#include "gsai_follow_path.h"


GSAIPath GSAIFollowPath::get_*path() {
 return *path;
}

void GSAIFollowPath::set_*path(const GSAIPath &val) {
*path = val;
}


float GSAIFollowPath::get_path_offset() const {
 return path_offset;
}

void GSAIFollowPath::set_path_offset(const float val) {
path_offset = val;
}


bool GSAIFollowPath::get_is_arrive_enabled() const {
 return is_arrive_enabled;
}

void GSAIFollowPath::set_is_arrive_enabled(const bool val) {
is_arrive_enabled = val;
}


float GSAIFollowPath::get_prediction_time() const {
 return prediction_time;
}

void GSAIFollowPath::set_prediction_time(const float val) {
prediction_time = val;
}



 // Produces a linear acceleration that moves the agent along the specified path.;
 // @category - Individual behaviors;
 // The path to follow and travel along.;
  GSAIPath *path;
 // The distance along the path to generate the next target position.;
  float path_offset = 0.0;
 // Whether to use `GSAIArrive` behavior on an open path.;
  bool is_arrive_enabled = true;
 // The amount of time in the future to predict the owning agent's position along;
 // the path. Setting it to 0.0 will force non-predictive path following.;
  float prediction_time = 0.0;

 void GSAIFollowPath::_calculate_steering(const GSAITargetAcceleration &acceleration) {
   Vector3 location = ;

  if (prediction_time == 0) {
   location = agent.position;
}


  else {
   location = agent.position + (agent.linear_velocity * prediction_time);
}

   float distance = path.calculate_distance(location);
   float target_distance = distance + path_offset;

  if (prediction_time > 0 && path.is_open) {

   if (target_distance < path.calculate_distance(agent.position)) {
    target_distance = path.length;
}

}

   Vector3 target_position = path.calculate_target_position(target_distance);

  if (is_arrive_enabled && path.is_open) {

   if (path_offset >= 0) {

    if (target_distance > path.length - deceleration_radius) {
     arrive(acceleration, target_position);
     return;
}

}


   else {

    if (target_distance < deceleration_radius) {
     arrive(acceleration, target_position);
     return;
}

}

}

  acceleration.linear = (target_position - agent.position).normalized();
  acceleration.linear *= agent.linear_acceleration_max;
  acceleration.angular = 0;
}

}

 GSAIFollowPath::GSAIFollowPath() {
  *path;
  path_offset = 0.0;
  is_arrive_enabled = true;
  prediction_time = 0.0;
 }

 GSAIFollowPath::~GSAIFollowPath() {
 }


 static void GSAIFollowPath::_bind_methods() {
   ClassDB::bind_method(D_METHOD("get_*path"), &GSAIFollowPath::get_*path);
   ClassDB::bind_method(D_METHOD("set_*path", "value"), &GSAIFollowPath::set_*path);
   ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "*path", PROPERTY_HINT_RESOURCE_TYPE, "GSAIPath"), "set_*path", "get_*path");


   ClassDB::bind_method(D_METHOD("get_path_offset"), &GSAIFollowPath::get_path_offset);
   ClassDB::bind_method(D_METHOD("set_path_offset", "value"), &GSAIFollowPath::set_path_offset);
   ADD_PROPERTY(PropertyInfo(Variant::REAL, "path_offset"), "set_path_offset", "get_path_offset");


   ClassDB::bind_method(D_METHOD("get_is_arrive_enabled"), &GSAIFollowPath::get_is_arrive_enabled);
   ClassDB::bind_method(D_METHOD("set_is_arrive_enabled", "value"), &GSAIFollowPath::set_is_arrive_enabled);
   ADD_PROPERTY(PropertyInfo(Variant::BOOL, "is_arrive_enabled"), "set_is_arrive_enabled", "get_is_arrive_enabled");


   ClassDB::bind_method(D_METHOD("get_prediction_time"), &GSAIFollowPath::get_prediction_time);
   ClassDB::bind_method(D_METHOD("set_prediction_time", "value"), &GSAIFollowPath::set_prediction_time);
   ADD_PROPERTY(PropertyInfo(Variant::REAL, "prediction_time"), "set_prediction_time", "get_prediction_time");


  ClassDB::bind_method(D_METHOD("_calculate_steering", "acceleration"), &GSAIFollowPath::_calculate_steering);

 }