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

namespace Pathfinding.Graphs.Grid {
	using Pathfinding.Util;
	using Pathfinding.Graphs.Grid.Jobs;
	using Pathfinding.Jobs;

	/// <summary>
	/// Handles collision checking for graphs.
	/// Mostly used by grid based graphs
	/// </summary>
	[System.Serializable]
	public class GraphCollision {
		/// <summary>
		/// Collision shape to use.
		/// See: <see cref="ColliderType"/>
		/// </summary>
		public ColliderType type = ColliderType.Capsule;

		/// <summary>
		/// Diameter of capsule or sphere when checking for collision.
		/// When checking for collisions the system will check if any colliders
		/// overlap a specific shape at the node's position. The shape is determined
		/// by the <see cref="type"/> field.
		///
		/// A diameter of 1 means that the shape has a diameter equal to the node's width,
		/// or in other words it is equal to <see cref="Pathfinding.GridGraph.nodeSize"/>.
		///
		/// If <see cref="type"/> is set to Ray, this does not affect anything.
		///
		/// [Open online documentation to see images]
		/// </summary>
		public float diameter = 1F;

		/// <summary>
		/// Height of capsule or length of ray when checking for collision.
		/// If <see cref="type"/> is set to Sphere, this does not affect anything.
		///
		/// [Open online documentation to see images]
		///
		/// Warning: In contrast to Unity's capsule collider and character controller this height does not include the end spheres of the capsule, but only the cylinder part.
		/// This is mostly for historical reasons.
		/// </summary>
		public float height = 2F;

		/// <summary>
		/// Height above the ground that collision checks should be done.
		/// For example, if the ground was found at y=0, collisionOffset = 2
		/// type = Capsule and height = 3 then the physics system
		/// will be queried to see if there are any colliders in a capsule
		/// for which the bottom sphere that is made up of is centered at y=2
		/// and the top sphere has its center at y=2+3=5.
		///
		/// If type = Sphere then the sphere's center would be at y=2 in this case.
		/// </summary>
		public float collisionOffset;

		/// <summary>
		/// Direction of the ray when checking for collision.
		/// If <see cref="type"/> is not Ray, this does not affect anything
		///
		/// Deprecated: Only the Both mode is supported now.
		/// </summary>
		[System.Obsolete("Only the Both mode is supported now")]
		public RayDirection rayDirection = RayDirection.Both;

		/// <summary>Layers to be treated as obstacles.</summary>
		public LayerMask mask;

		/// <summary>Layers to be included in the height check.</summary>
		public LayerMask heightMask = -1;

		/// <summary>
		/// The height to check from when checking height ('ray length' in the inspector).
		///
		/// As the image below visualizes, different ray lengths can make the ray hit different things.
		/// The distance is measured up from the graph plane.
		///
		/// [Open online documentation to see images]
		/// </summary>
		public float fromHeight = 100;

		/// <summary>
		/// Toggles thick raycast.
		/// See: https://docs.unity3d.com/ScriptReference/Physics.SphereCast.html
		/// </summary>
		public bool thickRaycast;

		/// <summary>
		/// Diameter of the thick raycast in nodes.
		/// 1 equals <see cref="Pathfinding.GridGraph.nodeSize"/>
		/// </summary>
		public float thickRaycastDiameter = 1;

		/// <summary>Make nodes unwalkable when no ground was found with the height raycast. If height raycast is turned off, this doesn't affect anything.</summary>
		public bool unwalkableWhenNoGround = true;

		/// <summary>
		/// Use Unity 2D Physics API.
		///
		/// If enabled, the 2D Physics API will be used, and if disabled, the 3D Physics API will be used.
		///
		/// This changes the collider types (see <see cref="type)"/> from 3D versions to their corresponding 2D versions. For example the sphere shape becomes a circle.
		///
		/// The <see cref="heightCheck"/> setting will be ignored when 2D physics is used.
		///
		/// See: http://docs.unity3d.com/ScriptReference/Physics2D.html
		/// </summary>
		public bool use2D;

		/// <summary>Toggle collision check</summary>
		public bool collisionCheck = true;

		/// <summary>
		/// Toggle height check. If false, the grid will be flat.
		///
		/// This setting will be ignored when 2D physics is used.
		/// </summary>
		public bool heightCheck = true;

		/// <summary>
		/// Direction to use as UP.
		/// See: Initialize
		/// </summary>
		public Vector3 up;

		/// <summary>
		/// <see cref="up"/> * <see cref="height"/>.
		/// See: Initialize
		/// </summary>
		private Vector3 upheight;

		/// <summary>Used for 2D collision queries</summary>
		private ContactFilter2D contactFilter;

		/// <summary>
		/// Just so that the Physics2D.OverlapPoint method has some buffer to store things in.
		/// We never actually read from this array, so we don't even care if this is thread safe.
		/// </summary>
		private static Collider2D[] dummyArray = new Collider2D[1];

		/// <summary>
		/// <see cref="diameter"/> * scale * 0.5.
		/// Where scale usually is <see cref="Pathfinding.GridGraph.nodeSize"/>
		/// See: Initialize
		/// </summary>
		private float finalRadius;

		/// <summary>
		/// <see cref="thickRaycastDiameter"/> * scale * 0.5.
		/// Where scale usually is <see cref="Pathfinding.GridGraph.nodeSize"/> See: Initialize
		/// </summary>
		private float finalRaycastRadius;

		/// <summary>Offset to apply after each raycast to make sure we don't hit the same point again in CheckHeightAll</summary>
		public const float RaycastErrorMargin = 0.005F;

		/// <summary>
		/// Sets up several variables using the specified matrix and scale.
		/// See: GraphCollision.up
		/// See: GraphCollision.upheight
		/// See: GraphCollision.finalRadius
		/// See: GraphCollision.finalRaycastRadius
		/// </summary>
		public void Initialize (GraphTransform transform, float scale) {
			up = (transform.Transform(Vector3.up) - transform.Transform(Vector3.zero)).normalized;
			upheight = up*height;
			finalRadius = diameter*scale*0.5F;
			finalRaycastRadius = thickRaycastDiameter*scale*0.5F;
			contactFilter = new ContactFilter2D { layerMask = mask, useDepth = false, useLayerMask = true, useNormalAngle = false, useTriggers = false };
		}

		/// <summary>
		/// Returns true if the position is not obstructed.
		/// If <see cref="collisionCheck"/> is false, this will always return true.
		/// </summary>
		public bool Check (Vector3 position) {
			if (!collisionCheck) {
				return true;
			}

			if (use2D) {
				switch (type) {
				case ColliderType.Capsule:
				case ColliderType.Sphere:
					return Physics2D.OverlapCircle(position, finalRadius, contactFilter, dummyArray) == 0;
				default:
					return Physics2D.OverlapPoint(position, contactFilter, dummyArray) == 0;
				}
			}

			position += up*collisionOffset;
			switch (type) {
			case ColliderType.Capsule:
				return !Physics.CheckCapsule(position, position+upheight, finalRadius, mask, QueryTriggerInteraction.Ignore);
			case ColliderType.Sphere:
				return !Physics.CheckSphere(position, finalRadius, mask, QueryTriggerInteraction.Ignore);
			default:
				return !Physics.Raycast(position, up, height, mask, QueryTriggerInteraction.Ignore) && !Physics.Raycast(position+upheight, -up, height, mask, QueryTriggerInteraction.Ignore);
			}
		}

		/// <summary>
		/// Returns the position with the correct height.
		/// If <see cref="heightCheck"/> is false, this will return position.
		/// </summary>
		public Vector3 CheckHeight (Vector3 position) {
			RaycastHit hit;
			bool walkable;

			return CheckHeight(position, out hit, out walkable);
		}

		/// <summary>
		/// Returns the position with the correct height.
		/// If <see cref="heightCheck"/> is false, this will return position.
		/// walkable will be set to false if nothing was hit.
		/// The ray will check a tiny bit further than to the grids base to avoid floating point errors when the ground is exactly at the base of the grid
		/// </summary>
		public Vector3 CheckHeight (Vector3 position, out RaycastHit hit, out bool walkable) {
			walkable = true;

			if (!heightCheck || use2D) {
				hit = new RaycastHit();
				return position;
			}

			if (thickRaycast) {
				var ray = new Ray(position+up*fromHeight, -up);
				if (Physics.SphereCast(ray, finalRaycastRadius, out hit, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore)) {
					return VectorMath.ClosestPointOnLine(ray.origin, ray.origin+ray.direction, hit.point);
				}

				walkable &= !unwalkableWhenNoGround;
			} else {
				// Cast a ray from above downwards to try to find the ground
				if (Physics.Raycast(position+up*fromHeight, -up, out hit, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore)) {
					return hit.point;
				}

				walkable &= !unwalkableWhenNoGround;
			}
			return position;
		}

		/// <summary>Internal buffer used by <see cref="CheckHeightAll"/></summary>
		RaycastHit[] hitBuffer = new RaycastHit[8];

		/// <summary>
		/// Returns all hits when checking height for position.
		/// Warning: Does not work well with thick raycast, will only return an object a single time
		///
		/// Warning: The returned array is ephermal. It will be invalidated when this method is called again.
		/// If you need persistent results you should copy it.
		///
		/// The returned array may be larger than the actual number of hits, the numHits out parameter indicates how many hits there actually were.
		/// </summary>
		public RaycastHit[] CheckHeightAll (Vector3 position, out int numHits) {
			if (!heightCheck || use2D) {
				hitBuffer[0] = new RaycastHit {
					point = position,
					distance = 0,
				};
				numHits = 1;
				return hitBuffer;
			}

			// Cast a ray from above downwards to try to find the ground
			numHits = Physics.RaycastNonAlloc(position+up*fromHeight, -up, hitBuffer, fromHeight+0.005F, heightMask, QueryTriggerInteraction.Ignore);
			if (numHits == hitBuffer.Length) {
				// Try again with a larger buffer
				hitBuffer = new RaycastHit[hitBuffer.Length*2];
				return CheckHeightAll(position, out numHits);
			}
			return hitBuffer;
		}

		/// <summary>
		/// Returns if the position is obstructed for all nodes using the Ray collision checking method.
		/// collisionCheckResult[i] = true if there were no obstructions, false otherwise
		/// </summary>
		public void JobCollisionRay (NativeArray<Vector3> nodePositions, NativeArray<bool> collisionCheckResult, Vector3 up, Allocator allocationMethod, JobDependencyTracker dependencyTracker) {
			var collisionRaycastCommands1 = dependencyTracker.NewNativeArray<RaycastCommand>(nodePositions.Length, allocationMethod);
			var collisionRaycastCommands2 = dependencyTracker.NewNativeArray<RaycastCommand>(nodePositions.Length, allocationMethod);
			var collisionHits1 = dependencyTracker.NewNativeArray<RaycastHit>(nodePositions.Length, allocationMethod);
			var collisionHits2 = dependencyTracker.NewNativeArray<RaycastHit>(nodePositions.Length, allocationMethod);

			// Fire rays from above down to the nodes' positions
			new JobPrepareRaycasts {
				origins = nodePositions,
				originOffset = up * (height + collisionOffset),
				direction = -up,
				distance = height,
				mask = mask,
				physicsScene = Physics.defaultPhysicsScene,
				raycastCommands = collisionRaycastCommands1,
			}.Schedule(dependencyTracker);

			// Fire rays from the node up towards the sky
			new JobPrepareRaycasts {
				origins = nodePositions,
				originOffset = up * collisionOffset,
				direction = up,
				distance = height,
				mask = mask,
				physicsScene = Physics.defaultPhysicsScene,
				raycastCommands = collisionRaycastCommands2,
			}.Schedule(dependencyTracker);

			dependencyTracker.ScheduleBatch(collisionRaycastCommands1, collisionHits1, 2048);
			dependencyTracker.ScheduleBatch(collisionRaycastCommands2, collisionHits2, 2048);

			new JobMergeRaycastCollisionHits {
				hit1 = collisionHits1,
				hit2 = collisionHits2,
				result = collisionCheckResult,
			}.Schedule(dependencyTracker);
		}

#if UNITY_2022_2_OR_NEWER
		public void JobCollisionCapsule (NativeArray<Vector3> nodePositions, NativeArray<bool> collisionCheckResult, Vector3 up, Allocator allocationMethod, JobDependencyTracker dependencyTracker) {
			var commands = dependencyTracker.NewNativeArray<OverlapCapsuleCommand>(nodePositions.Length, allocationMethod);
			var collisionHits = dependencyTracker.NewNativeArray<ColliderHit>(nodePositions.Length, allocationMethod);
			new JobPrepareCapsuleCommands {
				origins = nodePositions,
				originOffset = up * collisionOffset,
				direction = up * height,
				radius = finalRadius,
				mask = mask,
				commands = commands,
				physicsScene = Physics.defaultPhysicsScene,
			}.Schedule(dependencyTracker);
			dependencyTracker.ScheduleBatch(commands, collisionHits, 2048);
			new JobColliderHitsToBooleans {
				hits = collisionHits,
				result = collisionCheckResult,
			}.Schedule(dependencyTracker);
		}

		public void JobCollisionSphere (NativeArray<Vector3> nodePositions, NativeArray<bool> collisionCheckResult, Vector3 up, Allocator allocationMethod, JobDependencyTracker dependencyTracker) {
			var commands = dependencyTracker.NewNativeArray<OverlapSphereCommand>(nodePositions.Length, allocationMethod);
			var collisionHits = dependencyTracker.NewNativeArray<ColliderHit>(nodePositions.Length, allocationMethod);
			new JobPrepareSphereCommands {
				origins = nodePositions,
				originOffset = up * collisionOffset,
				radius = finalRadius,
				mask = mask,
				commands = commands,
				physicsScene = Physics.defaultPhysicsScene,
			}.Schedule(dependencyTracker);
			dependencyTracker.ScheduleBatch(commands, collisionHits, 2048);
			new JobColliderHitsToBooleans {
				hits = collisionHits,
				result = collisionCheckResult,
			}.Schedule(dependencyTracker);
		}
#endif
	}

	/// <summary>
	/// Determines collision check shape.
	/// See: <see cref="GraphCollision"/>
	/// </summary>
	public enum ColliderType {
		/// <summary>Uses a Sphere, Physics.CheckSphere. In 2D this is a circle instead.</summary>
		Sphere,
		/// <summary>Uses a Capsule, Physics.CheckCapsule. This will behave identically to the Sphere mode in 2D.</summary>
		Capsule,
		/// <summary>Uses a Ray, Physics.Linecast. In 2D this is a single point instead.</summary>
		Ray
	}

	/// <summary>Determines collision check ray direction</summary>
	public enum RayDirection {
		Up,     /// <summary>< Casts the ray from the bottom upwards</summary>
		Down,   /// <summary>< Casts the ray from the top downwards</summary>
		Both    /// <summary>< Casts two rays in both directions</summary>
	}
}