use bevy::prelude::*;

/// Frenet-Serret frame at a point on the helix.
#[derive(Debug, Clone, Copy)]
pub struct Frame {
    pub position: Vec3,
    #[allow(dead_code)]
    pub tangent: Vec3,
    pub normal: Vec3,
    pub binormal: Vec3,
}

#[derive(Debug, Clone)]
pub struct HelixLevel {
    pub turns_per_parent: f32,
    pub samples_per_turn: u32,
    #[allow(dead_code)]
    pub label: &'static str,
    pub color: Color,
    pub radius_scale: f32,
}

/// Outermost level is index 0, innermost is last.
#[derive(Resource, Debug, Clone)]
pub struct HelixHierarchy {
    pub levels: Vec<HelixLevel>,
    pub fill_factor: f32,
    pub base_radius: f32,
    pub pitch_per_turn: f32,
}

/// 1 unit of focal_time = 1 outermost helix turn = 1 minute.
#[derive(Resource, Debug)]
pub struct HelixState {
    pub focal_time: f32,
    pub active_level: usize,
    pub target_level: f32,
    pub interpolated_level: f32,
    pub auto_follow: bool,
    pub time_scale: f32,
}

pub fn default_hierarchy() -> HelixHierarchy {
    HelixHierarchy {
        levels: vec![
            HelixLevel {
                turns_per_parent: 1.0,
                samples_per_turn: 32,
                label: "minutes",
                color: Color::srgb(0.9, 0.2, 0.3),
                radius_scale: 1.0,
            },
            HelixLevel {
                turns_per_parent: 60.0,
                samples_per_turn: 32,
                label: "seconds",
                color: Color::srgb(0.2, 0.8, 0.4),
                radius_scale: 1.0,
            },
            HelixLevel {
                turns_per_parent: 60.0,
                samples_per_turn: 32,
                label: "sub-second",
                color: Color::srgb(0.3, 0.6, 0.9),
                radius_scale: 2.0,
            },
        ],
        fill_factor: 0.55,
        base_radius: 1.0,
        pitch_per_turn: 7.0,
    }
}

impl Default for HelixHierarchy {
    fn default() -> Self {
        default_hierarchy()
    }
}

/// Evaluate helix frame at t through all levels up to `level`.
/// Uses iterative Gram-Schmidt to avoid frame discontinuities.
pub fn eval_coil(t: f32, level: usize, hierarchy: &HelixHierarchy) -> Frame {
    use std::f32::consts::TAU;

    let r = hierarchy.base_radius;
    let p = hierarchy.pitch_per_turn;
    let theta = t * TAU;
    let (s, c) = theta.sin_cos();

    let mut px = r * c;
    let mut py = t * p;
    let mut pz = r * s;

    let mut dtx = -r * TAU * s;
    let mut dty = p;
    let mut dtz = r * TAU * c;

    let mut nx = -c;
    let mut ny = 0.0_f32;
    let mut nz = -s;

    let t_len = (dtx * dtx + dty * dty + dtz * dtz).sqrt();
    let (mut tx, mut ty, mut tz) = (dtx / t_len, dty / t_len, dtz / t_len);
    let mut bx = ty * nz - tz * ny;
    let mut by = tz * nx - tx * nz;
    let mut bz = tx * ny - ty * nx;

    for lvl in 1..=level {
        let level_info = &hierarchy.levels[lvl];

        // Child radius: cumulative depth scaling
        let depth_scale: f32 = (0..lvl)
            .map(|l| {
                let child = &hierarchy.levels[l + 1];
                hierarchy.fill_factor * child.radius_scale / child.turns_per_parent.sqrt()
            })
            .product();
        let child_r = hierarchy.base_radius * depth_scale;

        let total_turns: f32 = hierarchy.levels[..=lvl]
            .iter()
            .map(|l| l.turns_per_parent)
            .product();
        let alpha = t * total_turns * TAU;
        let (sa, ca) = alpha.sin_cos();
        let w = total_turns * TAU;

        let dx = nx * child_r * ca + bx * child_r * sa;
        let dy = ny * child_r * ca + by * child_r * sa;
        let dz = nz * child_r * ca + bz * child_r * sa;

        px += dx;
        py += dy;
        pz += dz;

        let ex = -nx * child_r * sa * w + bx * child_r * ca * w;
        let ey = -ny * child_r * sa * w + by * child_r * ca * w;
        let ez = -nz * child_r * sa * w + bz * child_r * ca * w;

        dtx += ex;
        dty += ey;
        dtz += ez;

        let t_len = (dtx * dtx + dty * dty + dtz * dtz).sqrt();
        tx = dtx / t_len;
        ty = dty / t_len;
        tz = dtz / t_len;

        let dot = dx * tx + dy * ty + dz * tz;
        let mut nnx = dx - dot * tx;
        let mut nny = dy - dot * ty;
        let mut nnz = dz - dot * tz;
        let n_len = (nnx * nnx + nny * nny + nnz * nnz).sqrt();
        nnx /= n_len;
        nny /= n_len;
        nnz /= n_len;

        nx = nnx;
        ny = nny;
        nz = nnz;

        bx = ty * nz - tz * ny;
        by = tz * nx - tx * nz;
        bz = tx * ny - ty * nx;
    }

    Frame {
        position: Vec3::new(px, py, pz),
        tangent: Vec3::new(tx, ty, tz),
        normal: Vec3::new(nx, ny, nz),
        binormal: Vec3::new(bx, by, bz),
    }
}

pub fn compute_focal_point(state: &HelixState, hierarchy: &HelixHierarchy) -> Vec3 {
    let frame = eval_coil(state.focal_time, 0, hierarchy);
    frame.position
}

#[derive(Resource)]
pub struct HelixGeometry {
    pub levels: Vec<HelixLevelGeometry>,
    pub precomputed_to: f32,
}

pub struct HelixLevelGeometry {
    pub t_start: f32,
    pub t_step: f32,
    pub positions: Vec<Vec3>,
}

fn samples_per_t(level_idx: usize, hierarchy: &HelixHierarchy) -> f32 {
    let total_turns: f32 = hierarchy.levels[..=level_idx]
        .iter()
        .map(|l| l.turns_per_parent)
        .product();
    let spt = if level_idx == hierarchy.levels.len() - 1 {
        64.0
    } else {
        32.0
    };
    total_turns * spt
}

const PRECOMPUTE_AHEAD: f32 = 30.0;
const PRECOMPUTE_BEHIND: f32 = 10.0;

pub fn setup_helix_geometry(mut commands: Commands, hierarchy: Res<HelixHierarchy>) {
    let t_start = -PRECOMPUTE_BEHIND;
    let t_end = PRECOMPUTE_AHEAD;

    let mut levels = Vec::with_capacity(hierarchy.levels.len());

    for level_idx in 0..hierarchy.levels.len() {
        let spt = samples_per_t(level_idx, &hierarchy);
        let t_step = 1.0 / spt;
        let num_samples = ((t_end - t_start) / t_step) as usize + 1;

        let mut positions = Vec::with_capacity(num_samples);
        for i in 0..num_samples {
            let t = t_start + i as f32 * t_step;
            let frame = eval_coil(t, level_idx, &hierarchy);
            positions.push(frame.position);
        }

        info!(
            "helix level {level_idx}: precomputed {num_samples} points, t=[{t_start}..{t_end}], step={t_step:.6}"
        );

        levels.push(HelixLevelGeometry {
            t_start,
            t_step,
            positions,
        });
    }

    commands.insert_resource(HelixGeometry {
        levels,
        precomputed_to: t_end,
    });
}

pub fn extend_helix_geometry(
    state: Res<HelixState>,
    hierarchy: Res<HelixHierarchy>,
    mut geometry: ResMut<HelixGeometry>,
) {
    if state.focal_time + 5.0 < geometry.precomputed_to {
        return;
    }

    let new_end = geometry.precomputed_to + PRECOMPUTE_AHEAD;

    for (level_idx, level_geom) in geometry.levels.iter_mut().enumerate() {
        let spt = samples_per_t(level_idx, &hierarchy);
        let t_step = 1.0 / spt;
        let current_end = level_geom.t_start + (level_geom.positions.len() as f32) * t_step;

        let num_new = ((new_end - current_end) / t_step) as usize;
        for i in 0..num_new {
            let t = current_end + i as f32 * t_step;
            let frame = eval_coil(t, level_idx, &hierarchy);
            level_geom.positions.push(frame.position);
        }
    }

    info!("extended helix geometry to t={new_end}");
    geometry.precomputed_to = new_end;
}

#[derive(Resource)]
pub struct HelixGizmoCache {
    pub last_focal_time: f32,
    pub last_level: f32,
    pub entity: Option<Entity>,
    pub asset_handle: Option<Handle<GizmoAsset>>,
}

impl Default for HelixGizmoCache {
    fn default() -> Self {
        Self {
            last_focal_time: 0.0,
            last_level: -1.0,
            entity: None,
            asset_handle: None,
        }
    }
}

pub fn draw_helix(
    mut commands: Commands,
    hierarchy: Res<HelixHierarchy>,
    state: Res<HelixState>,
    geometry: Res<HelixGeometry>,
    mut gizmo_assets: ResMut<Assets<GizmoAsset>>,
    mut cache: ResMut<HelixGizmoCache>,
) {
    const WINDOW: f32 = 120.0;
    const UPDATE_THRESHOLD: f32 = 0.005;

    let focal_changed = (state.focal_time - cache.last_focal_time).abs() > UPDATE_THRESHOLD;
    let level_changed = (state.interpolated_level - cache.last_level).abs() > 0.01;

    if !focal_changed && !level_changed && cache.entity.is_some() {
        return;
    }

    let mut gizmo = GizmoAsset::default();

    for (level_idx, level) in hierarchy.levels.iter().enumerate() {
        let distance_from_active = (level_idx as f32 - state.interpolated_level).abs();
        let alpha = if distance_from_active < 0.5 { 1.0 } else { 0.4 };

        let total_turns: f32 = hierarchy.levels[..=level_idx]
            .iter()
            .map(|l| l.turns_per_parent)
            .product();

        let window_half_t = (WINDOW / 2.0) / total_turns;
        let t_start = state.focal_time - window_half_t;
        let t_end = state.focal_time + window_half_t;

        let level_geom = &geometry.levels[level_idx];

        let idx_start = ((t_start - level_geom.t_start) / level_geom.t_step).max(0.0) as usize;
        let idx_end = ((t_end - level_geom.t_start) / level_geom.t_step)
            .min(level_geom.positions.len() as f32 - 1.0)
            .max(0.0) as usize;

        if idx_end <= idx_start + 1 {
            continue;
        }

        let slice = &level_geom.positions[idx_start..=idx_end];
        if slice.len() > 1 {
            gizmo.linestrip(slice.iter().copied(), level.color.with_alpha(alpha));
        }
    }

    match &cache.asset_handle {
        Some(h) => {
            let _ = gizmo_assets.insert(h.id(), gizmo);
        }
        None => {
            let h = gizmo_assets.add(gizmo);
            cache.asset_handle = Some(h.clone());
            let entity = commands
                .spawn(Gizmo {
                    handle: h,
                    ..default()
                })
                .id();
            cache.entity = Some(entity);
        }
    }

    cache.last_focal_time = state.focal_time;
    cache.last_level = state.interpolated_level;
}

#[cfg(test)]
mod tests {
    use super::*;


    /// Assert all components of a Vec3 are finite (non-NaN and non-Inf).
    fn assert_finite(v: Vec3, label: &str) {
        assert!(v.x.is_finite(), "{label}.x is not finite: {}", v.x);
        assert!(v.y.is_finite(), "{label}.y is not finite: {}", v.y);
        assert!(v.z.is_finite(), "{label}.z is not finite: {}", v.z);
    }

    /// Assert a Vec3 has length approximately 1.0 (within 0.01).
    fn assert_unit(v: Vec3, label: &str) {
        let len = v.length();
        assert!(
            (len - 1.0).abs() < 0.01,
            "{label} is not unit length: length = {len}"
        );
    }


    #[test]
    fn default_hierarchy_has_three_levels_with_positive_params() {
        let h = default_hierarchy();
        assert_eq!(h.levels.len(), 3, "expected 3 levels");
        assert!(h.fill_factor > 0.0, "fill_factor must be positive");
        assert!(h.base_radius > 0.0, "base_radius must be positive");
        assert!(h.pitch_per_turn > 0.0, "pitch_per_turn must be positive");
        for (i, level) in h.levels.iter().enumerate() {
            assert!(
                level.turns_per_parent > 0.0,
                "level[{i}].turns_per_parent must be positive"
            );
            assert!(
                level.samples_per_turn > 0,
                "level[{i}].samples_per_turn must be positive"
            );
        }
    }


    #[test]
    fn eval_coil_level0_finite_for_extreme_t_values() {
        let h = default_hierarchy();
        let test_values = [-10.0_f32, 0.0, 0.5, 1.0, 100.0];
        for &t in &test_values {
            let frame = eval_coil(t, 0, &h);
            assert_finite(frame.position, &format!("level0 t={t} position"));
            assert_finite(frame.normal, &format!("level0 t={t} normal"));
            assert_finite(frame.binormal, &format!("level0 t={t} binormal"));
        }
    }


    #[test]
    fn eval_coil_level0_frame_is_orthonormal() {
        let h = default_hierarchy();
        let test_values = [-10.0_f32, 0.0, 0.5, 1.0, 100.0];
        for &t in &test_values {
            let frame = eval_coil(t, 0, &h);

            // Each basis vector must be approximately unit length
            assert_unit(frame.normal, &format!("level0 t={t} normal"));
            assert_unit(frame.binormal, &format!("level0 t={t} binormal"));

            // Orthogonality: dot products of distinct basis vectors must be ~0
            let dot_nb = frame.normal.dot(frame.binormal).abs();
            assert!(
                dot_nb < 0.01,
                "level0 t={t}: normal·binormal = {dot_nb} (not orthogonal)"
            );
        }
    }


    #[test]
    fn eval_coil_level1_offset_from_level0_by_child_radius() {
        let h = default_hierarchy();

        // Compute expected child_radius for level 1 using the same formula as eval_coil.
        // depth_scale = fill_factor / sqrt(levels[1].turns_per_parent)
        let depth_scale = h.fill_factor / h.levels[1].turns_per_parent.sqrt();
        let child_radius = h.base_radius * depth_scale;

        let test_values = [0.0_f32, 0.25, 0.5, 1.0];
        for &t in &test_values {
            let frame0 = eval_coil(t, 0, &h);
            let frame1 = eval_coil(t, 1, &h);

            let offset = (frame1.position - frame0.position).length();
            assert!(
                (offset - child_radius).abs() < 0.01,
                "t={t}: level-1 offset = {offset}, expected child_radius = {child_radius}"
            );
        }
    }


    #[test]
    fn eval_coil_level1_finite_for_various_t_values() {
        let h = default_hierarchy();
        let test_values = [-10.0_f32, 0.0, 0.5, 1.0, 100.0];
        for &t in &test_values {
            let frame = eval_coil(t, 1, &h);
            assert_finite(frame.position, &format!("level1 t={t} position"));
            assert_finite(frame.normal, &format!("level1 t={t} normal"));
            assert_finite(frame.binormal, &format!("level1 t={t} binormal"));
        }
    }
}