"""Alle gemessenen Koordinaten der Quelle und der Sonne haben den Ursprung in der linken unteren Ecke des Clusters in einem rechtshaendigen flachen System.
"""

import math
import objects.motor as motor

class MovingEntity:
    """Embedded entity in the world with a position."""

    def __init__(self, world):
        self.world = world
        self.pos = (0.0, 0.0, 0.0)  # (x, y, z) in local untilted coordinates

    def get_pos_rotated(self):
        """Return position rotated by world's tilt around y-axis."""
        return self.world.rotate_point_y(self.pos)

    def move(self, dx=0, dy=0, dz=0):
        self.pos = (self.pos[0] + dx, self.pos[1] + dy, self.pos[2] + dz)

class Target(MovingEntity):
    def __init__(self, world, pos=(0.0, 0.0, 0.0)):
        super().__init__(world)
        self.pos = pos

class Source(MovingEntity):
    def __init__(self, world, pos=(10.0, 10.0, 10.0)):
        super().__init__(world)
        self.pos = pos

class Mirror:
    def __init__(self, world, cluster_x=0, cluster_y=0):
        self.world = world
        self.cluster_x = cluster_x
        self.cluster_y = cluster_y

        # Store the motors
        self.yaw = motor.Motor(self.world.board)
        self.pitch = motor.Motor(self.world.board)

        # Position in un-tilted coordinate system
        self.pos = (cluster_x * self.world.grid_size, cluster_y * self.world.grid_size, 0.0)

    def get_pos_rotated(self):
        return self.world.rotate_point_y(self.pos)

    def set_angle_from_source_target(self, source: Source, target: Target):
        # Get rotated positions
        pos_mirror = self.get_pos_rotated()
        pos_source = source.get_pos_rotated()
        pos_target = target.get_pos_rotated()

        v_source = (
            pos_source[0] - pos_mirror[0],
            pos_source[1] - pos_mirror[1],
            pos_source[2] - pos_mirror[2],
        )
        v_target = (
            pos_target[0] - pos_mirror[0],
            pos_target[1] - pos_mirror[1],
            pos_target[2] - pos_mirror[2],
        )

        def normalize(v):
            length = math.sqrt(v[0] ** 2 + v[1] ** 2 + v[2] ** 2)
            if length == 0:
                return (0, 0, 0)
            return (v[0] / length, v[1] / length, v[2] / length)

        v_source_n = normalize(v_source)
        v_target_n = normalize(v_target)

        mirror_normal = (
            v_source_n[0] + v_target_n[0],
            v_source_n[1] + v_target_n[1],
            v_source_n[2] + v_target_n[2],
        )
        mirror_normal = normalize(mirror_normal)

        # Update the angles based on the normals in rotated positions
        self.yaw.set_angle(math.degrees(math.atan2(mirror_normal[0], mirror_normal[2])))
        self.pitch.set_angle(math.degrees(math.atan2(mirror_normal[1], mirror_normal[2])))

    def get_angles(self):
        return self.yaw.angle, self.pitch.angle

class World:
    def __init__(self, board, tilt_deg=0.0):
        self.board = board

        self.grid_size = 10  # In cm
        self.tilt_deg = tilt_deg  # Tilt of the grid system around y-axis
        self.mirrors = []

    def add_mirror(self, mirror):
        self.mirrors.append(mirror)

    def update_mirrors_from_source_target(self, source: Source, target: Target):
        for mirror in self.mirrors:
            mirror.set_angle_from_source_target(source, target)

    def rotate_point_y(self, point):
        """Rotate a point around the y-axis by the world's tilt angle."""
        x, y, z = point
        theta = math.radians(self.tilt_deg)
        cos_t = math.cos(theta)
        sin_t = math.sin(theta)
        x_rot = x * cos_t + z * sin_t
        y_rot = y
        z_rot = -x * sin_t + z * cos_t
        return (x_rot, y_rot, z_rot)