using DG.Tweening;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Events;
using VRTK;
using VRTK.GrabAttachMechanics;

//VR交互控制基类  定义拆装时可抓取和特定位置安装的交互设备
[RequireComponent(typeof(VRTK_InteractableObject))]
public abstract class VRGrabInterractableBase : MonoBehaviour, IStepNodeAction
{
    protected VRTK_InteractableObject vRTK_Interactable;
    public bool defultIsOnRightPos;//默认初始位置和角度是安装目标位置

    //protected VRTK_BaseGrabAttach vRTK_BaseGrab;
    //启用复位逻辑 设置目标位置
    public bool checkPos;

    [PropertyActive("checkPos", true, CompareType.NotEqul)]
    public Vector3 rightPos;
    [PropertyActive("checkPos", true, CompareType.NotEqul)]
    public Vector3 allowPosError;//位置检测允许误差  单位m
    //启用复位逻辑 设置目标角度
    public bool checkAngle;
    [PropertyActive("checkAngle", true, CompareType.NotEqul)]
    public Vector3 rightAngle;
    [PropertyActive("checkAngle", true, CompareType.NotEqul)]
    public Vector3 allowAngleError;
    protected bool onFixedPos;//到达特定的位置

    public UnityAction atFixedPos;//到达特定的工作位置  复位完成后执行
    public UnityAction atFreePos;//放置在了其他位置执行 结束抓取时未满足安置位置时执行


    public event UnityAction OnGrabbedEvent;//开始抓取时执行
    public event UnityAction<bool> UnGrabbedEvent;//结束抓取时 是否满足安装条件

    [SerializeField] protected ProcessEnum currentProcess;

    public Collider thisCollider;

    protected virtual void Awake()
    {
        vRTK_Interactable = this.GetComponent<VRTK_InteractableObject>();
        vRTK_Interactable.InteractableObjectUngrabbed += Ungrabbed;
        vRTK_Interactable.InteractableObjectGrabbed += OnGrabbed;

        vRTK_Interactable.touchHighlightColor = Color.red;
        vRTK_Interactable.touchHighlightColor.a = 0.3f;
        if (GroupLearnHelper.isGroup)//分组训练时添加可抓取物体的 同步发送和处理组件
        {
            this.gameObject.AddComponent<VRGrabedSyncSender>();
            this.gameObject.AddComponent<VRGrabedSyncHandler>();
        }
        SetGrabInteractable(false);//流程未激活时禁用抓取交互
        //vRTK_Interactable.

        this.GetComponent<VRTK_BaseGrabAttach>().precisionGrab = true;//抓取接触位置 不抓取中心
        if (thisCollider == null)
        {
            thisCollider = this.GetComponentInChildren<Collider>();
        }
        thisCollider.enabled = false;

        if (checkPos && defultIsOnRightPos)
        {
            SetRightPos(this.transform.localPosition, allowPosError);
        }

        if (checkAngle && defultIsOnRightPos)
        {
            SetRightAngle(this.transform.localEulerAngles, allowAngleError);
        }
    }

    protected virtual void OnGrabbed(object sender, InteractableObjectEventArgs e)
    {
        OnGrabbedEvent?.Invoke();
    }

    protected virtual void Ungrabbed(object sender, InteractableObjectEventArgs e)
    {
        bool onAllowableFixed = false;//判断是否启用了复位逻辑 且满足安装位置需要
        if (checkPos)
        {
            onAllowableFixed = CheckPos();
        }
        if (checkAngle)
        {
            if (checkPos && onAllowableFixed)//检查角度时 若先检查了位置 则先判定是否满足位置要求 若位置不满足 则无需检查  直接判定不满足要求
                onAllowableFixed = CheckAngle();
        }

        UnGrabbedEvent?.Invoke(onAllowableFixed);
        Debug.Log(this.gameObject.name + "UnGrabbed");
        Ungrabbbed(onAllowableFixed);
    }

    /// <summary>
    /// 主动操作物体被放下完成位置角度检测后或场景同步时执行
    /// </summary>
    /// <param name="onAllowableFixed">当前位置是否满足安装条件</param>
    public void Ungrabbbed(bool onAllowableFixed)
    {
        if (onAllowableFixed)//满足安装条件
        {
            StartHoming();//播放归位动画
        }
        else//未处于安装位置 
        {
            this.gameObject.GetComponent<Rigidbody>().isKinematic = false;//安置在其他位置时 启用刚体影响
            onFixedPos = false;
            atFreePos?.Invoke();
            atFreePos = null;
        }
    }


    //开始动画复位到准确的安装位置
    private void StartHoming()
    {
        Debug.Log("开始复位");
        this.gameObject.GetComponent<Rigidbody>().isKinematic = true;//避免重力或其他物体影响其归位
        this.transform.DOLocalMove(rightPos, 1f).OnComplete(HomgingOver);
        this.transform.DOLocalRotateQuaternion(Quaternion.Euler(rightAngle), 1f);
    }

    //复位完成  
    protected virtual void HomgingOver()
    {
        atFixedPos?.Invoke();
        atFixedPos = null;//只执行一次 
        onFixedPos = true;
    }

    //启用/禁用抓取功能
    public void SetGrabInteractable(bool interactable)
    {
        vRTK_Interactable.isGrabbable = interactable;
    }

    public abstract void Active(ProcessEnum stepName, UnityAction finishedEven);


    public virtual void UnActive(ProcessEnum stepName)
    {
        atFixedPos = null;
        atFreePos = null;
    }

    /// <summary>
    /// 设置与父物体的相对正确位置 不设置不检查 
    /// </summary>
    /// <param name="targetPos">目标位置</param>
    /// <param name="allowError">误差距离</param>
    public void SetRightPos(Vector3 targetPos, Vector3 allowError)
    {
        checkPos = true;
        rightPos = targetPos;
        allowPosError = allowError;
    }

    /// <summary>
    /// 设置与父物体的相对正确角度不设置不检查 
    /// </summary>
    /// <param name="targetAngle">目标角度</param>
    /// <param name="allowError">允许误差角度</param>
    public void SetRightAngle(Vector3 targetAngle, Vector3 allowError)
    {
        checkAngle = true;
        rightAngle = targetAngle;
    }

    /// <summary>
    /// 检查位置是否符合要求
    /// </summary>
    /// <returns> true 符合要求</returns>
    bool CheckPos()
    {
        if (Mathf.Abs(this.transform.localPosition.x - rightPos.x) > allowPosError.x)
            return false;
        if (Mathf.Abs(this.transform.localPosition.y - rightPos.y) > allowPosError.y)
            return false;
        if (Mathf.Abs(this.transform.localPosition.z - rightPos.z) > allowPosError.z)
            return false;
        return true;
    }

    /// <summary>
    /// 检查角度是否符合要求
    /// </summary>
    /// <returns>true 符合要求</returns>
    bool CheckAngle()
    {
        Vector3 currentAngle = NormalizeEuler(this.transform.localEulerAngles);

        Vector3 targeAngle = NormalizeEuler(rightAngle);

        if (Mathf.Abs(currentAngle.x - targeAngle.x) > allowAngleError.x || Mathf.Abs(currentAngle.y - targeAngle.y) > allowAngleError.y || Mathf.Abs(currentAngle.z - targeAngle.z) > allowAngleError.z)
            return false;
        else
            return true;
    }

    public Vector3 NormalizeEuler(Vector3 rEuler)
    {
        if (rEuler.x < -180f) { rEuler.x = rEuler.x + 360f; }
        else if (rEuler.x > 180f) { rEuler.x = rEuler.x - 360f; }

        if (rEuler.y < -180f) { rEuler.y = rEuler.y + 360f; }
        else if (rEuler.y > 180f) { rEuler.y = rEuler.y - 360f; }

        if (rEuler.z < -180f) { rEuler.z = rEuler.z + 360f; }
        else if (rEuler.z > 180f) { rEuler.z = rEuler.z - 360f; }
        return rEuler;
    }
}