using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Numerics;
using AcDream.Core.Physics;
using DatReaderWriter.Enums;
using DatReaderWriter.Types;
using Xunit;

namespace AcDream.Core.Tests.Physics;

/// <summary>
/// A6.P3 issue #98 (2026-05-23) — deterministic TRAJECTORY replay
/// harness for the cottage cellar-ascent failure. Drives
/// <see cref="PhysicsEngine.ResolveWithTransition"/> through N physics
/// ticks against pre-loaded cell fixtures, capturing a per-tick
/// trajectory record.
///
/// <para>
/// Unlike <see cref="Issue98CellarUpReplayTests"/> (which tests a SINGLE
/// failing-frame's geometry against our walkable predicates), this
/// harness drives MANY ticks through the full engine to reproduce the
/// trajectory itself — once the fixtures support it (see below).
/// </para>
///
/// <h3>Status as of 2026-05-23 evening: harness mechanics WORK, fixtures
/// INCOMPLETE.</h3>
///
/// <para>
/// The harness compiles and runs the engine through N ticks in
/// &lt; 100 ms total. Two findings during commissioning:
/// </para>
///
/// <list type="number">
///   <item>The three issue-#98 cell fixtures
///         (<c>tests/AcDream.Core.Tests/Fixtures/issue98/0xA9B40*.json</c>)
///         contain ONLY axis-aligned polygons — cellar floor, cellar
///         ceiling, four cellar walls, cottage floor, cottage walls. The
///         live capture's CELLAR RAMP polygon
///         (normal ≈ <c>(0, ±0.719, 0.695)</c>) is NOT in any of the
///         fixtures. Without it the harness can't reproduce the climb
///         trajectory — the sphere walks across the cellar floor
///         horizontally and never encounters a slope.</item>
///   <item>Independently: at the sphere's initial position resting on
///         the cellar floor, the engine reports
///         <c>hit=yes n=(0,0,1) walkable=False</c> on tick 1 and rejects
///         the forward move. The grounded state flips off and subsequent
///         ticks proceed as airborne (no Z change). This may be a real
///         engine bug (touching the floor classified as non-walkable
///         collision) or a fixture issue (cellar floor poly's
///         containment test mis-firing). Either way, the harness
///         exposes it deterministically — that's the point.</item>
/// </list>
///
/// <para>
/// <b>Before this harness can drive issue-#98 trajectory fix attempts,
/// the fixtures need a re-capture</b> that includes:
/// </para>
///
/// <list type="bullet">
///   <item>The cellar ramp polygon (whichever cell it actually lives
///         in — the live capture said cellar cell <c>0xA9B40147</c>,
///         but our dump doesn't have it; investigate
///         <see cref="CellDumpSerializer"/> to see whether some
///         polygons are being skipped during capture).</item>
///   <item>Any neighboring cells the sphere may transit into during
///         the climb (the live capture's
///         <c>[cell-set-summary]</c> showed overlap with
///         <c>0xA9B40143</c> and <c>0xA9B40146</c>, both already in
///         the fixture set — but additional cells beyond these may
///         appear at tick boundaries we haven't observed).</item>
/// </list>
///
/// <para>
/// The current tests document the harness mechanics + the two
/// findings above. When fixtures are re-captured, flip
/// <see cref="CellarUp_FreezesAtRampTop_DocumentsBug"/>'s assertion
/// to require a successful climb and add additional tests for the
/// trajectory shape.
/// </para>
/// </summary>
public class CellarUpTrajectoryReplayTests
{
    // ── Cellar / cottage geometry constants ────────────────────────
    private const uint CellarId         = 0xA9B40147u;
    private const uint CottageNeighborA = 0xA9B40143u;
    private const uint CottageNeighborB = 0xA9B40146u;

    private const float CellarFloorZ  = 90.95f;
    private const float CottageFloorZ = 94.00f;

    private const float SphereRadius  = 0.48f;
    private const float SphereHeight  = 1.20f;
    private const float StepUpHeight   = 0.60f;
    private const float StepDownHeight = 0.04f;

    /// <summary>
    /// Sphere center starts above cellar floor by exactly the radius
    /// (bottom resting on floor). Y=9.5 is ~0.75 m before the ramp foot
    /// at Y=8.75 (live-capture ramp plane equation:
    /// <c>0.719·y + 0.695·z = 69.5035</c> → y=8.75 at z=90.95).
    /// X=141.5 matches the live capture's X.
    /// </summary>
    private static readonly Vector3 InitialSphereWorld =
        new(141.5f, 9.5f, CellarFloorZ + SphereRadius);

    /// <summary>
    /// Per-tick forward offset (−Y direction toward the ramp).
    /// Magnitude (~0.10 m) matches the live capture's observed per-tick
    /// requested offset.
    /// </summary>
    private static readonly Vector3 PerTickOffset =
        new(0f, -0.10f, 0f);

    private const int SimulationTicks = 200;

    // ───────────────────────────────────────────────────────────────
    // Tests
    // ───────────────────────────────────────────────────────────────

    /// <summary>
    /// Confirms the harness compiles, the engine runs the simulation,
    /// and a trajectory comes back with the expected number of points.
    /// Does NOT assert on trajectory CONTENT — fixture limitations
    /// (see class summary) make content-level assertions premature.
    /// </summary>
    [Fact]
    public void Harness_CompilesAndRunsSimulation()
    {
        var (engine, _) = BuildEngineWithCellarFixtures();
        var body = BuildInitialBody();
        var trajectory = SimulateTicks(engine, body, CellarId, SimulationTicks);

        Assert.Equal(SimulationTicks + 1, trajectory.Count);
        Assert.Equal(0, trajectory[0].Tick);
        Assert.Equal(SimulationTicks, trajectory[^1].Tick);
    }

    /// <summary>
    /// Diagnostic dump: print the first 10 trajectory points + the
    /// engine's resolve-probe decisions. Useful when investigating
    /// what the harness is actually doing.
    /// </summary>
    [Fact]
    public void Harness_DiagnosticDump_FirstTenTicks()
    {
        PhysicsDiagnostics.ProbeResolveEnabled = true;
        try
        {
            var (engine, _) = BuildEngineWithCellarFixtures();
            var body = BuildInitialBody();
            var trajectory = SimulateTicks(engine, body, CellarId, 10);

            var msg = "Trajectory (10 ticks):\n  " +
                string.Join("\n  ", trajectory.Select(p =>
                    $"tick={p.Tick} pos=({p.Position.X:F4},{p.Position.Y:F4},{p.Position.Z:F4}) " +
                    $"cell=0x{p.CellId:X8} onGround={p.IsOnGround} cpValid={p.CpValid}"));

            // Always pass — this is a diagnostic test; the resolve
            // probe output appears in the test runner's captured stdout
            // and the trajectory in the assertion message on failure.
            Assert.True(true, msg);
        }
        finally
        {
            PhysicsDiagnostics.ProbeResolveEnabled = false;
        }
    }

    /// <summary>
    /// Documents finding #2: at the initial grounded position, the
    /// engine reports the cellar floor as a non-walkable collision
    /// and the body goes airborne at tick 1. Whether this is an
    /// engine bug or a fixture issue is unclear; the harness exposes
    /// it deterministically.
    /// </summary>
    [Fact]
    public void Harness_Finding_SphereGoesAirborneAtTick1()
    {
        var (engine, _) = BuildEngineWithCellarFixtures();
        var body = BuildInitialBody();
        var trajectory = SimulateTicks(engine, body, CellarId, 3);

        Assert.True(trajectory[0].IsOnGround,
            "Tick 0 is the seeded starting state and must report grounded.");
        Assert.False(trajectory[1].IsOnGround,
            "Finding #2: at tick 1 the engine reports the sphere is NOT " +
            "grounded, even though it started seeded on the cellar floor " +
            "with a flat-floor ContactPlane. Investigate whether the " +
            "cellar floor polygon's containment test is mis-firing or " +
            "whether the engine genuinely treats floor contact as a " +
            "non-walkable collision. If/when this is fixed, the assertion " +
            "should be flipped to require continuous grounded state.");
    }

    /// <summary>
    /// Perf budget for the harness: 200 ticks must complete in well
    /// under 500 ms. If this ever fails, the inner loop has regressed
    /// and the whole point of the harness — fast iteration on physics
    /// fixes — is at risk.
    /// </summary>
    [Fact]
    public void Harness_SimulationRunsInUnder500ms()
    {
        var (engine, _) = BuildEngineWithCellarFixtures();
        var body = BuildInitialBody();

        var sw = System.Diagnostics.Stopwatch.StartNew();
        _ = SimulateTicks(engine, body, CellarId, SimulationTicks);
        sw.Stop();

        Assert.True(sw.ElapsedMilliseconds < 500,
            $"200-tick simulation should complete in under 500 ms. " +
            $"Took: {sw.ElapsedMilliseconds} ms.");
    }

    // ───────────────────────────────────────────────────────────────
    // Harness internals
    // ───────────────────────────────────────────────────────────────

    /// <summary>
    /// One point in the simulated trajectory. Captured per tick.
    /// </summary>
    public sealed record TrajectoryPoint(
        int     Tick,
        Vector3 Position,
        uint    CellId,
        bool    IsOnGround,
        bool    CpValid);

    /// <summary>
    /// Builds a <see cref="PhysicsEngine"/> with:
    /// <list type="bullet">
    ///   <item>The three issue-#98 cottage/cellar cell fixtures registered.</item>
    ///   <item>A stub landblock so <c>TryGetLandblockContext</c> succeeds
    ///         at the cellar XY (needed for FindObjCollisions to query
    ///         the shadow registry).</item>
    ///   <item>A SYNTHETIC stair-piece GfxObj containing the cellar ramp
    ///         polygon, registered as a ShadowEntry scoped to the cellar
    ///         cell. Reconstructed programmatically from the live-capture
    ///         <c>[poly-dump]</c> data
    ///         (<c>docs/research/2026-05-21-a6-captures/scen4_cottage_cellar_polydump/acdream.log</c>),
    ///         transformed to world coordinates so the registered object
    ///         sits at world origin with identity rotation/scale.</item>
    /// </list>
    /// </summary>
    private static (PhysicsEngine engine, PhysicsDataCache cache)
        BuildEngineWithCellarFixtures()
    {
        var cache  = new PhysicsDataCache();
        var engine = new PhysicsEngine { DataCache = cache };

        // ── 1. Cell fixtures (existing) ─────────────────────────────
        foreach (var cellId in new[] { CellarId, CottageNeighborA, CottageNeighborB })
        {
            var path = Path.Combine(FixtureDir, $"0x{cellId:X8}.json");
            Assert.True(File.Exists(path),
                $"Fixture missing: {path}. Re-run cell-dump capture " +
                $"(commit 3f56915 captured the originals).");
            var dump = CellDumpSerializer.Read(path);
            var cell = CellDumpSerializer.Hydrate(dump);
            cache.RegisterCellStructForTest(cellId, cell);
        }

        // ── 2. Stub landblock so TryGetLandblockContext succeeds ───
        // FindObjCollisions early-returns if no landblock covers the
        // sphere's XY. The cellar is in the world's first landblock
        // (worldOffset 0,0 covers 0..192m). We don't need real terrain
        // for indoor BSP collision — minimal heights array suffices.
        var heights = new byte[81];
        Array.Fill(heights, (byte)0);
        var heightTab = new float[256];
        for (int i = 0; i < 256; i++) heightTab[i] = i * 1.0f;
        engine.AddLandblock(
            landblockId:  0xA9B40000u,
            terrain:      new TerrainSurface(heights, heightTab),
            cells:        Array.Empty<CellSurface>(),
            portals:      Array.Empty<PortalPlane>(),
            worldOffsetX: 0f,
            worldOffsetY: 0f);

        // ── 3. Synthetic stair-piece GfxObj + ShadowEntry ──────────
        RegisterStairRampGfxObj(engine, cache);

        return (engine, cache);
    }

    /// <summary>
    /// Constructs a synthetic GfxObj containing the cellar ramp polygon
    /// in WORLD coordinates and registers it as a ShadowEntry scoped to
    /// the cellar cell. The polygon's vertices + normal are reproduced
    /// from the live capture's <c>[poly-dump]</c> data (commit pre-3f56915),
    /// transformed to world frame so the GfxObj can sit at world origin
    /// with identity rotation/scale (simplifies the
    /// FindObjCollisions local-to-world transform).
    ///
    /// <para>
    /// Live capture's local polygon vertices (in building frame):
    /// (0.8,-1.59,-1.5), (0.8,1.31,1.5), (-0.8,1.31,1.5), (-0.8,-1.59,-1.5).
    /// Building's world transform: origin (141.5, 7.155, 92.455), 180° yaw
    /// around Z. After applying yaw + translation, world vertices are:
    /// (140.7, 8.745, 90.955), (140.7, 5.845, 93.955),
    /// (142.3, 5.845, 93.955), (142.3, 8.745, 90.955).
    /// World normal = (0, 0.719, 0.695), world d = -69.5035 — matches
    /// the live cdb capture exactly.
    /// </para>
    /// </summary>
    private static void RegisterStairRampGfxObj(PhysicsEngine engine, PhysicsDataCache cache)
    {
        const ushort RampPolyId = 0x0008;
        const uint   StairGfxId = 0xDEADBEEFu;
        const uint   StairEntityId = 0xC0FFEE00u;

        // World-frame vertices (winding order preserved from live capture).
        var v0 = new Vector3(140.7f, 8.745f, 90.955f); // ramp foot, X=-side
        var v1 = new Vector3(140.7f, 5.845f, 93.955f); // ramp top,  X=-side
        var v2 = new Vector3(142.3f, 5.845f, 93.955f); // ramp top,  X=+side
        var v3 = new Vector3(142.3f, 8.745f, 90.955f); // ramp foot, X=+side
        var verts = new[] { v0, v1, v2, v3 };

        // Compute normal from cross(v1-v0, v3-v0).
        var edge0 = v1 - v0;
        var edge1 = v3 - v0;
        var normal = Vector3.Normalize(Vector3.Cross(edge0, edge1));
        // Plane equation: N·p + d = 0 → d = -N·v0.
        float d = -Vector3.Dot(normal, v0);

        var resolved = new Dictionary<ushort, ResolvedPolygon>
        {
            [RampPolyId] = new ResolvedPolygon
            {
                Vertices  = verts,
                Plane     = new System.Numerics.Plane(normal, d),
                NumPoints = 4,
                SidesType = CullMode.Landblock,
            },
        };

        // Minimal one-leaf BSP containing the ramp poly. Bounding sphere
        // encompasses the polygon (center at poly centroid).
        var leaf = new PhysicsBSPNode
        {
            Type = BSPNodeType.Leaf,
            BoundingSphere = new Sphere
            {
                Origin = new Vector3(141.5f, 7.295f, 92.455f),
                Radius = 3.0f,
            },
        };
        leaf.Polygons.Add(RampPolyId);

        var bspTree = new PhysicsBSPTree { Root = leaf };

        var gfxPhysics = new GfxObjPhysics
        {
            BSP             = bspTree,
            PhysicsPolygons = new Dictionary<ushort, Polygon>(),
            Vertices        = new VertexArray(),
            Resolved        = resolved,
            BoundingSphere  = leaf.BoundingSphere,
        };

        cache.RegisterGfxObjForTest(StairGfxId, gfxPhysics);

        // ShadowEntry: object at world origin (0,0,0), identity rotation,
        // scale 1.0 — keeps the polygon's WORLD-frame vertices intact
        // through the FindObjCollisions local-transform math.
        // cellScope = CellarId so the entry is only queried when the sphere
        // is in cellar cell (matches retail's per-cell shadow scoping for
        // interior statics — Issue #91 family).
        engine.ShadowObjects.Register(
            entityId:      StairEntityId,
            gfxObjId:      StairGfxId,
            worldPos:      Vector3.Zero,
            rotation:      Quaternion.Identity,
            radius:        5.0f,
            worldOffsetX:  0f,
            worldOffsetY:  0f,
            landblockId:   0xA9B40000u,
            collisionType: ShadowCollisionType.BSP,
            scale:         1.0f,
            cellScope:     CellarId);
    }

    /// <summary>
    /// Sphere on the cellar floor with a seeded flat-floor ContactPlane.
    /// Mirrors the production pattern in <c>PlayerMovementController</c>:
    /// a grounded body carries its last ContactPlane forward across ticks.
    /// </summary>
    private static PhysicsBody BuildInitialBody() => new()
    {
        Position           = InitialSphereWorld,
        Orientation        = Quaternion.Identity,
        ContactPlaneValid  = true,
        ContactPlane       = new System.Numerics.Plane(0f, 0f, 1f, -CellarFloorZ),
        ContactPlaneCellId = CellarId,
        TransientState     = TransientStateFlags.Contact
                           | TransientStateFlags.OnWalkable,
    };

    /// <summary>
    /// Drives <paramref name="tickCount"/> physics ticks. Each tick
    /// applies <see cref="PerTickOffset"/> as the requested forward
    /// motion, calls <see cref="PhysicsEngine.ResolveWithTransition"/>,
    /// writes the result back to <paramref name="body"/>, and records
    /// a <see cref="TrajectoryPoint"/>.
    ///
    /// <para>
    /// Cross-tick ContactPlane persistence is via <paramref name="body"/>
    /// — the engine writes its final CP back to the body, then reads
    /// it as the seed for the next tick. This mirrors the production
    /// pattern in <c>PlayerMovementController</c>.
    /// </para>
    /// </summary>
    private static List<TrajectoryPoint> SimulateTicks(
        PhysicsEngine engine,
        PhysicsBody   body,
        uint          initialCellId,
        int           tickCount)
    {
        uint cellId      = initialCellId;
        bool isOnGround  = true;

        var trajectory = new List<TrajectoryPoint>(tickCount + 1)
        {
            new(0, body.Position, cellId, isOnGround, body.ContactPlaneValid),
        };

        for (int tick = 1; tick <= tickCount; tick++)
        {
            Vector3 target = body.Position + PerTickOffset;

            var result = engine.ResolveWithTransition(
                currentPos:      body.Position,
                targetPos:       target,
                cellId:          cellId,
                sphereRadius:    SphereRadius,
                sphereHeight:    SphereHeight,
                stepUpHeight:    StepUpHeight,
                stepDownHeight:  StepDownHeight,
                isOnGround:      isOnGround,
                body:            body,
                moverFlags:      ObjectInfoState.IsPlayer
                                 | ObjectInfoState.EdgeSlide,
                movingEntityId:  0);

            body.Position = result.Position;
            cellId        = result.CellId;
            isOnGround    = result.IsOnGround;

            trajectory.Add(new(
                tick,
                body.Position,
                cellId,
                isOnGround,
                body.ContactPlaneValid));
        }

        return trajectory;
    }

    private static string FixtureDir =>
        Path.Combine(SolutionRoot(), "tests", "AcDream.Core.Tests",
                     "Fixtures", "issue98");

    private static string SolutionRoot()
    {
        var dir = AppContext.BaseDirectory;
        while (!string.IsNullOrEmpty(dir))
        {
            if (File.Exists(Path.Combine(dir, "AcDream.slnx")))
                return dir;
            dir = Path.GetDirectoryName(dir);
        }
        throw new InvalidOperationException(
            "Could not locate AcDream.slnx from " + AppContext.BaseDirectory);
    }
}