/**
 * Where a ray meets a collider shape (#153), in f64 like the rest of the collision, so the editor run
 * and the played game answer alike and always about where things are now. Every shape is taken as
 * its rounded convex pieces (see `convex.ts`), and each piece as convex parts a ray is easy to meet:
 * the core polygon, a circle at each corner and a band along each edge as wide as the radius.
 */
import type { Vec2 } from '../model/Properties';
import { dot } from '../util/vec';
import { signedArea } from '../model/polygon';
import { type ColliderShape, piecesOf } from './collider';
import { type Rounded, roundedContact } from './convex';

export interface RayHit {
  /** How far along the ray it met the shape (world units). */
  distance: number;
  /** The face it met, pointing out of the shape. */
  normal: Vec2;
}

/** A start this deep inside a shape is inside it; on its outline it is not. */
const INSIDE = 1e-9;

type Part = { kind: 'circle'; c: Vec2; r: number } | { kind: 'polygon'; points: readonly Vec2[] };

/**
 * Where the ray from `from` along the unit direction `dir` first meets `shape` within `length`, or
 * null. A shape the ray starts inside is not met – so a ray cast from the middle of the thing casting
 * it finds what is around, not itself; starting on its outline and running in does meet it, at 0.
 * Grazing a corner counts as meeting it.
 */
export function rayCast(shape: ColliderShape, from: Vec2, dir: Vec2, length: number): RayHit | null {
  const pieces = piecesOf(shape);
  const start: Rounded = { points: [from], r: 0 };
  if (pieces.some((piece) => roundedContact(start, piece, dir).separation < -INSIDE)) return null;
  let best: RayHit | null = null;
  for (const piece of pieces)
    for (const part of partsOf(piece)) {
      const hit =
        part.kind === 'circle'
          ? rayCircle(part, from, dir, length)
          : rayPolygon(part.points, from, dir, length);
      if (hit && (!best || hit.distance < best.distance)) best = hit;
    }
  return best;
}

/** The parts whose union is the rounded piece. */
function partsOf(piece: Rounded): Part[] {
  const { points, r } = piece;
  if (r <= 0) return points.length >= 3 ? [{ kind: 'polygon', points }] : [];
  const parts: Part[] = points.map((c) => ({ kind: 'circle', c, r }));
  if (points.length === 2) {
    const [a, b] = points as [Vec2, Vec2];
    const n = normalOf(a, b);
    if (n) {
      const off = { x: n.x * r, y: n.y * r };
      parts.push({
        kind: 'polygon',
        points: [
          { x: a.x + off.x, y: a.y + off.y },
          { x: b.x + off.x, y: b.y + off.y },
          { x: b.x - off.x, y: b.y - off.y },
          { x: a.x - off.x, y: a.y - off.y },
        ],
      });
    }
  }
  if (points.length >= 3) {
    parts.push({ kind: 'polygon', points });
    const outward = signedArea(points) > 0 ? 1 : -1;
    points.forEach((a, i) => {
      const b = points[(i + 1) % points.length]!;
      const n = normalOf(a, b);
      if (!n) return;
      const off = { x: outward * n.x * r, y: outward * n.y * r };
      parts.push({
        kind: 'polygon',
        points: [a, b, { x: b.x + off.x, y: b.y + off.y }, { x: a.x + off.x, y: a.y + off.y }],
      });
    });
  }
  return parts;
}

/** The unit normal of ab turned the way a positive signed area turns outward; null for no length. */
function normalOf(a: Vec2, b: Vec2): Vec2 | null {
  const d = { x: b.x - a.x, y: b.y - a.y };
  const length = Math.hypot(d.x, d.y);
  return length > 0 ? { x: d.y / length, y: -d.x / length } : null;
}

function rayCircle({ c, r }: { c: Vec2; r: number }, from: Vec2, dir: Vec2, length: number): RayHit | null {
  const m = { x: from.x - c.x, y: from.y - c.y };
  const b = dot(m, dir);
  const k = dot(m, m) - r * r;
  const disc = b * b - k;
  if (disc < 0) return null;
  const t = -b - Math.sqrt(disc);
  if (t < -INSIDE || t > length) return null;
  const at = Math.max(0, t);
  return { distance: at, normal: { x: (m.x + dir.x * at) / r + 0, y: (m.y + dir.y * at) / r + 0 } };
}

/**
 * A convex polygon, whichever way round its corners run: the ray is clipped by every edge's half
 * plane, and the last edge it comes in through is the one it meets.
 */
function rayPolygon(points: readonly Vec2[], from: Vec2, dir: Vec2, length: number): RayHit | null {
  const outward = signedArea(points) > 0 ? 1 : -1;
  let enter = -Infinity;
  let leave = Infinity;
  let normal: Vec2 | null = null;
  for (let i = 0; i < points.length; i++) {
    const a = points[i]!;
    const n0 = normalOf(a, points[(i + 1) % points.length]!);
    if (!n0) continue;
    const n = { x: outward * n0.x, y: outward * n0.y };
    // Inside this edge's half plane: dot(n, from + t·dir − a) ≤ 0.
    const gap = dot(n, { x: a.x - from.x, y: a.y - from.y });
    const speed = dot(n, dir);
    if (Math.abs(speed) < 1e-12) {
      if (gap < 0) return null;
      continue;
    }
    const t = gap / speed;
    if (speed < 0) {
      if (t > enter) {
        enter = t;
        normal = n;
      }
    } else leave = Math.min(leave, t);
  }
  if (!normal || enter > leave || enter < -INSIDE || enter > length) return null;
  return { distance: Math.max(0, enter), normal: { x: normal.x + 0, y: normal.y + 0 } };
}