extends RigidBody3D
class_name Unit

@export var movement_force: float = 100
@export var max_speed: float = 100
@export var minimum_progress_rate: float = 1.0
@export var stuck_time: float = 1.0

var target_velocity: Vector3 = Vector3()
var last_distance_to_target: float = 0.0
var stuck_timer: float = 0.0

func _ready() -> void:
	#$NavigationAgent3D.connect("velocity_computed", avoidance_velocity_computed)
	pass
	
func avoidance_velocity_computed(velocity: Vector3) -> void:
	if velocity != target_velocity:
		#DebugDraw3D.draw_line(global_position, global_position + velocity, Color.ORANGE)
		#print("Avoidance issued!")
		target_velocity = velocity

func _process(delta: float) -> void:
	if $NavigationAgent3D.is_target_reached() \
		or $NavigationAgent3D.target_position.is_zero_approx() \
		or !$NavigationAgent3D.is_target_reachable():
		$NavigationAgent3D.target_position = NavigationServer3D.map_get_random_point(NavigationServer3D.get_maps()[0], 1, true)
		last_distance_to_target = $NavigationAgent3D.distance_to_target()
	else:
		var distance_to_target: float = $NavigationAgent3D.distance_to_target()
		var progress_rate: float = (last_distance_to_target - distance_to_target) / delta
		$Label3D.text = "Prog: %f" % progress_rate
		last_distance_to_target = distance_to_target
		if progress_rate < minimum_progress_rate:
			$Label3D.modulate = Color.RED
			stuck_timer += delta
			if stuck_timer >= stuck_time:
				unstuck()
		else:
			$Label3D.modulate = Color.WHITE
			stuck_timer = 0
		DebugDraw3D.draw_sphere($NavigationAgent3D.target_position, 0.5, Color.RED)
		var next_point: Vector3 = $NavigationAgent3D.get_next_path_position()
		DebugDraw3D.draw_sphere(next_point, 0.1, Color.YELLOW)
		var direction: Vector3 = (next_point - global_position).normalized()
		#DebugDraw3D.draw_line(global_position, global_position + linear_velocity, Color.BLUE)
		target_velocity= direction * max_speed
		#$NavigationAgent3D.velocity = target_velocity
		#DebugDraw3D.draw_line(global_position, global_position + target_velocity, Color.MAGENTA)
		#DebugDraw3D.draw_text(global_position + Vector3(0,1,0), "%f" % $NavigationAgent3D.distance_to_target())

func unstuck() -> void:
	# teleport to next path point
	global_position = $NavigationAgent3D.get_next_path_position()
	stuck_timer = 0

func _physics_process(delta: float) -> void:
	if $ShapeCast3D.is_colliding():
		var force_direction: Vector3 = (target_velocity-linear_velocity)
		var normal: Vector3 = $ShapeCast3D.get_collision_normal(0)
		#DebugDraw3D.draw_line(global_position, global_position + normal, Color.DODGER_BLUE)
		var force: Vector3 = (force_direction * movement_force).slide(normal)
		#DebugDraw3D.draw_line(global_position, global_position + force, Color.GREEN)
		apply_central_force(force)