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

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

        double _initAngle;
        double _addToAngle;

        public SRTurn(SalsaMover mover, PositionModel.Side stepWith, double distance)
        {
            _mover = mover;
            _stepWith = stepWith;
            _stepDistance = distance;
        }

        TimeLine _timeLine = new TimeLine();

        public void Start()
        {
            _initAngle = _mover.Model.ForwardUnit().XYOrientation();
            _addToAngle = Math.PI * 2;

            // two steps
            CubanMotionAction.AddTo(_timeLine, 0, 0.33, _mover, _stepWith, _stepDistance, Math.PI);
            CubanMotionAction.AddTo(_timeLine, 0.33, 0.67, _mover, PositionModel.Other(_stepWith), _stepDistance, Math.PI);

            _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 "SR turn"; }
        }
    }
}