local ode = honey.ode

local ecs = require 'honey.ecs.ecs'
local node = require 'honey.ecs.node'
local script = require 'honey.ecs.script'
local glm = require 'honey.glm'
local Vec3 = glm.Vec3

local module = {}
setmetatable(module, {__index=_G})
setfenv(1, module)


--[[
	collisions are split into two systems: geom updates and transform updates.
]]


local function createGeom(space, id, collision)
	local class = collision.class
	local geom
	if class == "sphere" then
		geom = ode.CreateSphere(space, collision.radius)
	elseif class == "box" then
		geom = ode.CreateBox(space, collision.lx, collision.ly, collision.lz)
	elseif class == "plane" then
		geom = ode.CreatePlane(space, collision.a, collision.b, collision.c, collision.d)
	elseif class == "capsule" then
		geom = ode.CreateCapsule(space, collision.radius, collision.length)
	elseif class == "cylinder" then
		geom = ode.CreateCylinder(space, collision.radius, collision.length)
	elseif class == "ray" then
		geom = ode.CreateRay(space, collision.length)
	end

	ode.GeomSetData(geom, id)
	collision._geom = geom
	collision._gc = honey.util.gc_canary(function()
		ode.GeomDestroy(geom)
	end)
end


local function updateGeom(collision)
	local geom = collision._geom
	
	ode.GeomSetCategoryBits(geom, collision.category or 0x1)
	ode.GeomSetCollideBits(geom, collision.collide or 0xffffffff)

	local class = collision.class
	if class == "sphere" then
		ode.GeomSphereSetRadius(geom, collision.radius)
	elseif class == "box" then
		ode.GeomBoxSetLengths(geom, collision.lx, collision.ly, collision.lz)
	elseif class == "plane" then
		ode.GeomPlaneSetParams(geom, collision.a, collision.b, collision.c, collision.d)
	elseif class == "capsule" then
		ode.GeomCapsuleSetParams(geom, collision.radius, collision.length)
	elseif class == "cylinder" then
		ode.GeomCylinderSetParams(geom, collision.radius, collision.length)
	elseif class == "ray" then
		GeomRaySetLength(geom, collision.length)
	end
end


local updateGeom = ecs.System("collisionGeoms", function(db, dt, p)
	for id, collision in pairs(db:queryComponent("collision")) do
		if not collision._geom then
			createGeom(p.space, id, collision)
		end
		updateGeom(collision)
	end
end)


--===== update transform & collide =====--

local function isPlaceable(collision)
	if collision.class == "plane" then return false end
	return true
end


local function updateGeomTransform(collision, node)
	local geom = collision._geom
	local m = node._matrix
	ode.GeomSetPosition(geom, m[1][4], m[2][4], m[3][4])
	ode.GeomSetRotation(geom,
		m[1][1], m[1][2], m[1][3],
		m[2][1], m[2][2], m[2][3],
		m[3][1], m[3][2], m[3][3]
	)
end


local function runCollisionScript(db, id, other, collisions)
	local handler = db:getComponent(id, "onCollision")
	if handler then
		local f = script.getFunction(handler)
		f(db, id, other, collisions)
	end
end


local updateTransform = ecs.System("collisionTransform", function(db, dt, p)
	local query = db:queryComponent("collision")

	-- update transforms
	for id, collision in pairs(query) do
		if isPlaceable(collision) then
			local node = db:getComponent(id, "node")
			if node then
				updateGeomTransform(collision, node)
			end
		end
	end

	-- compute and handle collisions
	ode.SpaceCollide(p.space, function(geomA, geomB)
		local collisions = ode.Collide(geomA, geomB, p.maxPoints or 1)
		if #collisions > 0 then
			-- get entity ids
			local idA = ode.GetData(geomA)
			local idB = ode.GetData(geomB)
		
			-- run handlers, if any
			runCollisionScript(db, idA, idB, collisions)
			runCollisionScript(db, idB, idA, collisions)
		end
	end)
end)
updateTransform:addDependencies(node.system)
updateTransform:addDependencies({updateGeom})

system = { updateGeom, updateTransform }


return module