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

namespace AibisDream
{
    public class ShaftGraph
    {
        // 顶点数量
        int vertexSize;

        // 顶点Map
        Shaft[] vertexArray;

        // 邻接表
        float[,] edgeTable;

        // 遍历记录
        bool[] vertexRecordArray;

        // 动力轴序号
        int rootIdx;

        public ShaftGraph(Shaft[] shafts)
        {
            // 为轴赋值
            vertexSize = shafts.Length;
            vertexRecordArray = new bool[vertexSize];
            vertexArray = shafts;
            foreach (var shaft in vertexArray)
            {
                shaft.InitShaft();
            }

            // 寻找唯一的驱动轴序号
            rootIdx = FindDriverIdx();

            // 生成边邻接表
            GeneEdgeTable();

            UpdateSpeed();
        }

        private int FindDriverIdx()
        {
            for (int i = 0; i < vertexSize; i++)
            {
                if (vertexArray[i].shaftType == ShaftType.Driver)
                {
                    return i;
                }
            }

            return -1;
        }

        /// <summary>
        /// 生成边邻接表
        /// </summary>
        private void GeneEdgeTable()
        {
            edgeTable = new float[vertexSize, vertexSize];

            for (int i = 0; i < vertexSize - 1; i++)
            {
                for (int j = i + 1; j < vertexSize; j++)
                {
                    // 判断两个Shaft是否临接
                    if (Shaft.IsShaftConnected(vertexArray[i], vertexArray[j]))
                    {
                        edgeTable[i, j] = Shaft.CalcAngularVelocityRatio(vertexArray[i], vertexArray[j]);
                        edgeTable[j, i] = Shaft.CalcAngularVelocityRatio(vertexArray[j], vertexArray[i]);
                    }
                    else
                    {
                        edgeTable[i, j] = 0;
                        edgeTable[j, i] = 0;
                    }
                }
            }
        }

        /// <summary>
        /// 某个轴上齿轮发生变化时更新临接关系
        /// </summary>
        /// <param name="instanceID">轴ID</param>
        public void ChangeVertex(int instanceID)
        {
            // 找到对应idx
            int idx = TranInstanceIDToIdx(instanceID);

            // 更新该节点对应的邻接表
            for (int i = 0; i < vertexSize; i++)
            {
                // 遇到自身跳过
                if (i == idx)
                {
                    continue;
                }

                // 判断两个Shaft是否临接
                if (Shaft.IsShaftConnected(vertexArray[idx], vertexArray[i]))
                {
                    edgeTable[idx, i] = Shaft.CalcAngularVelocityRatio(vertexArray[idx], vertexArray[i]);
                    edgeTable[i, idx] = Shaft.CalcAngularVelocityRatio(vertexArray[i], vertexArray[idx]);
                }
                else
                {
                    edgeTable[idx, i] = 0;
                    edgeTable[i, idx] = 0;
                }
            }

            UpdateSpeed();
        }

        private int TranInstanceIDToIdx(int instanceID)
        {
            // 查找对应的序号
            int idx = -1;
            for (int i = 0; i < vertexSize; i++)
            {
                if (instanceID == vertexArray[i].GetInstanceID())
                {
                    idx = i;
                    break;
                }
            }
            return idx;
        }

        /// <summary>
        /// 更新当前所有轴的速度
        /// </summary>
        public void UpdateSpeed()
        {
            // 清除遍历记录
            Array.Clear(vertexRecordArray, 0, vertexSize);
            // 从驱动轴开始计算速度
            UpdateShaftSpeedByIdx(rootIdx);
        }

        private void UpdateShaftSpeedByIdx(int idx)
        {
            // 已知当前齿轮速度
            float currentSpeed = vertexArray[idx].Speed;

            for (int i = 0; i < vertexSize; i++)
            {
                // 遍历临接齿轮
                if (i != idx && edgeTable[idx, i] > 0)
                {
                    // 已遍历过就跳过
                    if (vertexRecordArray[idx])
                    {
                        continue;
                    }

                    Debug.Log(idx);

                    // 更新速度
                    vertexArray[i].Speed = currentSpeed * edgeTable[idx, i];
                    // 继续寻找相邻齿轮
                    //UpdateShaftSpeedByIdx(i);
                    // 已遍历的轴加上标记
                    vertexRecordArray[i] = true;
                }
            }
        }

        /// <summary>
        /// 查询可吸附的轴
        /// </summary>
        /// <param name="pos">齿轮位置</param>
        /// <param name="gearRadius">齿轮半径</param>
        /// <returns>吸附轴</returns>
        public Shaft QuerySnapShaft(Vector3 pos, float gearRadius)
        {
            if (vertexArray == null || vertexArray.Length == 0)
            {
                return null;
            }

            // 查询距离最近的，可吸附的Shaft
            Shaft closestShaft = null;
            float minDistence = -1;
            foreach (var vertex in vertexArray)
            {
                if (vertex.shaftType == ShaftType.Pluggable && !vertex.HasChildGear())
                {
                    float tempDis = Vector3.Distance(vertex.transform.position, pos);
                    if (minDistence < 0 || tempDis < minDistence)
                    {
                        closestShaft = vertex;
                        minDistence = tempDis;
                    }
                }
            }

            // 没查到就返回空
            if (closestShaft == null) { return null; }

            // 查到了就返回是否吸附
            if (minDistence < gearRadius)
            {
                return closestShaft;
            }
            else
            {
                return null;
            }
        }
    }
}