using System;
using System.Collections.Generic;
using System.Text;
using SalsaModel.Scheduling;

namespace SalsaModel.Actions
{
    class HalfTurn : IAction
    {
        readonly SalsaMover.TurnDirection _direction;
        readonly PositionModel.Side _stepWith;
        readonly double _stepDistance;
        readonly SalsaMover _mover;

        double _initAngle;
        double _addToAngle;

        public HalfTurn(SalsaMover mover, PositionModel.Side stepWith, double distance, SalsaMover.TurnDirection direction)
        {
            _mover = mover;
            _stepWith = stepWith;
            _stepDistance = distance;
            _direction = direction;
        }

        TimeLine _timeLine = new TimeLine();

        public void Start()
        {
            _initAngle = _mover.Model.ForwardUnit().XYOrientation();
            _addToAngle = (_direction == SalsaMover.TurnDirection.Right ? Math.PI : -Math.PI);

            _timeLine.Add(0, 1, new MoveFootAction(_mover, _stepWith, _stepDistance));
            CubanMotionAction.AddTo(_timeLine, 0, 1, _mover, _stepWith, _stepDistance, _addToAngle);

            _prev = -1;
            _timeLine.RunActions(_prev, 0);
            _prev = 0;
        }

        double _prev;
        public void Update(double now)
        {
            _mover.RotateFootAroundToeBy(PositionModel.Side.Left, _addToAngle * (now - _prev));
            _mover.RotateFootAroundToeBy(PositionModel.Side.Right, _addToAngle * (now - _prev));

            _timeLine.RunActions(_prev, now);

            _prev = now;
        }

        public void End()
        {
        }

        public string DescriptiveCode
        {
            get { return "Half-turn"; }
        }
    }
}