using UnityEngine;

[RequireComponent(typeof(LineRenderer))]
public class Rope : MonoBehaviour
{
    [Header("Attachment Points")] [SerializeField]
    public Transform startAttachment; // 绳子起点绑定的Transform

    [SerializeField] public Transform endAttachment; // 绳子终点绑定的Transform

    [Header("Verlet Parameters")] [SerializeField]
    float nodeDistance = 0.35f;

    [SerializeField] float nodeColliderRadius = 0.2f;
    [SerializeField] float gravityStrength = 2;
    [SerializeField] float totalLength = 10f;
    [SerializeField, Range(0, 1)] float velocityDampen = 0.95f;
    [SerializeField, Range(0, 0.99f)] float stiffness = 0.8f;
    [SerializeField] int iterateCollisionsEvery = 1;
    [SerializeField] int iterations = 10;
    [SerializeField] int colliderBufferSize = 1;

    [Header("Line Renderer")] [SerializeField]
    float ropeWidth = 0.1f;

    // 私有变量
    Vector3 gravity;

    // 数组和缓存
    Vector3[] currentNodePositions;
    Vector3[] previousNodePositions;
    Collider[] colliderHitBuffer;
    LineRenderer lineRenderer;
    GameObject nodeTester;
    SphereCollider nodeCollider;
    int totalNodes;
    float lastTotalLength;

    void Awake()
    {
        // 获取组件引用
        lineRenderer = GetComponent<LineRenderer>();
        gravity = new Vector3(0, -gravityStrength, 0);

        // 初始化节点测试器
        nodeTester = new GameObject("Node Tester");
        nodeTester.layer = 8;
        nodeCollider = nodeTester.AddComponent<SphereCollider>();
        nodeCollider.radius = nodeColliderRadius;

        // 初始化长度跟踪
        lastTotalLength = totalLength;
        InitializeRope();
    }

    void InitializeRope()
    {
        // 计算节点数量
        totalNodes = Mathf.FloorToInt(totalLength / nodeDistance) + 1;
        float remainingLength = totalLength % nodeDistance;

        if (remainingLength > 0 && totalLength > nodeDistance)
        {
            totalNodes++;
        }

        // 初始化或调整数组大小
        System.Array.Resize(ref currentNodePositions, totalNodes);
        System.Array.Resize(ref previousNodePositions, totalNodes);
        colliderHitBuffer = new Collider[colliderBufferSize];

        // 初始化节点位置
        Vector3 startPos = startAttachment != null ? startAttachment.position : transform.position;
        for (int i = 0; i < totalNodes; i++)
        {
            float distance = (i == totalNodes - 1 && remainingLength > 0) ? remainingLength : nodeDistance;

            currentNodePositions[i] = startPos;
            previousNodePositions[i] = startPos;
            startPos.y -= distance;
        }

        // 设置线渲染器
        lineRenderer.startWidth = ropeWidth;
        lineRenderer.endWidth = ropeWidth;
        lineRenderer.positionCount = totalNodes;
    }

    void Update()
    {
        // 检查长度是否变化
        if (!Mathf.Approximately(totalLength, lastTotalLength))
        {
            AdjustRopeLength();
            lastTotalLength = totalLength;
        }

        DrawRope();
    }

    void AdjustRopeLength()
    {
        Vector3[] oldPositions = (Vector3[])currentNodePositions.Clone();
        Vector3[] oldPrevPositions = (Vector3[])previousNodePositions.Clone();

        InitializeRope();

        int copyLength = Mathf.Min(oldPositions.Length, currentNodePositions.Length);
        System.Array.Copy(oldPositions, currentNodePositions, copyLength);
        System.Array.Copy(oldPrevPositions, previousNodePositions, copyLength);

        if (currentNodePositions.Length > oldPositions.Length)
        {
            Vector3 lastPos = oldPositions[oldPositions.Length - 1];
            for (int i = oldPositions.Length; i < currentNodePositions.Length; i++)
            {
                float distance = (i == currentNodePositions.Length - 1 && (totalLength % nodeDistance) > 0)
                    ? (totalLength % nodeDistance)
                    : nodeDistance;

                lastPos.y -= distance;
                currentNodePositions[i] = lastPos;
                previousNodePositions[i] = lastPos;
            }
        }
    }

    void FixedUpdate()
    {
        Simulate();

        for (int i = 0; i < iterations; i++)
        {
            ApplyConstraint();

            if (i % (iterateCollisionsEvery + 1) == 0)
            {
                AdjustCollisions();
            }
        }
    }

    void Simulate()
    {
        float fixedDt = Time.fixedDeltaTime;
        for (int i = 0; i < totalNodes; i++)
        {
            Vector3 velocity = (currentNodePositions[i] - previousNodePositions[i]) * velocityDampen;
            previousNodePositions[i] = currentNodePositions[i];
            currentNodePositions[i] += velocity + gravity * fixedDt;
        }
    }

    void ApplyConstraint()
    {
        // 绑定到起点Transform
        if (startAttachment != null)
        {
            currentNodePositions[0] = startAttachment.position;
        }

        // 绑定到终点Transform
        if (endAttachment != null)
        {
            currentNodePositions[totalNodes - 1] = endAttachment.position;
        }

        float halfStiffness = 0.5f * stiffness;
        int nodeCountMinusOne = totalNodes - 1;

        for (int i = 0; i < nodeCountMinusOne; i++)
        {
            Vector3 node1 = currentNodePositions[i];
            Vector3 node2 = currentNodePositions[i + 1];
            Vector3 diff = node1 - node2;

            float desiredDistance = (i == nodeCountMinusOne - 1 && (totalLength % nodeDistance) > 0)
                ? (totalLength % nodeDistance)
                : nodeDistance;

            float sqrDesiredDistance = desiredDistance * desiredDistance;
            float sqrDistance = diff.x * diff.x + diff.y * diff.y + diff.z * diff.z;

            if (Mathf.Abs(sqrDistance - sqrDesiredDistance) > 0.001f)
            {
                float distance = Mathf.Sqrt(sqrDistance);
                float difference = desiredDistance - distance;
                Vector3 direction = diff / distance;

                Vector3 adjustment = direction * (difference * halfStiffness);

                currentNodePositions[i] += adjustment;
                currentNodePositions[i + 1] -= adjustment;
            }
        }
    }

    void AdjustCollisions()
    {
        for (int i = 1; i < totalNodes; i += 2)
        {
            int hits = Physics.OverlapSphereNonAlloc(
                currentNodePositions[i],
                nodeColliderRadius,
                colliderHitBuffer,
                ~(1 << 8));
        
            for (int n = 0; n < hits; n++)
            {
                if (Physics.ComputePenetration(
                        nodeCollider,
                        currentNodePositions[i],
                        Quaternion.identity,
                        colliderHitBuffer[n],
                        colliderHitBuffer[n].transform.position,
                        colliderHitBuffer[n].transform.rotation,
                        out Vector3 direction,
                        out float distance))
                {
                    currentNodePositions[i] += direction * distance;
                }
            }
        }
    }

    void DrawRope()
    {
        lineRenderer.positionCount = totalNodes;
        lineRenderer.SetPositions(currentNodePositions);
    }

    void OnDestroy()
    {
        if (nodeTester != null)
        {
            Destroy(nodeTester);
        }
    }

    // 公开方法用于动态设置绑定点
    public void SetAttachments(Transform start, Transform end)
    {
        startAttachment = start;
        endAttachment = end;
    }
}