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/*  Starshatter: The Open Source Project
    Copyright (c) 2021-2022, Starshatter: The Open Source Project Contributors
    Copyright (c) 2011-2012, Starshatter OpenSource Distribution Contributors
    Copyright (c) 1997-2006, Destroyer Studios LLC.

    AUTHOR:       John DiCamillo


    OVERVIEW
    ========
    Flight Computer System class
*/

#include "FlightComp.h"
#include "Ship.h"
#include "ShipDesign.h"
#include "Thruster.h"

// +----------------------------------------------------------------------+

FlightComp::FlightComp(int comp_type, const char* comp_name)
: Computer(comp_type, comp_name), mode(0), vlimit(0.0f),
trans_x_limit(0.0f), trans_y_limit(0.0f), trans_z_limit(0.0f),
throttle(0.0f), halt(0)
{ }

// +----------------------------------------------------------------------+

FlightComp::FlightComp(const Computer& c)
: Computer(c), mode(0), vlimit(0.0f),
trans_x_limit(0.0f), trans_y_limit(0.0f), trans_z_limit(0.0f),
throttle(0.0f), halt(0)
{ }

// +--------------------------------------------------------------------+

FlightComp::~FlightComp()
{ }

// +--------------------------------------------------------------------+

void
FlightComp::SetTransLimit(double x, double y, double z)
{
    trans_x_limit = 0.0f;
    trans_y_limit = 0.0f;
    trans_z_limit = 0.0f;

    if (x >= 0) trans_x_limit = (float) x;
    if (y >= 0) trans_y_limit = (float) y;
    if (z >= 0) trans_z_limit = (float) z;
}

// +--------------------------------------------------------------------+

void
FlightComp::ExecSubFrame()
{
    if (ship) {
        ExecThrottle();
        ExecTrans();
    }
}

// +--------------------------------------------------------------------+

void
FlightComp::ExecThrottle()
{
    throttle = (float) ship->Throttle();

    if (throttle > 5)
    halt = false;
}

// +--------------------------------------------------------------------+

void
FlightComp::ExecTrans()
{
    double tx = ship->TransX();
    double ty = ship->TransY();
    double tz = ship->TransZ();

    double trans_x = tx;
    double trans_y = ty;
    double trans_z = tz;

    bool flcs_operative = false;

    if (IsPowerOn())
    flcs_operative = Status() == System::NOMINAL ||
    Status() == System::DEGRADED;

    // ----------------------------------------------------------
    // FIGHTER FLCS AUTO MODE
    // ----------------------------------------------------------

    if (mode == Ship::FLCS_AUTO) {
        // auto thrust to align flight path with orientation:
        if (tx == 0) {
            if (flcs_operative)
            trans_x = (ship->Velocity() * ship->BeamLine() * -200);

            else
            trans_x = 0;
        }

        // manual thrust up to vlimit/2:
        else {
            double vfwd = ship->BeamLine() * ship->Velocity();

            if (fabs(vfwd)>= vlimit) {
                if (trans_x > 0 && vfwd > 0)
                trans_x = 0;

                else if (trans_x < 0 && vfwd < 0)
                trans_x = 0;
            }
        }

        if (halt && flcs_operative) {
            if (ty == 0) {
                double vfwd     = ship->Heading() * ship->Velocity();
                double vmag     = fabs(vfwd);

                if (vmag > 0) {
                    if (vfwd > 0)
                    trans_y = -trans_y_limit;
                    else
                    trans_y = trans_y_limit;

                    if (vfwd < vlimit/2)
                    trans_y *= (vmag/(vlimit/2));
                }
            }
        }


        // auto thrust to align flight path with orientation:
        if (tz == 0) {
            if (flcs_operative)
            trans_z = (ship->Velocity() * ship->LiftLine() * -200);

            else
            trans_z = 0;
        }

        // manual thrust up to vlimit/2:
        else {
            double vfwd = ship->LiftLine() * ship->Velocity();

            if (fabs(vfwd) >= vlimit) {
                if (trans_z > 0 && vfwd > 0)
                trans_z = 0;

                else if (trans_z < 0 && vfwd < 0)
                trans_z = 0;
            }
        }
    }

    // ----------------------------------------------------------
    // STARSHIP HELM MODE
    // ----------------------------------------------------------

    else if (mode == Ship::FLCS_HELM) {
        if (flcs_operative) {
            double compass_heading = ship->CompassHeading();
            double compass_pitch   = ship->CompassPitch();
            // rotate helm into compass orientation:
            double helm            = ship->GetHelmHeading() - compass_heading;

            if (helm > PI)
            helm -= 2*PI;
            else if (helm < -PI)
            helm += 2*PI;

            // turn to align with helm heading:
            if (helm != 0)
            ship->ApplyYaw(helm);

            // pitch to align with helm pitch:
            if (compass_pitch != ship->GetHelmPitch())
            ship->ApplyPitch(compass_pitch - ship->GetHelmPitch());

            // roll to align with world coordinates:
            if (ship->Design()->auto_roll > 0) {
                Point vrt = ship->Cam().vrt();
                double deflection = vrt.y;

                if (fabs(helm) < PI/16 || ship->Design()->turn_bank < 0.01) {
                    if (ship->Design()->auto_roll > 1) {
                        ship->ApplyRoll(0.5);
                    }
                    else if (deflection != 0) {
                        double theta = asin(deflection);
                        ship->ApplyRoll(-theta);
                    }
                }

                // else roll through turn maneuvers:
                else {
                    double desired_bank = ship->Design()->turn_bank;

                    if (helm >= 0)
                    desired_bank = -desired_bank;

                    double current_bank = asin(deflection);
                    double theta = desired_bank - current_bank;
                    ship->ApplyRoll(theta);

                    // coordinate the turn:
                    if (current_bank < 0 && desired_bank < 0 ||
                            current_bank > 0 && desired_bank > 0) {

                        double coord_pitch = compass_pitch
                        - ship->GetHelmPitch()
                        - fabs(helm) * fabs(current_bank);
                        ship->ApplyPitch(coord_pitch);
                    }
                }
            }
        }

        // flcs inoperative, set helm heading based on actual compass heading:
        else {
            ship->SetHelmHeading(ship->CompassHeading());
            ship->SetHelmPitch(ship->CompassPitch());
        }

        // auto thrust to align flight path with helm order:
        if (tx == 0) {
            if (flcs_operative)
            trans_x = (ship->Velocity() * ship->BeamLine() * ship->Mass() * -1);

            else
            trans_x = 0;
        }

        // manual thrust up to vlimit/2:
        else {
            double vfwd = ship->BeamLine() * ship->Velocity();

            if (fabs(vfwd) >= vlimit/2) {
                if (trans_x > 0 && vfwd > 0)
                trans_x = 0;

                else if (trans_x < 0 && vfwd < 0)
                trans_x = 0;
            }
        }

        if (trans_y == 0 && halt) {
            double vfwd     = ship->Heading() * ship->Velocity();
            double vdesired = 0;

            if (vfwd > vdesired) {
                trans_y = -trans_y_limit;

                if (!flcs_operative)
                trans_y = 0;

                double vdelta = vfwd-vdesired;
                if (vdelta < vlimit/2)
                trans_y *= (vdelta/(vlimit/2));
            }
        }



        // auto thrust to align flight path with helm order:
        if (tz == 0) {
            if (flcs_operative)
            trans_z = (ship->Velocity() * ship->LiftLine() * ship->Mass() * -1);

            else
            trans_z = 0;
        }

        // manual thrust up to vlimit/2:
        else {
            double vfwd = ship->LiftLine() * ship->Velocity();

            if (fabs(vfwd) > vlimit/2) {
                if (trans_z > 0 && vfwd > 0)
                trans_z = 0;

                else if (trans_z < 0 && vfwd < 0)
                trans_z = 0;
            }
        }
    }

    if (ship->GetThruster()) {
        ship->GetThruster()->ExecTrans(trans_x, trans_y, trans_z);
    }
    else {
        ship->SetTransX(trans_x);
        ship->SetTransY(trans_y);
        ship->SetTransZ(trans_z);
    }
}