use crate::utils::character;
use crate::utils::character::CharacterControlMode;
use rapier2d::control::{KinematicCharacterController, PidController};
use rapier2d::prelude::*;
use rapier_testbed2d::Testbed;

pub fn init_world(testbed: &mut Testbed) {
    /*
     * World
     */
    let mut bodies = RigidBodySet::new();
    let mut colliders = ColliderSet::new();
    let mut impulse_joints = ImpulseJointSet::new();
    let multibody_joints = MultibodyJointSet::new();

    /*
     * Ground
     */
    let ground_size = 0.75;
    let ground_height = 0.1;

    let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height]);
    let floor_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(ground_size, ground_height);
    colliders.insert_with_parent(collider, floor_handle, &mut bodies);

    let rigid_body =
        RigidBodyBuilder::fixed().translation(vector![-ground_size - ground_height, ground_size]);
    let floor_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(ground_height, ground_size);
    colliders.insert_with_parent(collider, floor_handle, &mut bodies);

    let rigid_body =
        RigidBodyBuilder::fixed().translation(vector![ground_size + ground_height, ground_size]);
    let floor_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(ground_height, ground_size);
    colliders.insert_with_parent(collider, floor_handle, &mut bodies);

    /*
     * Character we will control manually.
     */
    let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3]);
    let character_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::cuboid(0.15, 0.3);
    colliders.insert_with_parent(collider, character_handle, &mut bodies);

    /*
     * Tethered Ball
     */
    let rad = 0.04;

    let rigid_body = RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0]);
    let child_handle = bodies.insert(rigid_body);
    let collider = ColliderBuilder::ball(rad);
    colliders.insert_with_parent(collider, child_handle, &mut bodies);

    let joint = RopeJointBuilder::new(2.0).local_anchor2(point![0.0, 0.0]);
    impulse_joints.insert(character_handle, child_handle, joint, true);

    /*
     * Callback to update the character based on user inputs.
     */
    let mut control_mode = CharacterControlMode::Kinematic(0.1);
    let mut controller = KinematicCharacterController::default();
    let mut pid = PidController::default();

    testbed.add_callback(move |graphics, physics, _, _| {
        if let Some(graphics) = graphics {
            character::update_character(
                graphics,
                physics,
                &mut control_mode,
                &mut controller,
                &mut pid,
                character_handle,
            );
        }
    });

    /*
     * Set up the testbed.
     */
    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
    testbed.look_at(point![0.0, 1.0], 100.0);
}