local state = lib "stager"

local game = state:new("Game")
local global = require "global"
local config = require "conf"
local util = include "util"

local flux = lib "flux"

local bounds
local world
local skybox
local sandMaterial
local mapMaterial

local objects

local groundOffset = -0.1

local fogScale = 2

local transitions

function game:load()

    transitions = {}

    bounds = (class "Bounds"):new({
        x = 0, y = 1, z = 0,
        width = 21, height = 0.9, depth = 21
    })

    world = lovr.physics.newWorld(0, -9.81, 0, true, {})
    world:setSleepingAllowed(false)
    -- Create the ground
    lovr.graphics.setColor(1, 1, 1, 1)
    world:newBoxCollider(0, bounds:getHeight(), 0, 50, 0.05, 50):setKinematic(true)


    local mapTexture = lovr.graphics.newTexture("images/graph.jpg")
    local sandTexture = lovr.graphics.newTexture("images/sand.jpg")
    sandMaterial = lovr.graphics.newMaterial(sandTexture)
    sandMaterial:setTransform(0, 0, math.log(bounds:getWidth()) * 5, math.log(bounds:getDepth()) * 5, 0)

    mapMaterial = lovr.graphics.newMaterial(mapTexture)
    mapMaterial:setTransform(0, 0, 1, 1, 0)


    game.fishModel = (class "TransformedModel"):new({
        model = lovr.graphics.newModel("models/cellulo/cellulo.glb"),--/Fish3_out/Fish3.gltf"),
        x = 0, y = 0, z = 0,
        scale = 0.025,---0.03,
        ax=0.9351131265201407,ay= -0.2505628071060503 ,az=0.2505628071060503, angle=1.6378367
        --angle = 2.58, ax = 1, ay = 0, az = 0
    })

    game.shaders = {
        animatedFog = lovr.graphics.newShader("shaders/shader.vert", "shaders/shader.frag", {
            flags = { animated = true }
        }),
        regularFog = lovr.graphics.newShader("shaders/shader.vert", "shaders/shader.frag", {
            flags = { animated = false }
        }),
    }

    game.fogRatio = 0

    game.shaders.animatedFog:send("CameraEye", { 0, 0, 0, 0 })
    game.shaders.animatedFog:send("FogBounds", { 4, 22 * ((1 - game.fogRatio) * fogScale + 1) })
    game.shaders.animatedFog:send("causticsScale", 1)
    game.shaders.regularFog:send("CameraEye", { 0, 0, 0, 0 })
    game.shaders.regularFog:send("FogBounds", { 4, 20 * ((1 - game.fogRatio) * fogScale + 1) })
    game.shaders.regularFog:send("causticsScale", 1)

    game.causticsTexture = lovr.graphics.newTexture("images/caustics.jpg")
    game.shaders.animatedFog:send("causticsTexture", game.causticsTexture)
    game.shaders.animatedFog:send("causticsAmount", 1.0)
    game.shaders.regularFog:send("causticsTexture", game.causticsTexture)
    game.shaders.regularFog:send("causticsAmount", 1.0)

    game.swarm = (class "boids.BoidsSwarm"):new({ bounds = bounds })
    local x, y, z = -6, 1.42, 6
        -- local boid = (class "boids.SelfControlledBoid"):new({
        --     world = world,
        --     x = 0, y = y, z = 4,
        --     angle = 0, ax = 0, ay = 1, az = 0,
        --     model = game.fishModel
        -- })
        -- game.swarm:addBoid(boid)
    for iz = 0, 1 do
        for i = 0, 1 do
            local boid = (class "boids.SelfControlledBoid"):new({
                world = world,
                x = x +2.25*i, y = y, z = z+2.25*iz , --y + lovr.math.random() * 0.3, z = z - iz,
                angle = 0, ax = 0, ay = 1, az = 0,
                model = game.fishModel
            })
            game.swarm:addBoid(boid)
        end
    end
    global.playerBoid = (class "boids.CelluloControlledBoid"):new({
        world = world,
        cellulo = -1, -- will be later set by menu.lua
        controls = (class "boids.controls.AbsoluteControls"), -- static class
        celluloPlane = (class "CelluloPlane"):new(config.CELLULO_PLANE),
        hapticFeedbackEnabled = false,
        x = 0, y = 1.42, z = 10,
        angle = 0, ax = 0, ay = 1, az = 0,
        model = game.fishModel
    })
    game.swarm:addBoid(global.playerBoid)

    -- local a = lovr.math.vec3(global.playerBoid:getPosition())
    -- local b = lovr.math.vec3(game.swarm:getBoids()[1]:getPosition())
    -- print(a)
    -- print(b)
    -- print(lovr.math.vec3(global.playerBoid:getCollider():getPosition()):sub(b))
    -- print(lovr.math.vec3(global.playerBoid:getCollider():getPosition()):sub(b))
    -- print(a:sub(b))
    -- print(a:sub(b))
    -- print(b:distance(a))
    game.levelLabel = "LEVEL"
    game.levelOffset = 1
    game.subLabel = "SUB"
    game.subOffset = 1

    game.hasStarted = true
    game.currentLevel = -1
    game.currentTargetCount = 0
    
    -- game.grid = (lib "grid").new(16, 16, 1, { 1, 0.5 },nil)
    game.experiment = (class "Experiment"):new()
    game.experiment:setLogInterval(1/4)
    game.experiment.logger:log(game:getLogHeader())
    game.experiment:setFunction(function() return game:getLogValues() end)

    game.experiment:start()


end

function game:unload()

    world:destroy()

end

function game:update(dt)

    flux.update(dt)

    -- game.shaders.regularFog:send("time", lovr.timer.getTime())

    if game.currentLevel == -1 then
        global.playerBoid:update(dt)
        game.swarm:setTargetPosition({ -6,1.42,6})--math.cos(lovr.timer.getTime() / 8) * 6, 1.6, -10 + math.sin(lovr.timer.getTime() / 8) * 6 })
    end

    if game.currentLevel == 1 then
        game.swarm:setTargetPosition({ 6,1.42,6})--math.cos(lovr.timer.getTime() / 8) * 6, 1.6, -10 + math.sin(lovr.timer.getTime() / 8) * 6 })
    end

    if game.currentLevel == 2 then
        game.swarm:setTargetPosition({ 0,1.42,0})--math.cos(lovr.timer.getTime() / 8) * 6, 1.6, -10 + math.sin(lovr.timer.getTime() / 8) * 6 })
    end

    if game.currentLevel == 3 then
        game.swarm:setTargetPosition({ -6,1.42,-6})--math.cos(lovr.timer.getTime() / 8) * 6, 1.6, -10 + math.sin(lovr.timer.getTime() / 8) * 6 })
    end

    if game.currentLevel == 4 then
        game.swarm:setTargetPosition({ 6,1.42,-4})--math.cos(lovr.timer.getTime() / 8) * 6, 1.6, -10 + math.sin(lovr.timer.getTime() / 8) * 6 })
    end

    if game.currentLevel == 5 then
        game.swarm:setTargetPosition({ -4,1.42,4})--math.cos(lovr.timer.getTime() / 8) * 6, 1.6, -10 + math.sin(lovr.timer.getTime() / 8) * 6 })
    end

    world:update(dt)

    -- game.fishModel:animate(1, lovr.timer.getTime())
    --game.swarm:setPosition(math.cos(lovr.timer.getTime()*0.1) * 5, 0, math.sin(lovr.timer.getTime()*0.1) * 5)
    if(game.hasStarted) then 
        game.swarm:update(dt)
    end

    if global.cameraMode == "first" then
        local camx,camy,camz = global.playerBoid:getPosition()
        global.camera:setPosition(camx,camy-1.5,camz)
        global.camera:setAngle(global.playerBoid:getAngle())
    else
        local x, y, z = global.playerBoid:getPosition()
        local CAMERA_Y_OFFSET = 10
        y = y + CAMERA_Y_OFFSET
        global.camera:setPosition(0,y,0)
        -- global.camera:setPosition(x, y, z)
        -- global.camera:setAngle(global.playerBoid:getAngle())
    end

    -- next target when reached
    local targetPosition = game.swarm:getTargetPosition()
    local x, y, z = targetPosition[1], targetPosition[2], targetPosition[3]
    local x1,y1,z1 = global.playerBoid:getPosition()
    local goal_distance = lovr.math.vec3(x, y, z)
    local d = goal_distance:distance(lovr.math.vec3(global.playerBoid:getPosition()))  
    -- game.subLabel = x .. " " .. y .. " " .. z .. " " .. d  .. " " .. x1 .. " " .. y1 .. " " .. z1 
    -- table.insert(transitions, flux.to(game, 1, { levelOffset = 0, subOffset = 0 }))
    if d  < 3 then game:onReachedTarget() end 
    
    game.experiment:update(dt)
    
end

function game:draw()
    --lovr.graphics.skybox(skybox)

    -- lovr.graphics.setColor(0, 0.35, 0.482, 1)
    -- lovr.graphics.fill()

    lovr.graphics.setColor(1, 1, 1, 1)
    global.camera:draw(function ()
        -- floor
        lovr.graphics.translate(0, groundOffset, 0)
        lovr.graphics.plane(mapMaterial, -1.3, bounds:getHeight(), 1.3, bounds:getWidth(),bounds:getDepth(),-math.pi / 2,1,0,0)--, , math.pi / 2, 1, 0, 0,0.7,0.7)
        -- lovr.graphics.box("fill",0, bounds:getHeight(), 0, 5000, 0.05, 5000)

        lovr.graphics.plane(sandMaterial, 0, 100, 0, bounds:getWidth(), bounds:getDepth(), math.pi / 2, 1, 0, 0)

        game:drawScene()

    --     -- lovr.graphics.setColor(1, 1, 1, 1)
    --     -- game.shaders.regularFog:send("FogColor", { 0, 0.1, 0.2, 1 })
    --     util.withShader(game.shaders.regularFog, function ()

    --         -- game.shaders.regularFog:send("causticsScale", 8)
    --         game.shaders.regularFog:send("FogBounds", { 2, 12 * ((1 - game.fogRatio) * fogScale + 1) })
    --         lovr.graphics.setColor(1,1,1,1)--(0.2, 0.6, 0.9, 1)
    --         lovr.graphics.push()
    --             -- floor
    --             lovr.graphics.translate(0, groundOffset, 0)
    --             lovr.graphics.plane(sandMaterial, -1,1,0, 1500,1500,math.pi / 2,1,0,0)--bounds:getWidth(), bounds:getDepth(), math.pi / 2, 1, 0, 0,0.7,0.7)

    --             game:drawScene()

    --             -- local target = game.swarm:getTargetPosition()
    --             -- if target then
    --             --     game.shaders.regularFog:send("causticsAmount", 0)
    --             --     lovr.graphics.setColor(0.2, 0.6, 0.9, 0.2)
    --             --     lovr.graphics.cube('fill', target[1], target[2], target[3], 0.2, lovr.timer.getTime())
    --             --     lovr.graphics.setColor(1, 1, 1, 1)
    --             --     lovr.graphics.cube('line', target[1], target[2], target[3], 0.2, lovr.timer.getTime())
    --             --     game.shaders.regularFog:send("causticsAmount", 1)
    --             -- end
    --         lovr.graphics.pop()

    --         -- roof
    --         -- game.shaders.regularFog:send("causticsScale", 4)
    --         --game.shaders.regularFog:send("FogBounds", { 2, 40 * ((1 - game.fogRatio) * fogScale + 1) })
    --         lovr.graphics.setColor(0.3, 0.7, 1)
    --         lovr.graphics.plane("fill", 0, 6, 0, bounds:getWidth(), bounds:getDepth(), math.pi / 2, 1, 0, 0)

    --     end)

    --     --game.shaders.animatedFog:send("FogColor", { 0, 0.1, 0.3, 0 })
    --     -- util.withShader(game.shaders.animatedFog, function ()

    --     --     lovr.graphics.setColor(0.7, 0.9, 1, 1)
    --     --     game.swarm:draw()

    --     -- end)
        game.swarm:draw()
        -- game.grid:draw(0, 1.1, 0)
    end)

    global:drawHud(function ()
        game:drawLevelAndObjective()

        game:drawCelluloPosition()
    end)

end

function game:drawScene()
    -- game.shaders.regularFog:send("causticsAmount", 0.1)

    lovr.graphics.setColor(0,1,0,0.8) --0.2, 0.6, 0.9, 1)
    -- game.shaders.regularFog:send("FogBounds", { 4, 22 * ((1 - game.fogRatio) * fogScale + 1) })
    -- game.shaders.regularFog:send("causticsScale", 0.2)

    size = 1  
    lovr.graphics.cube("fill", -4,0.45,4, size)   

    --game.shaders.regularFog:send("causticsAmount", 1)
end

function game:drawLevelAndObjective()
    lovr.graphics.push()
        lovr.graphics.transform(-0.175, 0.175, 0, 1, 1, 1, 0.6, 0.5, 1, 0)
        local s = 0.05
        lovr.graphics.scale(s, s, s)

        lovr.graphics.setColor(1, 1, 1, 1-game.levelOffset)
        lovr.graphics.print(game.levelLabel, 0, game.levelOffset, 0, 1, 0, 0, 1, 0, 0, "left")
        lovr.graphics.setColor(1, 1, 1, 1-game.subOffset)
        lovr.graphics.print(game.subLabel, -math.pow(game.subOffset, 2) * 3, -1, 0, 1, 0, 0, 1, 0, 0, "left")

    lovr.graphics.pop()
end

function game:drawCelluloPosition()
    -- draw position of cellulo on paper
    lovr.graphics.push()
        lovr.graphics.transform(0.175, -0.175, 0, 1, 1, 1, -0.6, 0.5, 1, 0)

        local s = 0.05
        lovr.graphics.scale(s, s, s)
        lovr.graphics.setColor(0, 0, 0, 0.5)
        lovr.graphics.plane("fill", 0, 0, 0, 2, 2)

        local sqrt2d2 = math.sqrt(2) / 2
        local polygon = {
            0,         1,          0, -- top pointing arrow
            1,         0,          0,
            sqrt2d2,  -sqrt2d2,    0,

            sqrt2d2,  -sqrt2d2,    0,
            -sqrt2d2, -sqrt2d2,    0,
            0,         1,          0, -- top pointing arrow

            -sqrt2d2, -sqrt2d2,    0,
            -1,        0,          0,
            0,         1,          0  -- top pointing arrow
        }

        local x, y = global.playerBoid:getCelluloPlane():normalizedRelative(global.robot:getX(), global.robot:getY())
        lovr.graphics.translate(x, -y, 0.1)

        local ps = 0.2
        lovr.graphics.scale(ps, ps, ps)
        lovr.graphics.rotate(global.robot:getTheta(), 0, 0, -1)
        lovr.graphics.setColor(1, 1, 1, 0.75)
        lovr.graphics.triangle("fill", polygon)

    lovr.graphics.pop()
end

function game:buttonpressed(device, button)

    if button == "b" then
        local s = global.camera:getX() .. " " .. global.camera:getY() .. " " .. global.camera:getZ()
        global.toastManager:addToast(s)
    elseif button == "a" then
        game:startGame()
    elseif button == "x" then 
        local s = global.playerBoid:getX() .." ".. global.playerBoid:getY() .. " " .. global.playerBoid:getZ()
        global.toastManager:addToast(s)
    end

    if button == "y" then
        state:push("scenes/menu")
    end

    return true
end

function game:stopGame()
    game.hasStarted = true
    for i = 1, #transitions do
        transitions[i]:stop()
    end
    table.insert(transitions, flux.to(game, 1, { levelOffset = 1, subOffset = 1, fogRatio = 0 }))
end

function game:spawnRandomTarget()
    game.swarm:setTargetPosition({0,1,42,0})
end

function game:startGame()
    game.hasStarted = true
    game:levelOne()
end

function game:levelOne()
    game.currentLevel = 1
    game.currentTargetCount = 0
    game.levelLabel = "level 1"
    game.subLabel = "Reach the target (0/3)" 

    table.insert(transitions, flux.to(game, 1, { levelOffset = 0, subOffset = 0 }))
    game:spawnRandomTarget()
end

function game:levelTwo()
    game.currentLevel = 2
    game.currentTargetCount = 0
    game.levelLabel = "level 2"
    game.subLabel = "reach the target (0/3)"
    table.insert(transitions, flux.to(game, 1, { levelOffset = 0, subOffset = 0 }))
    table.insert(transitions, flux.to(game, 3, { fogRatio = 1 }))
    game:spawnRandomTarget()
end

function game:youWin()
    game.currentLevel = -1
    game.levelLabel = "you win!"
    game.subLabel = ""
    table.insert(transitions, flux.to(game, 1, { levelOffset = 0, subOffset = 0 }))
    table.insert(transitions, flux.to(game, 3, { fogRatio = 0 }))
end

function game:onReachedTarget()
    if game.currentLevel < 5 then 
        game.currentLevel = game.currentLevel + 1
        game.levelLabel = "Level" .. game.currentLevel
        local targetPosition = game.swarm:getTargetPosition()
        local x, y, z = targetPosition[1], targetPosition[2], targetPosition[3]
        game.subLabel = x .. " " .. y .. " " .. z 
    else
        game.levelLabel = "YOU WIN! "
    end 
    table.insert(transitions, flux.to(game, 1, { levelOffset = 0, subOffset = 0 }))

    -- if game.hasStarted and game.currentTargetCount < 3 then
    --     game.currentTargetCount = game.currentTargetCount + 1
    --     game.subLabel = "reach the target (" .. game.currentTargetCount .. "/3)"
    --     if game.currentTargetCount == 3 then
    --         table.insert(transitions, flux.to(game, 1, {}):oncomplete(function()
    --             table.insert(transitions, flux.to(game, 1, { levelOffset = 1, subOffset = 1 }):oncomplete(function()
    --                 game.currentLevel = game.currentLevel + 1
    --                 game:spawnRandomTarget()
    --                 -- if game.currentLevel == 1 then
    --                 --     game:levelTwo()
    --                 -- else
    --                 --     game:youWin()
    --                 -- end
    --             end))
    --         end))
    --     else
    --         game:spawnRandomTarget()
    --     end
    -- end
end

--[[ Logging ]]--

function game:getLogHeader()
    local t = {}

    table.insert(t, "timestamp")
    table.insert(t, "frame_index")

    table.insert(t, "cellulo_x")
    table.insert(t, "cellulo_y")
    table.insert(t, "cellulo_theta")

    for i = 1, #game.swarm:getBoids() - 1 do -- exclude player boid
        table.insert(t, "fish_" .. i .. "_x")
        table.insert(t, "fish_" .. i .. "_y")
        table.insert(t, "fish_" .. i .. "_theta")

        table.insert(t, "fish_" .. i .. "_vx")
        table.insert(t, "fish_" .. i .. "_vy")
        table.insert(t, "fish_" .. i .. "_vz")

        table.insert(t, "fish_" .. i .. "_fx")
        table.insert(t, "fish_" .. i .. "_fy")
        table.insert(t, "fish_" .. i .. "_fz")
    end

    table.insert(t, "player_x")
    table.insert(t, "player_y")
    table.insert(t, "player_theta")

    table.insert(t, "player_vx")
    table.insert(t, "player_vy")
    table.insert(t, "player_vz")

    table.insert(t, "player_fx")
    table.insert(t, "player_fy")
    table.insert(t, "player_fz")

    table.insert(t, "player_rx")
    table.insert(t, "player_ry")
    table.insert(t, "player_rz")
    table.insert(t, "player_rw")

    return t
end

function game:getLogValues()
    local t = {}
    table.insert(t, lovr.timer.getTime() - game.experiment:getStartTime()) -- timestamp
    table.insert(t, game.experiment:getFrame()) -- frame_index
    
    local cellulo = global.playerBoid:getCellulo()
    table.insert(t, cellulo:getX()) -- cellulo_x
    table.insert(t, cellulo:getY()) -- celullo_y
    table.insert(t, cellulo:getTheta()) -- cellulo_theta

    util.foreachi(game.swarm:getBoids(), function (boid)
        -- last fish represents player

        local collider = boid:getCollider()

        local x, y, z = collider:getPosition()
        table.insert(t, x) -- fish_i_x
        table.insert(t, z) -- fish_i_y

        local a, ax, ay, az = boid:getAngle()
        -- FIXME: need to project boid rotation onto Y axis?
        table.insert(t, a) -- fish_i_theta

        local vx, vy , vz = collider:getLinearVelocity()
        table.insert(t, vx) -- fish_i_vx
        table.insert(t, vy) -- fish_i_vy
        table.insert(t, vz) -- fish_i_vy

        local fx,fy,fz=boid:getFeedback():unpack()
        table.insert(t,fx)
        table.insert(t,fy)
        table.insert(t,fz)
 
    end)

    local _, _, _, a, ax, ay, az = lovr.headset.getPose()
    local rx, ry, rz, rw = lovr.math.newQuat(a, ax, ay, az):unpack()
    table.insert(t, rx) -- player_rx
    table.insert(t, ry) -- player_ry
    table.insert(t, rz) -- player_rz
    table.insert(t, rw) -- player_rw

    return t
end


return game