using Code.Base;
using UnityEngine;

namespace Code.Lab3
{
    public class Align : AgentBehaviour
    {
        public float targetRadius;
        public float slowRadius;
        public float timeToTarget = 0.1f;

        public override Steering GetSteering()
        {
            var steering = new Steering();
            var targetOrientation = target.GetComponent<Agent>().orientation;
            var rotation = targetOrientation - Agent.orientation;
            rotation = MapToRange(rotation);
            
            var rotationSize = Mathf.Abs(rotation);
            if (rotationSize < targetRadius)
                return steering;
            
            float targetRotation;
            if (rotationSize > slowRadius)
                targetRotation = Agent.maxRotation;
            else
                targetRotation = Agent.maxRotation * rotationSize / slowRadius;
            targetRotation *= rotation / rotationSize;
            
            steering.Angular = targetRotation - Agent.rotation;
            steering.Angular /= timeToTarget;
            var angularAccel = Mathf.Abs(steering.Angular);
            
            if (!(angularAccel > Agent.maxAngularAcceleration)) return steering;
            
            steering.Angular /= angularAccel;
            steering.Angular *= Agent.maxAngularAcceleration;
            
            return steering;
        }
    }
}