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use std::f32::consts::{FRAC_PI_3, FRAC_PI_6};

use glam::{const_mat3a, vec3a, Mat3A, Vec3, Vec3A};

use super::bvh::Bvh;
use super::mesh::Mesh;
use crate::linear_algebra::mat::MatrixExt;
use crate::linear_algebra::math::{axis_to_rotation, dot};

const FLIP_X: Mat3A = const_mat3a!([-1., 0., 0.], [0., 1., 0.], [0., 0., 1.]);

const FLIP_Y: Mat3A = const_mat3a!([1., 0., 0.], [0., -1., 0.], [0., 0., 1.]);

fn quad(p: Vec3A, e1: Vec3A, e2: Vec3A) -> Mesh {
    let vertices = [p + e1 + e2, p - e1 + e2, p - e1 - e2, p + e1 - e2].iter().flat_map(|vertex| vertex.to_array()).collect();

    Mesh {
        ids: vec![0, 1, 3, 1, 2, 3],
        vertices,
    }
}

pub fn initialize_soccar(soccar_corner: &Mesh, soccar_goal: &Mesh, soccar_ramps_0: &Mesh, soccar_ramps_1: &Mesh) -> Bvh {
    let floor = quad(Vec3A::default(), vec3a(4096., 0., 0.), vec3a(0., 5120., 0.));

    let ceiling = quad(vec3a(0., 0., 2048.), vec3a(-4096., 0., 0.), vec3a(0., 5120., 0.));

    let side_walls = [quad(vec3a(4096., 0., 1024.), vec3a(0., -5120., 0.), vec3a(0., 0., 1024.)), quad(vec3a(-4096., 0., 1024.), vec3a(0., 5120., 0.), vec3a(0., 0., 1024.))];

    let field_mesh = Mesh::from(vec![
        soccar_corner,
        &soccar_corner.transform(FLIP_X),
        &soccar_corner.transform(FLIP_Y),
        &soccar_corner.transform(FLIP_X.dot(FLIP_Y)),
        &soccar_goal.translate(vec3a(0., -5120., 0.)),
        &soccar_goal.translate(vec3a(0., -5120., 0.)).transform(FLIP_Y),
        soccar_ramps_0,
        &soccar_ramps_0.transform(FLIP_X),
        soccar_ramps_1,
        &soccar_ramps_1.transform(FLIP_X),
        &floor,
        &ceiling,
        &side_walls[0],
        &side_walls[1],
    ]);

    let triangles = field_mesh.to_triangles();
    Bvh::from(&triangles)
}

pub fn initialize_hoops(hoops_corner: &Mesh, hoops_net: &Mesh, hoops_rim: &Mesh, hoops_ramps_0: &Mesh, hoops_ramps_1: &Mesh) -> Bvh {
    let scale = 0.9;
    let y_offset = 431.664;

    let s = Mat3A::from_diagonal(Vec3::splat(scale));

    let dy = vec3a(0., y_offset, 0.);

    let transformed_hoops_net = hoops_net.transform(s).translate(dy);
    let transformed_hoops_rim = hoops_rim.transform(s).translate(dy);

    let floor = quad(Vec3A::default(), vec3a(2966., 0., 0.), vec3a(0., 3581., 0.));

    let ceiling = quad(vec3a(0., 0., 1820.), vec3a(-2966., 0., 0.), vec3a(0., 3581., 0.));

    let side_walls = [quad(vec3a(2966., 0., 910.), vec3a(0., -3581., 0.), vec3a(0., 0., 910.)), quad(vec3a(-2966., 0., 910.), vec3a(0., 3581., 0.), vec3a(0., 0., 910.))];

    let back_walls = [quad(vec3a(0., 0., 1024.), vec3a(0., -5120., 0.), vec3a(0., 0., 1024.)), quad(vec3a(0., 0., 1024.), vec3a(0., 5120., 0.), vec3a(0., 0., 1024.))];

    let field_mesh = Mesh::from(vec![
        hoops_corner,
        &hoops_corner.transform(FLIP_X),
        &hoops_corner.transform(FLIP_Y),
        &hoops_corner.transform(FLIP_X.dot(FLIP_Y)),
        &transformed_hoops_net,
        &transformed_hoops_net.transform(FLIP_Y),
        &transformed_hoops_rim,
        &transformed_hoops_rim.transform(FLIP_Y),
        hoops_ramps_0,
        &hoops_ramps_0.transform(FLIP_X),
        hoops_ramps_1,
        &hoops_ramps_1.transform(FLIP_Y),
        &floor,
        &ceiling,
        &side_walls[0],
        &side_walls[1],
        &back_walls[0],
        &back_walls[1],
    ]);

    let triangles = field_mesh.to_triangles();

    Bvh::from(&triangles)
}

#[allow(clippy::many_single_char_names)]
pub fn initialize_dropshot(dropshot: &Mesh) -> Bvh {
    let scale = 0.393;
    let z_offset = -207.565;

    let q = axis_to_rotation(vec3a(0., 0., FRAC_PI_6));

    let s = Mat3A::from_diagonal(Vec3::splat(scale));

    let dz = vec3a(0., 0., z_offset);

    let floor = quad(vec3a(0., 0., 2.), vec3a(10000., 0., 0.), vec3a(0., 7000., 0.));
    let ceiling = quad(vec3a(0., 0., 2020.), vec3a(-10000., 0., 0.), vec3a(0., 7000., 0.));
    let mut walls: Vec<Mesh> = Vec::with_capacity(6);

    let mut p = vec3a(0., 11683.6 * scale, 2768.64 * scale - z_offset);
    let mut x = vec3a(5000., 0., 0.);
    let z = vec3a(0., 0., 1010.);
    let r = axis_to_rotation(vec3a(0., 0., FRAC_PI_3));

    for _ in 0..6 {
        walls.push(quad(p, x, z));
        p = dot(r, p);
        x = dot(r, x);
    }

    let field_mesh = Mesh::from(vec![&dropshot.transform(q.dot(s)).translate(dz), &floor, &ceiling, &walls[0], &walls[1], &walls[2], &walls[3], &walls[4], &walls[5]]);

    let triangles = field_mesh.to_triangles();

    Bvh::from(&triangles)
}

pub struct InitializeThrowbackParams<'a> {
    pub back_ramps_lower: &'a Mesh,
    pub back_ramps_upper: &'a Mesh,
    pub corner_ramps_lower: &'a Mesh,
    pub corner_ramps_upper: &'a Mesh,
    pub corner_wall_0: &'a Mesh,
    pub corner_wall_1: &'a Mesh,
    pub corner_wall_2: &'a Mesh,
    pub goal: &'a Mesh,
    pub side_ramps_lower: &'a Mesh,
    pub side_ramps_upper: &'a Mesh,
}

pub fn initialize_throwback(
    InitializeThrowbackParams {
        back_ramps_lower,
        back_ramps_upper,
        corner_ramps_lower,
        corner_ramps_upper,
        corner_wall_0,
        corner_wall_1,
        corner_wall_2,
        goal,
        side_ramps_lower,
        side_ramps_upper,
    }: InitializeThrowbackParams<'_>,
) -> Bvh {
    let scale = 100.;

    let s = Mat3A::from_diagonal(Vec3::splat(scale));

    let floor = quad(Vec3A::default(), vec3a(4096.6, 0., 0.), vec3a(0., 6910., 0.));
    let ceiling = quad(vec3a(0., 0., 2048.), vec3a(-4096.6, 0., 0.), vec3a(0., 6910., 0.));
    let side_walls: [Mesh; 2] = [quad(vec3a(4096.6, 0., 1024.), vec3a(0., -6910., 0.), vec3a(0., 0., 1024.)), quad(vec3a(-4096.6, 0., 1024.), vec3a(0., 6910., 0.), vec3a(0., 0., 1024.))];

    let back_walls: [Mesh; 2] = [quad(vec3a(0., 6910., 1024.), vec3a(4096., 0., 0.), vec3a(0., 0., 1024.)), quad(vec3a(0., -6910., 1024.), vec3a(-4096., 0., 0.), vec3a(0., 0., 1024.))];

    let throwback_goal = goal.transform(s);
    let throwback_side_ramps_lower = side_ramps_lower.transform(s);
    let throwback_side_ramps_upper = side_ramps_upper.transform(s);
    let throwback_back_ramps_lower = back_ramps_lower.transform(s);
    let throwback_back_ramps_upper = back_ramps_upper.transform(s);
    let throwback_corner_ramps_lower = corner_ramps_lower.transform(s);
    let throwback_corner_ramps_upper = corner_ramps_upper.transform(s);
    let throwback_corner_wall_0 = corner_wall_0.transform(s);
    let throwback_corner_wall_1 = corner_wall_1.transform(s);
    let throwback_corner_wall_2 = corner_wall_2.transform(s);

    let field_mesh = Mesh::from(vec![
        &throwback_corner_ramps_lower,
        &throwback_corner_ramps_lower.transform(FLIP_X),
        &throwback_corner_ramps_lower.transform(FLIP_Y),
        &throwback_corner_ramps_lower.transform(FLIP_Y).transform(FLIP_X),
        &throwback_corner_ramps_upper,
        &throwback_corner_ramps_upper.transform(FLIP_X),
        &throwback_corner_ramps_upper.transform(FLIP_Y),
        &throwback_corner_ramps_upper.transform(FLIP_Y).transform(FLIP_X),
        &throwback_goal,
        &throwback_goal.transform(FLIP_Y),
        &throwback_side_ramps_lower,
        &throwback_side_ramps_lower.transform(FLIP_X),
        &throwback_side_ramps_upper,
        &throwback_side_ramps_upper.transform(FLIP_X),
        &throwback_back_ramps_lower,
        &throwback_back_ramps_lower.transform(FLIP_Y),
        &throwback_back_ramps_upper,
        &throwback_back_ramps_upper.transform(FLIP_Y),
        &throwback_corner_wall_0,
        &throwback_corner_wall_0.transform(FLIP_X),
        &throwback_corner_wall_0.transform(FLIP_Y),
        &throwback_corner_wall_0.transform(FLIP_Y).transform(FLIP_X),
        &throwback_corner_wall_1,
        &throwback_corner_wall_1.transform(FLIP_X),
        &throwback_corner_wall_1.transform(FLIP_Y),
        &throwback_corner_wall_1.transform(FLIP_Y).transform(FLIP_X),
        &throwback_corner_wall_2,
        &throwback_corner_wall_2.transform(FLIP_X),
        &throwback_corner_wall_2.transform(FLIP_Y),
        &throwback_corner_wall_2.transform(FLIP_Y).transform(FLIP_X),
        &floor,
        &ceiling,
        &side_walls[0],
        &side_walls[1],
        &back_walls[0],
        &back_walls[1],
    ]);

    let triangles = field_mesh.to_triangles();

    Bvh::from(&triangles)
}