#include "camera.h"
#include "../../game/map/visibility_service.h"
#include <QtMath>
#include <algorithm>
#include <cmath>
#include <limits>

namespace Render::GL {

namespace {
constexpr float kEps = 1e-6f;
constexpr float kTiny = 1e-4f;
constexpr float kMinDist = 1.0f;
constexpr float kMaxDist = 200.0f;
constexpr float kMinFov = 1.0f;
constexpr float kMaxFov = 89.0f;

constexpr float kMinMarginPercent = 0.03f;
constexpr float kMaxMarginPercent = 0.10f;
constexpr float kBoundarySmoothness = 0.3f;

inline bool finite(const QVector3D &v) {
  return qIsFinite(v.x()) && qIsFinite(v.y()) && qIsFinite(v.z());
}
inline bool finite(float v) { return qIsFinite(v); }

inline QVector3D safeNormalize(const QVector3D &v, const QVector3D &fallback,
                               float eps = kEps) {
  if (!finite(v))
    return fallback;
  float len2 = v.lengthSquared();
  if (len2 < eps)
    return fallback;
  return v / std::sqrt(len2);
}

inline void orthonormalize(const QVector3D &frontIn, QVector3D &frontOut,
                           QVector3D &rightOut, QVector3D &upOut) {
  QVector3D worldUp(0.f, 1.f, 0.f);
  QVector3D f = safeNormalize(frontIn, QVector3D(0, 0, -1));

  QVector3D u = (std::abs(QVector3D::dotProduct(f, worldUp)) > 1.f - 1e-3f)
                    ? QVector3D(0, 0, 1)
                    : worldUp;
  QVector3D r = QVector3D::crossProduct(f, u);
  if (r.lengthSquared() < kEps)
    r = QVector3D(1, 0, 0);
  r = r.normalized();
  u = QVector3D::crossProduct(r, f).normalized();

  frontOut = f;
  rightOut = r;
  upOut = u;
}

inline void clampOrthoBox(float &left, float &right, float &bottom,
                          float &top) {
  if (left == right) {
    left -= 0.5f;
    right += 0.5f;
  } else if (left > right) {
    std::swap(left, right);
  }
  if (bottom == top) {
    bottom -= 0.5f;
    top += 0.5f;
  } else if (bottom > top) {
    std::swap(bottom, top);
  }
}

inline float calculateDynamicMargin(float baseMargin, float cameraHeight,
                                    float pitchDeg) {

  float heightFactor = std::clamp(cameraHeight / 50.0f, 0.5f, 2.0f);

  float pitchFactor = std::clamp(1.0f - std::abs(pitchDeg) / 90.0f, 0.5f, 1.5f);

  return baseMargin * heightFactor * pitchFactor;
}

inline float smoothApproach(float current, float target, float smoothness) {
  if (std::abs(current - target) < kTiny)
    return target;

  return current +
         (target - current) * std::clamp(1.0f - smoothness, 0.01f, 0.99f);
}

} // namespace

Camera::Camera() { updateVectors(); }

void Camera::setPosition(const QVector3D &position) {
  if (!finite(position))
    return;
  m_position = position;
  applySoftBoundaries();

  QVector3D newFront = (m_target - m_position);
  orthonormalize(newFront, m_front, m_right, m_up);
}

void Camera::setTarget(const QVector3D &target) {
  if (!finite(target))
    return;
  m_target = target;
  applySoftBoundaries();

  QVector3D dir = (m_target - m_position);
  if (dir.lengthSquared() < kEps) {
    m_target = m_position +
               (m_front.lengthSquared() < kEps ? QVector3D(0, 0, -1) : m_front);
    dir = (m_target - m_position);
  }
  orthonormalize(dir, m_front, m_right, m_up);
}

void Camera::setUp(const QVector3D &up) {
  if (!finite(up))
    return;
  QVector3D upN = up;
  if (upN.lengthSquared() < kEps)
    upN = QVector3D(0, 1, 0);

  orthonormalize(m_target - m_position, m_front, m_right, m_up);
}

void Camera::lookAt(const QVector3D &position, const QVector3D &target,
                    const QVector3D &up) {
  if (!finite(position) || !finite(target) || !finite(up))
    return;
  m_position = position;
  m_target = (position == target) ? position + QVector3D(0, 0, -1) : target;

  applySoftBoundaries();

  QVector3D f = (m_target - m_position);
  m_up = up.lengthSquared() < kEps ? QVector3D(0, 1, 0) : up.normalized();
  orthonormalize(f, m_front, m_right, m_up);
}

void Camera::setPerspective(float fov, float aspect, float nearPlane,
                            float farPlane) {
  if (!finite(fov) || !finite(aspect) || !finite(nearPlane) ||
      !finite(farPlane))
    return;

  m_isPerspective = true;

  m_fov = std::clamp(fov, kMinFov, kMaxFov);
  m_aspect = std::max(aspect, 1e-6f);
  m_nearPlane = std::max(nearPlane, 1e-4f);
  m_farPlane = std::max(farPlane, m_nearPlane + 1e-3f);
}

void Camera::setOrthographic(float left, float right, float bottom, float top,
                             float nearPlane, float farPlane) {
  if (!finite(left) || !finite(right) || !finite(bottom) || !finite(top) ||
      !finite(nearPlane) || !finite(farPlane))
    return;

  m_isPerspective = false;
  clampOrthoBox(left, right, bottom, top);
  m_orthoLeft = left;
  m_orthoRight = right;
  m_orthoBottom = bottom;
  m_orthoTop = top;
  m_nearPlane = std::min(nearPlane, farPlane - 1e-3f);
  m_farPlane = std::max(farPlane, m_nearPlane + 1e-3f);
}

void Camera::moveForward(float distance) {
  if (!finite(distance))
    return;
  m_position += m_front * distance;
  m_target = m_position + m_front;
  applySoftBoundaries();
}

void Camera::moveRight(float distance) {
  if (!finite(distance))
    return;
  m_position += m_right * distance;
  m_target = m_position + m_front;
  applySoftBoundaries();
}

void Camera::moveUp(float distance) {
  if (!finite(distance))
    return;
  m_position += QVector3D(0, 1, 0) * distance;
  m_target = m_position + m_front;
  applySoftBoundaries();
}

void Camera::zoom(float delta) {
  if (!finite(delta))
    return;
  if (m_isPerspective) {
    m_fov = qBound(kMinFov, m_fov - delta, kMaxFov);
  } else {
    float scale = 1.0f + delta * 0.1f;
    if (!finite(scale) || scale <= 0.05f)
      scale = 0.05f;
    if (scale > 20.0f)
      scale = 20.0f;
    m_orthoLeft *= scale;
    m_orthoRight *= scale;
    m_orthoBottom *= scale;
    m_orthoTop *= scale;
    clampOrthoBox(m_orthoLeft, m_orthoRight, m_orthoBottom, m_orthoTop);
  }
}

void Camera::zoomDistance(float delta) {
  if (!finite(delta))
    return;

  QVector3D offset = m_position - m_target;
  float r = offset.length();
  if (r < kTiny)
    r = kTiny;

  float factor = 1.0f - delta * 0.15f;
  if (!finite(factor))
    factor = 1.0f;
  factor = std::clamp(factor, 0.1f, 10.0f);

  float newR = std::clamp(r * factor, kMinDist, kMaxDist);
  QVector3D dir = safeNormalize(offset, QVector3D(0, 0, 1));
  QVector3D newPos = m_target + dir * newR;

  m_position = newPos;

  applySoftBoundaries();

  QVector3D f = (m_target - m_position);
  orthonormalize(f, m_front, m_right, m_up);
}

void Camera::rotate(float yaw, float pitch) { orbit(yaw, pitch); }

void Camera::pan(float rightDist, float forwardDist) {
  if (!finite(rightDist) || !finite(forwardDist))
    return;

  QVector3D right = m_right;
  QVector3D front = m_front;
  front.setY(0.0f);
  if (front.lengthSquared() > 0)
    front.normalize();

  QVector3D delta = right * rightDist + front * forwardDist;
  if (!finite(delta))
    return;

  m_position += delta;
  m_target += delta;

  applySoftBoundaries(true);
}

void Camera::elevate(float dy) {
  if (!finite(dy))
    return;
  m_position.setY(m_position.y() + dy);
  applySoftBoundaries();
}

void Camera::yaw(float degrees) {
  if (!finite(degrees))
    return;

  orbit(degrees, 0.0f);
}

void Camera::orbit(float yawDeg, float pitchDeg) {
  if (!finite(yawDeg) || !finite(pitchDeg))
    return;

  QVector3D offset = m_position - m_target;
  float curYaw = 0.f, curPitch = 0.f;
  computeYawPitchFromOffset(offset, curYaw, curPitch);

  m_orbitStartYaw = curYaw;
  m_orbitStartPitch = curPitch;
  m_orbitTargetYaw = curYaw + yawDeg;
  m_orbitTargetPitch =
      qBound(m_pitchMinDeg, curPitch + pitchDeg, m_pitchMaxDeg);
  m_orbitTime = 0.0f;
  m_orbitPending = true;
}

void Camera::update(float dt) {
  if (!m_orbitPending)
    return;
  if (!finite(dt))
    return;

  m_orbitTime += std::max(0.0f, dt);
  float t = (m_orbitDuration <= 0.0f)
                ? 1.0f
                : std::clamp(m_orbitTime / m_orbitDuration, 0.0f, 1.0f);

  float s = t * t * (3.0f - 2.0f * t);

  float newYaw = m_orbitStartYaw + (m_orbitTargetYaw - m_orbitStartYaw) * s;
  float newPitch =
      m_orbitStartPitch + (m_orbitTargetPitch - m_orbitStartPitch) * s;

  QVector3D offset = m_position - m_target;
  float r = offset.length();
  if (r < kTiny)
    r = kTiny;

  float yawRad = qDegreesToRadians(newYaw);
  float pitchRad = qDegreesToRadians(newPitch);
  QVector3D newDir(std::sin(yawRad) * std::cos(pitchRad), std::sin(pitchRad),
                   std::cos(yawRad) * std::cos(pitchRad));

  QVector3D fwd = safeNormalize(newDir, m_front);
  m_position = m_target - fwd * r;

  applySoftBoundaries();

  orthonormalize((m_target - m_position), m_front, m_right, m_up);

  if (t >= 1.0f) {
    m_orbitPending = false;
  }
}

bool Camera::screenToGround(qreal sx, qreal sy, qreal screenW, qreal screenH,
                            QVector3D &outWorld) const {
  if (screenW <= 0 || screenH <= 0)
    return false;
  if (!qIsFinite(sx) || !qIsFinite(sy))
    return false;

  double x = (2.0 * sx / screenW) - 1.0;
  double y = 1.0 - (2.0 * sy / screenH);

  bool ok = false;
  QMatrix4x4 invVP = (getProjectionMatrix() * getViewMatrix()).inverted(&ok);
  if (!ok)
    return false;

  QVector4D nearClip(float(x), float(y), 0.0f, 1.0f);
  QVector4D farClip(float(x), float(y), 1.0f, 1.0f);
  QVector4D nearWorld4 = invVP * nearClip;
  QVector4D farWorld4 = invVP * farClip;

  if (std::abs(nearWorld4.w()) < kEps || std::abs(farWorld4.w()) < kEps)
    return false;

  QVector3D rayOrigin = (nearWorld4 / nearWorld4.w()).toVector3D();
  QVector3D rayEnd = (farWorld4 / farWorld4.w()).toVector3D();
  if (!finite(rayOrigin) || !finite(rayEnd))
    return false;

  QVector3D rayDir = safeNormalize(rayEnd - rayOrigin, QVector3D(0, -1, 0));
  if (std::abs(rayDir.y()) < kEps)
    return false;

  float t = (m_groundY - rayOrigin.y()) / rayDir.y();
  if (!finite(t) || t < 0.0f)
    return false;

  outWorld = rayOrigin + rayDir * t;
  return finite(outWorld);
}

bool Camera::worldToScreen(const QVector3D &world, qreal screenW, qreal screenH,
                           QPointF &outScreen) const {
  if (screenW <= 0 || screenH <= 0)
    return false;
  if (!finite(world))
    return false;

  QVector4D clip =
      getProjectionMatrix() * getViewMatrix() * QVector4D(world, 1.0f);
  if (std::abs(clip.w()) < kEps)
    return false;

  QVector3D ndc = (clip / clip.w()).toVector3D();
  if (!qIsFinite(ndc.x()) || !qIsFinite(ndc.y()) || !qIsFinite(ndc.z()))
    return false;
  if (ndc.z() < -1.0f || ndc.z() > 1.0f)
    return false;

  qreal sx = (ndc.x() * 0.5 + 0.5) * screenW;
  qreal sy = (1.0 - (ndc.y() * 0.5 + 0.5)) * screenH;
  outScreen = QPointF(sx, sy);
  return qIsFinite(sx) && qIsFinite(sy);
}

void Camera::updateFollow(const QVector3D &targetCenter) {
  if (!m_followEnabled)
    return;
  if (!finite(targetCenter))
    return;

  if (m_followOffset.lengthSquared() < 1e-5f) {
    m_followOffset = m_position - m_target;
  }
  QVector3D desiredPos = targetCenter + m_followOffset;
  QVector3D newPos =
      (m_followLerp >= 0.999f)
          ? desiredPos
          : (m_position +
             (desiredPos - m_position) * std::clamp(m_followLerp, 0.0f, 1.0f));

  if (!finite(newPos))
    return;

  m_target = targetCenter;
  m_position = newPos;

  applySoftBoundaries();

  orthonormalize((m_target - m_position), m_front, m_right, m_up);
}

void Camera::setRTSView(const QVector3D &center, float distance, float angle,
                        float yawDeg) {
  if (!finite(center) || !finite(distance) || !finite(angle) || !finite(yawDeg))
    return;

  m_target = center;

  distance = std::max(distance, 0.01f);
  float pitchRad = qDegreesToRadians(angle);
  float yawRad = qDegreesToRadians(yawDeg);

  float y = distance * qSin(pitchRad);
  float horiz = distance * qCos(pitchRad);

  float x = std::sin(yawRad) * horiz;
  float z = std::cos(yawRad) * horiz;

  m_position = center + QVector3D(x, y, z);

  QVector3D f = (m_target - m_position);
  orthonormalize(f, m_front, m_right, m_up);

  applySoftBoundaries();
}

void Camera::setTopDownView(const QVector3D &center, float distance) {
  if (!finite(center) || !finite(distance))
    return;

  m_target = center;
  m_position = center + QVector3D(0, std::max(distance, 0.01f), 0);
  m_up = QVector3D(0, 0, -1);
  m_front = safeNormalize((m_target - m_position), QVector3D(0, 0, 1));
  updateVectors();

  applySoftBoundaries();
}

QMatrix4x4 Camera::getViewMatrix() const {
  QMatrix4x4 view;
  view.lookAt(m_position, m_target, m_up);
  return view;
}

QMatrix4x4 Camera::getProjectionMatrix() const {
  QMatrix4x4 projection;
  if (m_isPerspective) {
    projection.perspective(m_fov, m_aspect, m_nearPlane, m_farPlane);
  } else {
    float left = m_orthoLeft;
    float right = m_orthoRight;
    float bottom = m_orthoBottom;
    float top = m_orthoTop;
    clampOrthoBox(left, right, bottom, top);
    projection.ortho(left, right, bottom, top, m_nearPlane, m_farPlane);
  }
  return projection;
}

QMatrix4x4 Camera::getViewProjectionMatrix() const {
  return getProjectionMatrix() * getViewMatrix();
}

float Camera::getDistance() const { return (m_position - m_target).length(); }

float Camera::getPitchDeg() const {
  QVector3D off = m_position - m_target;
  QVector3D dir = -off;
  if (dir.lengthSquared() < 1e-6f)
    return 0.0f;
  float lenXZ = std::sqrt(dir.x() * dir.x() + dir.z() * dir.z());
  float pitchRad = std::atan2(dir.y(), lenXZ);
  return qRadiansToDegrees(pitchRad);
}

void Camera::updateVectors() {
  QVector3D f = (m_target - m_position);
  orthonormalize(f, m_front, m_right, m_up);
}

void Camera::applySoftBoundaries(bool isPanning) {
  if (!qIsFinite(m_position.y())) {
    return;
  }

  if (m_position.y() < m_groundY + m_minHeight) {
    m_position.setY(m_groundY + m_minHeight);
  }

  auto &vis = Game::Map::VisibilityService::instance();
  if (!vis.isInitialized()) {
    return;
  }

  const float tile = vis.getTileSize();
  const float halfW = vis.getWidth() * 0.5f - 0.5f;
  const float halfH = vis.getHeight() * 0.5f - 0.5f;

  if (tile <= 0.0f || halfW < 0.0f || halfH < 0.0f) {
    return;
  }

  const float mapMinX = -halfW * tile;
  const float mapMaxX = halfW * tile;
  const float mapMinZ = -halfH * tile;
  const float mapMaxZ = halfH * tile;

  float cameraHeight = m_position.y() - m_groundY;
  float pitchDeg = getPitchDeg();

  float mapWidth = mapMaxX - mapMinX;
  float mapDepth = mapMaxZ - mapMinZ;
  float baseMarginX =
      mapWidth * std::lerp(kMinMarginPercent, kMaxMarginPercent,
                           std::min(cameraHeight / 50.0f, 1.0f));
  float baseMarginZ =
      mapDepth * std::lerp(kMinMarginPercent, kMaxMarginPercent,
                           std::min(cameraHeight / 50.0f, 1.0f));

  float marginX = calculateDynamicMargin(baseMarginX, cameraHeight, pitchDeg);
  float marginZ = calculateDynamicMargin(baseMarginZ, cameraHeight, pitchDeg);

  float extMinX = mapMinX - marginX;
  float extMaxX = mapMaxX + marginX;
  float extMinZ = mapMinZ - marginZ;
  float extMaxZ = mapMaxZ + marginZ;

  QVector3D targetToPos = m_position - m_target;
  float targetToPosDist = targetToPos.length();

  QVector3D positionAdjustment(0, 0, 0);
  QVector3D targetAdjustment(0, 0, 0);

  if (m_position.x() < extMinX)
    positionAdjustment.setX(extMinX - m_position.x());
  else if (m_position.x() > extMaxX)
    positionAdjustment.setX(extMaxX - m_position.x());

  if (m_position.z() < extMinZ)
    positionAdjustment.setZ(extMinZ - m_position.z());
  else if (m_position.z() > extMaxZ)
    positionAdjustment.setZ(extMaxZ - m_position.z());

  if (m_target.x() < mapMinX)
    targetAdjustment.setX(mapMinX - m_target.x());
  else if (m_target.x() > mapMaxX)
    targetAdjustment.setX(mapMaxX - m_target.x());

  if (m_target.z() < mapMinZ)
    targetAdjustment.setZ(mapMinZ - m_target.z());
  else if (m_target.z() > mapMaxZ)
    targetAdjustment.setZ(mapMaxZ - m_target.z());

  if (isPanning) {

    if ((positionAdjustment.x() > 0 && m_lastPosition.x() < m_position.x()) ||
        (positionAdjustment.x() < 0 && m_lastPosition.x() > m_position.x())) {
      positionAdjustment.setX(0);
    }

    if ((positionAdjustment.z() > 0 && m_lastPosition.z() < m_position.z()) ||
        (positionAdjustment.z() < 0 && m_lastPosition.z() > m_position.z())) {
      positionAdjustment.setZ(0);
    }
  }

  if (!positionAdjustment.isNull()) {
    m_position += positionAdjustment * (isPanning ? 0.7f : kBoundarySmoothness);
  }

  if (!targetAdjustment.isNull()) {
    m_target += targetAdjustment * (isPanning ? 0.7f : kBoundarySmoothness);

    if (targetToPosDist > kTiny) {
      QVector3D dir = targetToPos.normalized();
      m_position = m_target + dir * targetToPosDist;
    }
  }

  m_lastPosition = m_position;
}

void Camera::clampAboveGround() {
  if (!qIsFinite(m_position.y())) {
    return;
  }

  if (m_position.y() < m_groundY + m_minHeight) {
    m_position.setY(m_groundY + m_minHeight);
  }
}

void Camera::computeYawPitchFromOffset(const QVector3D &off, float &yawDeg,
                                       float &pitchDeg) const {
  QVector3D dir = -off;
  if (dir.lengthSquared() < 1e-6f) {
    yawDeg = 0.f;
    pitchDeg = 0.f;
    return;
  }
  float yaw = qRadiansToDegrees(std::atan2(dir.x(), dir.z()));
  float lenXZ = std::sqrt(dir.x() * dir.x() + dir.z() * dir.z());
  float pitch = qRadiansToDegrees(std::atan2(dir.y(), lenXZ));
  yawDeg = yaw;
  pitchDeg = pitch;
}

} // namespace Render::GL