import math

from config.constants import MAX_VELOCITY, MAX_ROTATIONAL_VELOCITY


class Physics:
    """
    Physics
    ⠀⠀⢀⣀⢀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣀⡠⣄⠀⠀⠀⠀⠀
    ⠀⣴⠊⠛⠦⣅⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⠃⠈⠈⠳⡄⠀⠀⠀
    ⠸⣿⠀⠀⠀⠉⢹⣆⠀⠀⠀⠠⡶⠖⢦⡄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⢻⡄⠀⠀⠈⡆⠀⠀
    ⠀⠈⣧⠀⠀⠀⠀⠉⠓⠂⠐⠋⠀⠀⢸⣷⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣴⡆⢀⢰⣶⣄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢀⡒⠀⣤⢀⠀⠈⡇⠀⠀⠀⢹⡂⠀
    ⠀⠀⢹⣇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠰⠞⠄⠀⠀⠀⠀⠀⠀⠀⣀⣤⣾⠿⠁⠈⠁⠉⠻⢷⠶⠴⢭⡄⠤⡀⠀⠀⠀⠀⠀⢿⡇⠀⠈⢢⠀⣸⡇⠀⠀⠀⠐⠁⠀
    ⠀⠀⠀⢻⠀⠀⠀⠀⠀⠀⠀⠀⢐⡏⡀⠀⠀⠀⠀⠀⠀⣠⡚⠛⠋⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⢮⡀⡀⠀⠀⠀⠉⢳⡄⠀⡘⠛⠋⠀⠀⠀⠀⠀⡄⠀
    ⠀⠀⠀⢀⣇⠀⠀⠀⠀⠀⠀⠀⢸⠀⠀⠀⠀⠀⢀⣴⠏⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠘⣌⢂⠀⠀⠀⢸⡇⠀⠀⠀⠀⠀⠀⠀⠀⢰⣧⡅
    ⠀⠀⠀⠀⢻⣄⠀⠀⠀⠀⠀⠀⢸⠀⠀⠀⠀⣠⡾⠁⠀⠀⠀⠀⠀⣠⡴⠖⠤⠴⠤⠶⠀⢄⠀⠀⠀⠀⠀⠀⠈⠓⠀⠀⠀⢸⡇⠀⠀⠀⠀⠀⠀⢠⣤⠞⠵⠁
    ⠀⠀⠀⠀⠀⠻⣦⡀⠀⠀⠀⢰⡺⠀⠀⠀⢀⡾⠇⠀⠀⠀⠀⣠⡾⠋⠀⠀⠀⠀⠀⠀⠀⠀⢹⣀⡀⠀⠀⠀⠀⠀⢱⠀⠀⠘⠛⢧⡀⠀⠀⣀⣴⠟⠁⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠈⠓⠖⠶⠶⠵⠃⠀⠀⠀⢺⢈⠀⠀⠀⢀⣰⠏⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠠⠙⢆⠀⠀⠀⠀⠀⠸⣄⠁⠀⠀⠈⠻⠒⠚⠏⠁⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢘⡀⠀⠀⠀⢸⠏⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠸⣡⡀⠀⠀⠀⠀⢸⠂⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⠃⠀⠀⣠⡎⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣸⠀⠀⠀⠀⢻⡁⡀⠀⠀⢀⢸⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢸⡔⠀⠀⡾⠀⠀⠀⠀⢀⡤⠞⠁⠀⠀⠀⠹⠄⠀⠀⠀⠈⢯⠀⠀⠀⣠⣼⠅⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠿⣧⠀⢸⡇⠀⠀⢠⡼⠋⠀⠀⠀⠀⠀⠀⠀⠀⢰⠀⠀⠀⠸⡄⠀⢀⣿⣏⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⢿⣄⣸⡁⠀⢀⠾⡆⠇⠀⠀⠀⠀⠀⠀⠀⠀⠀⠐⠀⠀⢠⡣⠀⣸⡿⠂⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠿⣬⠛⠁⡆⠉⡆⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠂⢧⠀⣿⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠙⣿⣆⣀⣁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣠⠀⢀⣸⣤⣿⠯⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠉⠀⠘⠳⣄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⣠⣴⠿⠋⠛⠛⠃⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
    ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠙⠛⠲⠖⠒⠒⠂⠒⠒⠒⠛⠉⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀

    ⣿⣿⣿⣿⣿⣿⣿⣿⠿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣹⡏⠀⠈⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣿⣿⣧⠀⢸⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣿⣿⣿⡇⠀⢻⢿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣿⠿⣋⡁⢶⣦⣤⣍⠙⢿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⠉⡴⣿⡟⢸⣿⣿⡿⣷⡄⢻⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⡿⢸⣿⣿⡗⣼⣿⣿⣯⣽⢻⡆⢿⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⡇⣾⣿⣿⣾⣿⣿⣾⣿⣯⣿⣧⠘⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⡟⣱⣿⣿⣿⣿⣿⣽⣾⣿⣽⢻⣏⡄⣿⢿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⡿⢡⣿⣯⣿⣿⡿⣟⣻⣿⣿⢿⣿⣏⢻⠘⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⠗⠒⣛⢻⣿⣿⣿⡟⢻⣿⣏⣿⣷⣠⣿⡘⡧⡘⢿⣿⣿⣿⣿⣿⣿
    ⠛⠁⢴⠺⢿⡀⠻⣿⢿⡇⣼⠏⠯⠈⢿⡿⢘⣿⡘⣦⡘⣿⣿⣿⣿⣿⣿
    ⠀⠀⠀⠀⠈⢻⡆⠈⠈⢠⡇⠐⠀⠀⠈⠃⢸⣯⣧⠉⣧⠸⣿⣿⣿⣿⣿
    ⡄⣀⢃⠀⠀⣸⣿⣧⡀⣼⣿⡀⠀⠀⢠⡄⠸⣿⣿⣷⢉⠃⣿⣿⣿⣿⣿
    ⡇⢹⣦⡻⣿⣿⣿⢩⣷⣿⣿⣿⣷⣾⣾⠇⣶⣞⡛⣷⣌⡀⣿⣿⣿⣿⣿
    ⡶⢄⠻⣿⣾⣿⠓⠬⠽⠟⢛⣿⣿⣿⣟⢐⢻⣿⣿⣿⠿⢡⣿⣿⣿⣿⣿
    ⣿⣇⢱⠙⢿⣿⣶⣖⣲⣶⣿⣿⡿⢋⣡⣿⣿⣿⣿⡟⢠⣿⣿⣿⣿⣿⣿
    ⣿⣿⣷⣅⢲⣌⠛⠿⠿⠿⢟⠁⣴⣷⣾⣿⣾⡿⠟⣰⣿⣷⣮⣭⣭⣟⣻
    ⣿⣿⣿⣿⣷⣌⡐⠰⣴⣶⠾⠿⢿⠿⠷⠟⠈⣠⣾⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣧⠀⠀⠀⠉⠁⠀⢀⣀⣠⣴⣾⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣿⣷⣶⣬⣘⣒⠷⢦⣶⣶⣶⣗⣿⣿⣿⣿⣿⣿⣿⣿⣿
    ⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣿⣶⣶⣶⣾⣿⣿⣟⣛⣿⣿⣿⣿⣿⣿
    """
    def __init__(self, drag_coefficient: float, rotational_drag: float):
        self.drag_coefficient: float = drag_coefficient
        self.rotational_drag: float = rotational_drag

        self.velocity: tuple[int, int] = (0, 0)
        self.acceleration: tuple[int, int] = (0, 0)

        self.rotational_velocity: int = 0
        self.angular_acceleration: int = 0


    def move(self, linear_acceleration: float, angular_acceleration: int, rotational_position):
        # Apply drag force
        drag_coefficient = self.drag_coefficient
        drag_x = -self.velocity[0] * drag_coefficient
        drag_y = -self.velocity[1] * drag_coefficient

        # Combine all forces
        total_linear_accel = linear_acceleration
        total_linear_accel = max(-0.1, min(0.1, total_linear_accel))

        # Convert to world coordinates
        x_component = total_linear_accel * math.cos(math.radians(rotational_position))
        y_component = total_linear_accel * math.sin(math.radians(rotational_position))

        # Add drag to total acceleration
        total_accel_x = x_component + drag_x
        total_accel_y = y_component + drag_y

        self.acceleration = (total_accel_x, total_accel_y)

        # Apply drag force to angular acceleration
        rotational_drag = self.rotational_drag
        self.angular_acceleration = angular_acceleration - self.rotational_velocity * rotational_drag

        # tick acceleration
        velocity_x = self.velocity[0] + self.acceleration[0]
        velocity_y = self.velocity[1] + self.acceleration[1]
        self.velocity = (velocity_x, velocity_y)

        # # clamp velocity
        speed = math.sqrt(self.velocity[0] ** 2 + self.velocity[1] ** 2)
        if speed > MAX_VELOCITY:
            scale = MAX_VELOCITY / speed
            self.velocity = (self.velocity[0] * scale, self.velocity[1] * scale)

        self.angular_acceleration = angular_acceleration
        self.rotational_velocity += self.angular_acceleration

        # clamp rotational velocity
        self.rotational_velocity = max(-MAX_ROTATIONAL_VELOCITY, min(MAX_ROTATIONAL_VELOCITY, self.rotational_velocity))

        return self.velocity, self.acceleration, self.rotational_velocity, self.angular_acceleration