using Sandbox;
using Sandbox.Diagnostics;
using System;

public sealed class LidarControler : Component
{
	[Property] public Lidar lidar;
	[Property] public float randomFov = 0f;
	[Property] public float fireRate = 1 / 30f;
	[Property] public int rayBachCount = 5;

	public float lastFire = 0f;
	private CameraComponent camera;
	private Random random;

	protected override void OnUpdate()
	{
		if ( Input.Down( "Attack1" ) )
		{
			BasicRay();
		}

		base.OnUpdate();
	}

	protected override void OnStart()
	{
		camera = Scene.Camera;
		random = new();

		base.OnStart();
	}

	private Rotation randomRotionFov( float randomFov )
	{
		float angle = random.Float( 0f, MathF.PI * 2f );
		float radius = MathF.Sqrt( random.Float( 0f, 1f ) ) * randomFov;

		float x = MathF.Cos( angle ) * radius;
		float y = MathF.Sin( angle ) * radius;

		return Rotation.From( x, y, 0f );
	}

	private void FireRay( Vector3 pos, Rotation rot )
	{
		SceneTraceResult tr = Scene.Trace
			.Ray( pos, pos + rot.Forward * 1e6f )
			.WithoutTags( "lidar" )
			.Run();

		if ( tr.Hit == false ) { return; }

		lidar.AddPoint(
			tr.HitPosition - tr.Normal * 0.01f,
			tr.Normal
		);
	}


	private void BasicRay()
	{
		float nowTime = Time.Now;
		if ( (nowTime - lastFire) < fireRate )
		{
			return;
		}

		Vector3 pos = camera.WorldPosition;
		Rotation rot = camera.WorldRotation;

		for ( var i = 0; i < rayBachCount; i++ )
		{
			FireRay( pos, rot * randomRotionFov( randomFov ) );
		}

		lastFire = nowTime;
	}
}