using System;
using System.Collections.Generic;
using System.Numerics;
using DatReaderWriter;
using DatReaderWriter.DBObjs;
using DatReaderWriter.Enums;
using DatReaderWriter.Types;

namespace AcDream.Core.Physics;

/// <summary>
/// Minimal interface for resolving Animation objects by id.
/// Abstracted so the sequencer can be unit-tested without a real DatCollection.
/// </summary>
public interface IAnimationLoader
{
    /// <summary>Load an Animation by its dat id, or return null.</summary>
    Animation? LoadAnimation(uint id);
}

/// <summary>
/// Production implementation of <see cref="IAnimationLoader"/> backed by
/// a <see cref="DatCollection"/>.
/// </summary>
public sealed class DatCollectionLoader : IAnimationLoader
{
    private readonly DatCollection _dats;
    public DatCollectionLoader(DatCollection dats) => _dats = dats;
    public Animation? LoadAnimation(uint id) => _dats.Get<Animation>(id);
}

// ─────────────────────────────────────────────────────────────────────────────
// AnimationSequencer — faithful port of the decompiled retail AC client
// animation system.
//
// Primary references (pseudocode at docs/research/acclient_animation_pseudocode.md):
//   FUN_005267E0  — multiply_framerate: swaps startFrame↔endFrame for negative speed
//   FUN_005261D0  — update_internal: the core per-frame advance loop
//   FUN_00525EB0  — advance_to_next_animation: node transition + wrap to firstCyclic
//   FUN_00526880  — GetStartFramePosition: double start pos (speed-dependent)
//   FUN_005268B0  — GetEndFramePosition:   double end pos (speed-dependent)
//   FUN_005360d0  — quaternion slerp with dot-product sign-flip
//   MotionInterp.cs:394-428 (ACE) — adjust_motion: left→right remapping
//
// DatReaderWriter types used:
//   MotionTable.Links : Dictionary<int, MotionCommandData>
//     key = (style << 16) | (fromSubstate & 0xFFFFFF)
//   MotionCommandData.MotionData : Dictionary<int, MotionData>
//     key = target motion (int cast of MotionCommand)
//   MotionData.Anims : List<AnimData>
//   AnimData.AnimId : QualifiedDataId<Animation>
//   Animation.PartFrames : List<AnimationFrame>
//   AnimationFrame.Frames : List<Frame>
//   Frame.Origin : Vector3, Frame.Orientation : Quaternion
// ─────────────────────────────────────────────────────────────────────────────

/// <summary>
/// Per-part world-local transform produced by <see cref="AnimationSequencer.Advance"/>.
/// Caller (e.g. GameWindow.TickAnimations) consumes this to rebuild MeshRefs.
/// </summary>
public readonly struct PartTransform
{
    public readonly Vector3 Origin;
    public readonly Quaternion Orientation;

    public PartTransform(Vector3 origin, Quaternion orientation)
    {
        Origin = origin;
        Orientation = orientation;
    }
}

/// <summary>
/// One entry in the animation queue (link transition or looping cycle).
///
/// Faithfully models the retail client AnimNode struct at +0x0C..+0x18.
/// When speedScale &lt; 0, startFrame and endFrame are swapped at construction
/// time (FUN_005267E0 / multiply_framerate) so the advance loop always has:
///   forward:  startFrame ≤ endFrame  (framePosition counts up)
///   reverse:  startFrame ≥ endFrame  (framePosition counts down)
/// </summary>
internal sealed class AnimNode
{
    public Animation Anim;
    public double Framerate;   // signed; negative means reverse playback
    public int StartFrame;     // inclusive start frame (post-swap for negative speed)
    public int EndFrame;       // inclusive end frame   (post-swap for negative speed)
    public bool IsLooping;     // true only for the tail cyclic node

    public AnimNode(Animation anim, double framerate, int startFrame, int endFrame, bool isLooping)
    {
        Anim = anim;
        Framerate = framerate;
        StartFrame = startFrame;
        EndFrame = endFrame;
        IsLooping = isLooping;
    }

    // ── FUN_00526880 — GetStartFramePosition ──────────────────────────────
    // Returns the initial framePosition cursor for this node.
    //   speedScale >= 0 → (double)startFrame
    //   speedScale <  0 → (double)(endFrame + 1) - EPSILON
    // EPSILON = _DAT_007c92b4 (a tiny float just below the boundary)
    public double GetStartFramePosition()
    {
        if (Framerate >= 0.0)
            return (double)StartFrame;
        else
            return (double)(EndFrame + 1) - FrameEpsilon;
    }

    // ── FUN_005268B0 — GetEndFramePosition ───────────────────────────────
    // Returns where the cursor sits when this node is exhausted.
    //   speedScale >= 0 → (double)(endFrame + 1) - EPSILON
    //   speedScale <  0 → (double)startFrame
    public double GetEndFramePosition()
    {
        if (Framerate >= 0.0)
            return (double)(EndFrame + 1) - FrameEpsilon;
        else
            return (double)StartFrame;
    }

    // Small double constant matching _DAT_007c92b4 in the retail binary.
    // Used to position the cursor just before a frame boundary.
    private const double FrameEpsilon = 1e-5;
}

/// <summary>
/// Full animation playback engine for one entity.
///
/// <para>
/// This is a faithful port of the retail AC client's Sequence object
/// (docs/research/acclient_animation_pseudocode.md, sections 5–7).
/// Key invariants:
/// <list type="bullet">
///   <item><description>
///     <c>_framePosition</c> is a <c>double</c> matching the retail client's
///     64-bit field at Sequence+0x30.
///   </description></item>
///   <item><description>
///     Negative framerate means reverse playback; startFrame/endFrame are
///     swapped at node construction time (FUN_005267E0).
///   </description></item>
///   <item><description>
///     When a node's frames are exhausted, <c>advance_to_next_animation</c>
///     wraps to <c>_firstCyclic</c> (the looping tail of the queue).
///   </description></item>
/// </list>
/// </para>
///
/// <para>
/// Usage pattern:
/// <code>
///   var seq = new AnimationSequencer(setup, motionTable, dats);
///   seq.SetCycle(style, motion, speedMod);
///   // each frame:
///   var transforms = seq.Advance(dt);
///   // rebuild MeshRefs from transforms
/// </code>
/// </para>
/// </summary>
public sealed class AnimationSequencer
{
    // ── Public state ─────────────────────────────────────────────────────────

    /// <summary>Current style (stance) command.</summary>
    public uint CurrentStyle { get; private set; }

    /// <summary>Current cyclic motion command.</summary>
    public uint CurrentMotion { get; private set; }

    // ── Private state ────────────────────────────────────────────────────────

    private readonly Setup _setup;
    private readonly MotionTable _mtable;
    private readonly IAnimationLoader _loader;

    // Animation queue: non-looping link frames followed by the looping cycle.
    private readonly LinkedList<AnimNode> _queue = new();
    private LinkedListNode<AnimNode>? _currNode;
    private LinkedListNode<AnimNode>? _firstCyclic;

    // 64-bit fractional frame position — matches Sequence+0x30 in the retail client.
    // Named _framePosition to distinguish it from the old float _frameNum.
    private double _framePosition;

    private const double FrameEpsilon = 1e-5;
    private const double RateEpsilon  = 1e-6;

    // ── Constructor ──────────────────────────────────────────────────────────

    /// <summary>
    /// Create a sequencer for one entity.
    /// </summary>
    /// <param name="setup">Entity's Setup dat (for part count / default scale).</param>
    /// <param name="motionTable">Loaded MotionTable dat for this entity.</param>
    /// <param name="loader">
    /// Animation loader. Use <see cref="DatCollectionLoader"/> for production,
    /// or inject a test double in unit tests.
    /// </param>
    public AnimationSequencer(Setup setup, MotionTable motionTable, IAnimationLoader loader)
    {
        ArgumentNullException.ThrowIfNull(setup);
        ArgumentNullException.ThrowIfNull(motionTable);
        ArgumentNullException.ThrowIfNull(loader);

        _setup = setup;
        _mtable = motionTable;
        _loader = loader;
    }

    // ── Public API ───────────────────────────────────────────────────────────

    /// <summary>
    /// Switch to a new cyclic motion, prepending any transition link frames
    /// so the switch is smooth. If the motion table has no link for the
    /// (currentStyle, currentMotion) → newMotion transition, the cycle
    /// switches immediately.
    ///
    /// <para>
    /// Implements <c>adjust_motion</c> (ACE MotionInterp.cs:394-428): the AC
    /// MotionTable has NO cycles for TurnLeft, SideStepLeft, or WalkBackward.
    /// These are played as their right-side / forward equivalents with a
    /// negated framerate so the animation runs in reverse.
    /// </para>
    /// </summary>
    /// <param name="style">MotionCommand style / stance (e.g. NonCombat 0x003D0000).</param>
    /// <param name="motion">Target motion command (e.g. WalkForward 0x45000005).</param>
    /// <param name="speedMod">Speed multiplier applied to framerates (1.0 = normal).</param>
    public void SetCycle(uint style, uint motion, float speedMod = 1f)
    {
        // ── adjust_motion: remap left→right / backward→forward variants ───
        // ACE MotionInterp.cs:394-428.  The MotionTable never stores TurnLeft,
        // SideStepLeft, or WalkBackward cycles; the client plays the mirror
        // animation with a negated speed so it runs backward.
        uint adjustedMotion = motion;
        float adjustedSpeed = speedMod;
        switch (motion & 0xFFFFu)
        {
            case 0x000E: // TurnLeft → TurnRight (negate speed)
                adjustedMotion = (motion & 0xFFFF0000u) | 0x000Du;
                adjustedSpeed = -speedMod;
                break;
            case 0x0010: // SideStepLeft → SideStepRight (negate speed)
                adjustedMotion = (motion & 0xFFFF0000u) | 0x000Fu;
                adjustedSpeed = -speedMod;
                break;
            case 0x0006: // WalkBackward → WalkForward (negate + BackwardsFactor)
                adjustedMotion = (motion & 0xFFFF0000u) | 0x0005u;
                adjustedSpeed = -speedMod * 0.65f; // BackwardsFactor from ACE
                break;
        }

        // Fast-path: already playing this exact motion at the same speed.
        if (CurrentStyle == style && CurrentMotion == motion
            && _firstCyclic != null && _queue.Count > 0)
            return;

        // Resolve transition link (currentSubstate → adjustedMotion).
        MotionData? linkData = CurrentMotion != 0
            ? GetLink(style, CurrentMotion, adjustedMotion)
            : null;

        // Resolve target cycle using the ADJUSTED motion (TurnRight not TurnLeft).
        int cycleKey = (int)(((style & 0xFFFFu) << 16) | (adjustedMotion & 0xFFFFFFu));
        _mtable.Cycles.TryGetValue(cycleKey, out var cycleData);

        // Clear the old cyclic tail; keep any non-cyclic head that hasn't
        // been played yet (ACE behaviour: non-cyclic anims drain naturally).
        ClearCyclicTail();

        // Enqueue link frames (with adjusted speed for left→right remapping).
        if (linkData is { Anims.Count: > 0 })
            EnqueueMotionData(linkData, adjustedSpeed, isLooping: false);

        // Enqueue new cycle.
        if (cycleData is { Anims.Count: > 0 })
        {
            EnqueueMotionData(cycleData, adjustedSpeed, isLooping: true);
        }
        else if (_queue.Count == 0)
        {
            // No cycle and no link — nothing to play; reset fully.
            _currNode = null;
            _firstCyclic = null;
            _framePosition = 0.0;
            CurrentStyle = style;
            CurrentMotion = motion;
            return;
        }

        // Mark the first cyclic node (the looping tail after all link frames).
        _firstCyclic = null;
        for (var n = _queue.First; n != null; n = n.Next)
        {
            if (n.Value.IsLooping)
            {
                _firstCyclic = n;
                break;
            }
        }

        // If we have no current anim, start at the beginning of the queue.
        if (_currNode == null)
        {
            _currNode = _queue.First;
            _framePosition = _currNode?.Value.GetStartFramePosition() ?? 0.0;
        }

        CurrentStyle = style;
        CurrentMotion = motion;
    }

    /// <summary>
    /// Advance the animation by <paramref name="dt"/> seconds and return the
    /// per-part transforms for the current blended keyframe.
    ///
    /// <para>
    /// Implements <c>Sequence::update_internal</c> (FUN_005261D0) in a
    /// simplified form: no frame-trigger events (PhysicsObject not modelled
    /// here), but correct boundary detection, remainder propagation, and
    /// advance_to_next_animation wrapping.
    /// </para>
    ///
    /// <para>
    /// The slerp algorithm mirrors the decompiled retail client's
    /// <c>FUN_005360d0</c> (chunk_00530000.c:4799).
    /// </para>
    /// </summary>
    /// <param name="dt">Elapsed time in seconds since the last call.</param>
    /// <returns>
    /// One <see cref="PartTransform"/> per part in the Setup, in part order.
    /// If no animation is loaded, all parts get identity transforms.
    /// </returns>
    public IReadOnlyList<PartTransform> Advance(float dt)
    {
        int partCount = _setup.Parts.Count;

        if (_currNode == null || dt <= 0f)
            return BuildIdentityFrame(partCount);

        // ── update_internal (FUN_005261D0) ───────────────────────────────
        // Loop because a large dt can exhaust multiple nodes sequentially.
        double timeRemaining = (double)dt;

        while (timeRemaining > 0.0 && _currNode != null)
        {
            var curr = _currNode.Value;
            double rate  = curr.Framerate;   // signed (negative = reverse)
            double delta = rate * timeRemaining;

            if (Math.Abs(delta) < RateEpsilon)
                break; // rate ≈ 0 — nothing to do

            double newPos = _framePosition + delta;
            bool wrapped = false;
            double overflow = 0.0;

            if (delta > 0.0)
            {
                // ── FORWARD PLAYBACK ──────────────────────────────────────
                // End boundary = endFrame + 1.  Pseudocode: floor(newPos) > maxFrame.
                double maxBoundary = (double)(curr.EndFrame + 1);
                if (newPos >= maxBoundary - FrameEpsilon)
                {
                    // How much time spilled past the boundary?
                    overflow = (newPos - maxBoundary) / rate;
                    if (overflow < 0.0) overflow = 0.0;

                    _framePosition = maxBoundary - FrameEpsilon; // clamp to last valid pos
                    wrapped = true;
                }
                else
                {
                    _framePosition = newPos;
                }
            }
            else
            {
                // ── REVERSE PLAYBACK ─────────────────────────────────────
                // After FUN_005267E0 swaps low↔high for negative speed:
                //   StartFrame = high (e.g. 3), EndFrame = low (e.g. 0)
                // GetStartFramePosition placed cursor at (EndFrame+1)-eps ≈ 0.99999.
                // The cursor counts DOWN toward EndFrame. Boundary = EndFrame.
                double minBoundary = (double)curr.EndFrame;
                if (newPos <= minBoundary)
                {
                    // How much time spilled past the lower boundary?
                    overflow = (newPos - minBoundary) / rate;
                    if (overflow < 0.0) overflow = 0.0;

                    _framePosition = minBoundary; // clamp to lower boundary
                    wrapped = true;
                }
                else
                {
                    _framePosition = newPos;
                }
            }

            if (!wrapped)
                break; // consumed all dt without hitting boundary — done

            // ── advance_to_next_animation (FUN_00525EB0) ─────────────────
            AdvanceToNextAnimation();
            timeRemaining = overflow; // continue with leftover time
        }

        return BuildBlendedFrame();
    }

    /// <summary>
    /// Reset the sequencer to an unplaying state without clearing the
    /// motion table reference.
    /// </summary>
    public void Reset()
    {
        _queue.Clear();
        _currNode = null;
        _firstCyclic = null;
        _framePosition = 0.0;
        CurrentStyle = 0;
        CurrentMotion = 0;
    }

    // ── Private helpers ──────────────────────────────────────────────────────

    /// <summary>
    /// Look up the transition MotionData for going from <paramref name="fromMotion"/>
    /// to <paramref name="toMotion"/> within <paramref name="style"/>.
    ///
    /// Port of ACE's MotionTable.get_link:
    ///   1. Try Links[(style&lt;&lt;16)|(fromMotion&amp;0xFFFFFF)][toMotion]
    ///   2. Fallback: try Links[style&lt;&lt;16][toMotion]
    ///
    /// DatReaderWriter encodes Links as Dictionary&lt;int, MotionCommandData&gt;
    /// where MotionCommandData.MotionData is Dictionary&lt;int, MotionData&gt;.
    /// </summary>
    private MotionData? GetLink(uint style, uint fromMotion, uint toMotion)
    {
        int outerKey1 = (int)((style << 16) | (fromMotion & 0xFFFFFFu));
        if (_mtable.Links.TryGetValue(outerKey1, out var cmd1))
        {
            if (cmd1.MotionData.TryGetValue((int)toMotion, out var result1))
                return result1;
        }

        // Fallback: style-level catch-all.
        int outerKey2 = (int)(style << 16);
        if (_mtable.Links.TryGetValue(outerKey2, out var cmd2))
        {
            if (cmd2.MotionData.TryGetValue((int)toMotion, out var result2))
                return result2;
        }

        return null;
    }

    /// <summary>
    /// Load an Animation from the dat by its <see cref="AnimData.AnimId"/>
    /// and resolve the sentinel frame bounds (HighFrame == -1 means "all frames").
    ///
    /// Implements <c>FUN_005267E0</c> (multiply_framerate): when
    /// <c>fr &lt; 0</c>, startFrame and endFrame are swapped so the advance
    /// loop's boundary logic works uniformly for both directions.
    /// </summary>
    private AnimNode? LoadAnimNode(AnimData ad, float speedMod, bool isLooping)
    {
        uint animId = (uint)ad.AnimId;
        if (animId == 0) return null;

        var anim = _loader.LoadAnimation(animId);
        if (anim is null || anim.PartFrames.Count == 0) return null;

        int numFrames = anim.PartFrames.Count;
        int low  = ad.LowFrame;
        int high = ad.HighFrame;

        // Sentinel resolution (same as MotionResolver.GetIdleCycle).
        if (high < 0)      high = numFrames - 1;
        if (low  >= numFrames) low  = numFrames - 1;
        if (high >= numFrames) high = numFrames - 1;
        if (low  < 0)      low  = 0;

        double fr = (double)ad.Framerate * (double)speedMod;

        // ── FUN_005267E0 multiply_framerate ──────────────────────────────
        // When speed is negative (TurnLeft→TurnRight, SideStepLeft→SideStepRight),
        // swap Low↔High so the advance loop counts DOWN from the swapped EndFrame
        // toward the swapped StartFrame.  The pseudocode says:
        //   if speedScale < 0: swap startFrame ↔ endFrame
        if (fr < 0.0)
        {
            (low, high) = (high, low);
            // After swap: StartFrame > EndFrame (the loop detects delta < 0 and
            // uses StartFrame as the lower boundary to count down toward).
        }
        else
        {
            if (low > high) high = low; // clamp for positive-speed case only
        }

        return new AnimNode(anim, fr, startFrame: low, endFrame: high, isLooping);
    }

    /// <summary>
    /// Append all AnimData entries from <paramref name="motionData"/> to the
    /// queue. Each AnimData becomes one AnimNode.
    /// </summary>
    private void EnqueueMotionData(MotionData motionData, float speedMod, bool isLooping)
    {
        for (int i = 0; i < motionData.Anims.Count; i++)
        {
            bool nodeCycling = isLooping && (i == motionData.Anims.Count - 1);
            var node = LoadAnimNode(motionData.Anims[i], speedMod, nodeCycling);
            if (node != null)
                _queue.AddLast(node);
        }
    }

    /// <summary>
    /// Remove all cyclic (looping) nodes from the tail of the queue starting
    /// from <see cref="_firstCyclic"/>. Non-cyclic link frames remain so they
    /// can drain naturally.
    /// </summary>
    private void ClearCyclicTail()
    {
        if (_firstCyclic == null) return;

        var node = _firstCyclic;
        while (node != null)
        {
            var next = node.Next;
            // If the active node is being removed, jump it to the preceding
            // non-cyclic node (or reset if there is none).
            if (_currNode == node)
            {
                _currNode = node.Previous;
                if (_currNode != null)
                    _framePosition = _currNode.Value.GetEndFramePosition();
                else
                    _framePosition = 0.0;
            }
            _queue.Remove(node);
            node = next;
        }

        _firstCyclic = null;
    }

    /// <summary>
    /// Move <see cref="_currNode"/> to the next node in the queue, or wrap
    /// back to <see cref="_firstCyclic"/> when the queue is exhausted.
    ///
    /// Implements <c>FUN_00525EB0</c> (Sequence::advance_to_next_animation).
    /// The retail client walks a doubly-linked list; we mirror that with
    /// LinkedList.Next plus the _firstCyclic wrap sentinel.
    /// </summary>
    private void AdvanceToNextAnimation()
    {
        if (_currNode == null) return;

        LinkedListNode<AnimNode>? next = _currNode.Next;

        if (next != null)
        {
            _currNode = next;
        }
        else if (_firstCyclic != null)
        {
            // Wrap to first cyclic node — this is the loop that keeps idle/walk
            // animations playing forever.
            _currNode = _firstCyclic;
        }
        // else: end of a finite non-looping sequence; stay on last node.

        if (_currNode != null)
            _framePosition = _currNode.Value.GetStartFramePosition();
    }

    /// <summary>
    /// Build the per-part blended transform from the current animation frame.
    /// Blends between floor(_framePosition) and floor(_framePosition)+1 using
    /// the fractional part of _framePosition.
    ///
    /// Uses the retail-client slerp (<see cref="SlerpRetailClient"/>) for
    /// quaternion interpolation and linear lerp for position.
    /// </summary>
    private IReadOnlyList<PartTransform> BuildBlendedFrame()
    {
        int partCount = _setup.Parts.Count;

        if (_currNode == null)
            return BuildIdentityFrame(partCount);

        var curr = _currNode.Value;
        int numPartFrames = curr.Anim.PartFrames.Count;

        // Clamp frameIndex to valid range.
        int rangeLo = Math.Min(curr.StartFrame, curr.EndFrame);
        int rangeHi = Math.Max(curr.StartFrame, curr.EndFrame);
        rangeHi = Math.Min(rangeHi, numPartFrames - 1);

        int frameIdx = (int)Math.Floor(_framePosition);
        frameIdx = Math.Clamp(frameIdx, rangeLo, rangeHi);

        // Next frame for interpolation: step in the playback direction.
        int nextIdx;
        if (curr.Framerate >= 0.0)
        {
            nextIdx = frameIdx + 1;
            if (nextIdx > rangeHi || nextIdx >= numPartFrames)
                nextIdx = rangeLo; // wrap forward
        }
        else
        {
            nextIdx = frameIdx - 1;
            if (nextIdx < rangeLo)
                nextIdx = rangeHi; // wrap backward
        }

        // Fractional blend weight (always in [0, 1]).
        double rawT = _framePosition - Math.Floor(_framePosition);
        float t = (float)Math.Clamp(rawT, 0.0, 1.0);

        var f0Parts = curr.Anim.PartFrames[frameIdx].Frames;
        var f1Parts = curr.Anim.PartFrames[nextIdx].Frames;

        var result = new PartTransform[partCount];
        for (int i = 0; i < partCount; i++)
        {
            if (i < f0Parts.Count)
            {
                var p0 = f0Parts[i];
                var p1 = i < f1Parts.Count ? f1Parts[i] : p0;

                result[i] = new PartTransform(
                    Vector3.Lerp(p0.Origin, p1.Origin, t),
                    SlerpRetailClient(p0.Orientation, p1.Orientation, t));
            }
            else
            {
                result[i] = new PartTransform(Vector3.Zero, Quaternion.Identity);
            }
        }

        return result;
    }

    private static IReadOnlyList<PartTransform> BuildIdentityFrame(int partCount)
    {
        var result = new PartTransform[partCount];
        for (int i = 0; i < partCount; i++)
            result[i] = new PartTransform(Vector3.Zero, Quaternion.Identity);
        return result;
    }

    /// <summary>
    /// Quaternion slerp matching the retail client's <c>FUN_005360d0</c>
    /// (chunk_00530000.c:4799-4846):
    /// <list type="number">
    ///   <item>Compute dot product of q1 and q2.</item>
    ///   <item>If dot &lt; 0, negate q2 (choose the shorter arc).</item>
    ///   <item>If 1 - dot &lt;= epsilon, fall back to (1-t)*q1 + t*q2 (linear).</item>
    ///   <item>Otherwise slerp: omega = acos(dot), blend = sin(s*omega)/sin(omega).</item>
    ///   <item>Validate result lies in [0,1]²; if not, fall back to linear.</item>
    /// </list>
    /// The only difference from the standard formula is step 5: the retail
    /// client validates that both blend weights are in [0,1] before using the
    /// sin-based result; this handles degenerate inputs gracefully.
    /// </summary>
    public static Quaternion SlerpRetailClient(Quaternion q1, Quaternion q2, float t)
    {
        float dot = q1.W * q2.W + q1.X * q2.X + q1.Y * q2.Y + q1.Z * q2.Z;

        // Step 2: choose the shorter arc.
        Quaternion q2s;
        if (dot < 0f)
        {
            dot = -dot;
            q2s = new Quaternion(-q2.X, -q2.Y, -q2.Z, -q2.W);
        }
        else
        {
            q2s = q2;
        }

        const float SlerpEpsilon = 1e-4f;
        float w1, w2;

        if (1f - dot <= SlerpEpsilon)
        {
            // Near-parallel: linear fallback (matches retail client's path).
            w1 = 1f - t;
            w2 = t;
        }
        else
        {
            float omega    = MathF.Acos(dot);
            float sinOmega = MathF.Sin(omega);
            float invSin   = 1f / sinOmega;

            float candidate1 = MathF.Sin((1f - t) * omega) * invSin;
            float candidate2 = MathF.Sin(t * omega) * invSin;

            // Step 5: validate (retail client check: both weights in [0,1]).
            if (candidate1 >= 0f && candidate1 <= 1f
                && candidate2 >= 0f && candidate2 <= 1f)
            {
                w1 = candidate1;
                w2 = candidate2;
            }
            else
            {
                w1 = 1f - t;
                w2 = t;
            }
        }

        return new Quaternion(
            w1 * q1.X + w2 * q2s.X,
            w1 * q1.Y + w2 * q2s.Y,
            w1 * q1.Z + w2 * q2s.Z,
            w1 * q1.W + w2 * q2s.W);
    }
}