import RAPIER from '@dimforge/rapier3d-compat';
import type { WorldModel } from '../sim/world';
import { CAR, WHEELS } from '../carSpec';

export interface PhysicsWorld {
  rapier: RAPIER.World;
  events: RAPIER.EventQueue;
  chassis: RAPIER.RigidBody;
  vehicle: RAPIER.DynamicRayCastVehicleController;
  /** One body per obstacle, in the same order as model.obstacles. */
  obstacleBodies: RAPIER.RigidBody[];
  /** Contact-force magnitude accumulated on the chassis since the last read. */
  drainImpactForce(): number;
  step(dt: number): void;
  respawn(): void;
  /** Static box, added and removed at runtime as road heat rises and falls. */
  addStaticBox(box: StaticBox): RAPIER.RigidBody;
  removeBody(body: RAPIER.RigidBody): void;
  /** What the wheels are doing, for anything that needs to react to grip. */
  telemetry(): Telemetry;
  /** A body the sim moves by hand, which still collides with the player. */
  addKinematicBox(box: KinematicBox): RAPIER.RigidBody;
}

export interface KinematicBox {
  x: number;
  y: number;
  z: number;
  yaw: number;
  halfExtents: { x: number; y: number; z: number };
}

export interface Telemetry {
  /** Sum of lateral impulses across the wheels, scaled to roughly 0..1+. */
  sideSlip: number;
  wheelsOnGround: number;
}

export interface StaticBox {
  x: number;
  z: number;
  yaw: number;
  width: number;
  height: number;
  depth: number;
}

/** Contacts weaker than this are just kerb-scrubbing, not damage. */
const IMPACT_THRESHOLD = 4000;

export async function createPhysics(model: WorldModel): Promise<PhysicsWorld> {
  await RAPIER.init();

  const world = new RAPIER.World({ x: 0, y: -9.81, z: 0 });
  const events = new RAPIER.EventQueue(true);

  // --- Ground: a flat plate for now. Terrain and roads land here later. ---
  const groundBody = world.createRigidBody(
    RAPIER.RigidBodyDesc.fixed().setTranslation(0, -0.5, 0),
  );
  world.createCollider(
    RAPIER.ColliderDesc.cuboid(model.extent + 60, 0.5, model.extent + 60).setFriction(1.1),
    groundBody,
  );

  // --- Obstacles ---
  const obstacleBodies = model.obstacles.map((o) => {
    const half = { x: o.width / 2, y: o.height / 2, z: o.depth / 2 };
    const desc =
      o.kind === 'crate' ? RAPIER.RigidBodyDesc.dynamic() : RAPIER.RigidBodyDesc.fixed();
    const body = world.createRigidBody(
      desc
        .setTranslation(o.x, half.y, o.z)
        .setRotation({ x: 0, y: Math.sin(o.yaw / 2), z: 0, w: Math.cos(o.yaw / 2) }),
    );
    world.createCollider(
      RAPIER.ColliderDesc.cuboid(half.x, half.y, half.z)
        .setDensity(o.kind === 'crate' ? 60 : 0)
        .setFriction(0.8),
      body,
    );
    return body;
  });

  // --- Car chassis ---
  const chassis = world.createRigidBody(
    RAPIER.RigidBodyDesc.dynamic()
      .setTranslation(model.spawn.x, CAR.spawn.y, model.spawn.z)
      .setLinearDamping(0.1)
      .setAngularDamping(0.4)
      // The mass comes from here, not from collider density, so the centre of mass
      // can sit below the box centre — a high CoM makes the raycast vehicle flip.
      .setAdditionalMassProperties(
        CAR.mass,
        { x: 0, y: -0.35, z: 0 },
        { x: 1369, y: 1621, z: 342 },
        { x: 0, y: 0, z: 0, w: 1 },
      ),
  );
  const chassisCollider = world.createCollider(
    RAPIER.ColliderDesc.cuboid(CAR.halfWidth, CAR.halfHeight, CAR.halfLength)
      .setDensity(0)
      .setFriction(0.4)
      .setActiveEvents(RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS)
      .setContactForceEventThreshold(IMPACT_THRESHOLD),
    chassis,
  );

  const vehicle = world.createVehicleController(chassis);
  vehicle.indexUpAxis = 1;
  // Typings name this setter oddly; it is the forward-axis setter. 2 = local +Z.
  vehicle.setIndexForwardAxis = 2;

  for (const w of WHEELS) {
    vehicle.addWheel(
      { x: w.x, y: CAR.wheel.offsetY, z: w.z },
      { x: 0, y: -1, z: 0 },
      { x: -1, y: 0, z: 0 },
      CAR.wheel.suspensionRestLength,
      CAR.wheel.radius,
    );
  }
  for (let i = 0; i < WHEELS.length; i++) {
    vehicle.setWheelSuspensionStiffness(i, 24);
    vehicle.setWheelSuspensionCompression(i, 2.0);
    vehicle.setWheelSuspensionRelaxation(i, 3.0);
    vehicle.setWheelMaxSuspensionTravel(i, 0.25);
    vehicle.setWheelMaxSuspensionForce(i, 40000);
    vehicle.setWheelSideFrictionStiffness(i, 1);
    vehicle.setWheelFrictionSlip(i, 4);
  }

  let pendingImpact = 0;
  const chassisHandle = chassisCollider.handle;

  return {
    rapier: world,
    events,
    chassis,
    vehicle,
    obstacleBodies,

    step(dt: number) {
      world.timestep = dt;
      vehicle.updateVehicle(dt);
      world.step(events);
      events.drainContactForceEvents((e) => {
        if (e.collider1() === chassisHandle || e.collider2() === chassisHandle) {
          pendingImpact += e.totalForceMagnitude();
        }
      });
    },

    drainImpactForce() {
      const v = pendingImpact;
      pendingImpact = 0;
      return v;
    },

    addKinematicBox(box) {
      // Kinematic rather than dynamic: the unit sim owns where these are, but
      // they still shove the player's car when they meet it.
      const body = world.createRigidBody(
        RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(box.x, box.y, box.z),
      );
      world.createCollider(
        RAPIER.ColliderDesc.cuboid(box.halfExtents.x, box.halfExtents.y, box.halfExtents.z)
          .setFriction(0.6)
          .setActiveEvents(RAPIER.ActiveEvents.CONTACT_FORCE_EVENTS)
          .setContactForceEventThreshold(IMPACT_THRESHOLD),
        body,
      );
      return body;
    },

    telemetry() {
      let sideSlip = 0;
      let wheelsOnGround = 0;
      for (let i = 0; i < WHEELS.length; i++) {
        if (!vehicle.wheelIsInContact(i)) continue;
        wheelsOnGround++;
        // The lateral impulse the tyre had to generate to hold the line. Scaled
        // against the car's weight, so it reads as "how hard is it working".
        sideSlip += Math.abs(vehicle.wheelSideImpulse(i) ?? 0);
      }
      return { sideSlip: sideSlip / (CAR.mass * 0.09), wheelsOnGround };
    },

    addStaticBox(box) {
      const body = world.createRigidBody(
        RAPIER.RigidBodyDesc.fixed()
          .setTranslation(box.x, box.height / 2, box.z)
          .setRotation({ x: 0, y: Math.sin(box.yaw / 2), z: 0, w: Math.cos(box.yaw / 2) }),
      );
      world.createCollider(
        RAPIER.ColliderDesc.cuboid(box.width / 2, box.height / 2, box.depth / 2).setFriction(0.8),
        body,
      );
      return body;
    },

    removeBody(body) {
      world.removeRigidBody(body);
    },

    respawn() {
      chassis.setTranslation({ x: model.spawn.x, y: CAR.spawn.y, z: model.spawn.z }, true);
      chassis.setRotation({ x: 0, y: 0, z: 0, w: 1 }, true);
      chassis.setLinvel({ x: 0, y: 0, z: 0 }, true);
      chassis.setAngvel({ x: 0, y: 0, z: 0 }, true);
    },
  };
}