagToInt(nowHit.collider.thisTag));
    }

    private void DrawLine(Ray ray, float lineLength, LineRenderer lineRenderer, Color lineColor)
    {
        lineRenderer.startColor = lineColor;
        lineRenderer.endColor = lineColor;
        lineRenderer.startWidth = lineWidth;
        lineRenderer.endWidth = lineWidth;
        lineRenderer.SetPosition(0, ray.origin);
        lineRenderer.SetPosition(1, ray.origin + (ray.direction * lineLength));
    }

    private void TurnOffLine(LineRenderer lineRenderer, Color lineColor)
    {
        lineRenderer.startColor = lineColor;
        lineRenderer.endColor = lineColor;
        lineRenderer.startWidth = 0f;
        lineRenderer.endWidth = 0f;
        lineRenderer.SetPosition(0, new Vector3(0, 0, 0));
        lineRenderer.SetPosition(1, new Vector3(0, 0, 0));
    }

    public void UpdateRayInfo()
    {
        float focusLEdge = agentCam.pixelWidth * (1 - focusRange) / 2;
        float focusREdge = agentCam.pixelWidth * (1 + focusRange) / 2;
        float camPixelHeight = agentCam.pixelHeight;
        inViewEnemies.Clear();
        ClearResult();
        for (int i = 0; i < halfOuterRayNum; i++) // create left outside rays; 0 ~ focusLeftEdge
        {
            Vector3 point = new Vector3(i * focusLEdge / (halfOuterRayNum - 1), camPixelHeight / 2, 0);
            Ray nowRay = agentCam.ScreenPointToRay(point);
            SingleRaycastUpdate(nowRay,i);
        }
        for (int i = 0; i < halfOuterRayNum; i++) // create right outside rays; focusRightEdge ~ MaxPixelHeight
        {
            Vector3 point = new Vector3(focusREdge + (i * focusLEdge / (halfOuterRayNum - 1)), camPixelHeight / 2, 0);
            Ray nowRay = agentCam.ScreenPointToRay(point);
            SingleRaycastUpdate(nowRay, halfOuterRayNum + i);
        }
        for (int i = 0; i < focusRayNum; i++) // create center focus rays; focusLeftEdge ~ focusLeftEdge
        {
            Vector3 point = new Vector3(focusLEdge + ((i + 1) * (focusREdge - focusLEdge) / (focusRayNum + 1)), camPixelHeight / 2, 0);
            Ray nowRay = agentCam.ScreenPointToRay(point);
            SingleRaycastUpdate(nowRay, halfOuterRayNum * 2 + i);
        }
    }

    private void ClearResult()
    {
        rayTagResult = new float[totalRayNum];
        rayDisResult = new float[totalRayNum];
        rayTagResultOneHot = new float[totalRayNum * ObjectTags.Tags.Count];
    }
}