class Car{
    constructor(x,y,width,height,controlType,maxSpeed=3){
        this.x=x;
        this.y=y;
        this.width=width;
        this.height=height;

        this.speed=0;
        this.acceleration=0.2;
        this.maxSpeed=maxSpeed;
        this.friction=0.05;
        this.angle=0;

        this.damaged=false;

        this.useBrain=controlType=="AI";

        if(controlType!="DUMMY"){
            this.sensor=new Sensor();
            this.brain=new NeuralNetwork(
                [this.sensor.rayCount,6,4]
            );
        }       
        this.controls=new Controls(controlType);
    }

    update(roadBorders,traffic){
        if(!this.damaged){
            this.#move();
            this.polygon=this.#createPolygon();
            this.damaged=this.#assessDamage(roadBorders,traffic);
        }
        if(this.sensor){
            this.sensor.update(this.x,this.y,this.angle,roadBorders,traffic);
            const offsets=this.sensor.readings.map(
                s=>s==null?0:1-s.offset
            );
            const outputs=NeuralNetwork.feedForward(offsets,this.brain);
            if(this.useBrain){
                this.controls.forward=outputs[0];
                this.controls.left=outputs[1];
                this.controls.right=outputs[2];
                this.controls.reverse=outputs[3];
            }
        }     
    }

    #assessDamage(roadBorders,traffic){
        for(let i=0;i<roadBorders.length;i++){
            if(polysIntersect(
                [...this.polygon,this.polygon[0]],
                roadBorders[i])
                ){
                return true;
            }
        }
        for(let i=0;i<traffic.length;i++){
            const poly=traffic[i].polygon;
            if(polysIntersect(
                [...this.polygon,this.polygon[0]],
                [...poly,poly[0]])
                ){
                return true;
            }
        }
        return false;
    }

    #createPolygon(){
        const points=[];
        const rad=Math.hypot(this.width,this.height)/2;
        const alpha=Math.atan2(this.width,this.height);
        points.push({
            x:this.x-Math.sin(this.angle-alpha)*rad,
            y:this.y-Math.cos(this.angle-alpha)*rad
        });
        points.push({
            x:this.x-Math.sin(this.angle+alpha)*rad,
            y:this.y-Math.cos(this.angle+alpha)*rad
        });
        points.push({
            x:this.x-Math.sin(Math.PI+this.angle-alpha)*rad,
            y:this.y-Math.cos(Math.PI+this.angle-alpha)*rad
        });
        points.push({
            x:this.x-Math.sin(Math.PI+this.angle+alpha)*rad,
            y:this.y-Math.cos(Math.PI+this.angle+alpha)*rad
        });
        return points;
    }

    #move(){
        if(this.controls.forward){
            this.speed+=this.acceleration; 
         }
         if(this.controls.reverse){
             this.speed-=this.acceleration;
         }
 
         if(this.speed!=0){
             const flip=this.speed>0?1:-1;
             if(this.controls.left){
                 this.angle+=0.03*flip;
             }
             if(this.controls.right){
                 this.angle-=0.03*flip;
             }
         }
 
         if(this.speed>this.maxSpeed){
             this.speed=this.maxSpeed;
         }
         if(this.speed<-this.maxSpeed/2){
             this.speed=-this.maxSpeed/2;
         }
 
         if(this.speed>0){
             this.speed-=this.friction;
         }
         if(this.speed<0){
             this.speed+=this.friction;
         }
         if(Math.abs(this.speed)<this.friction){
             this.speed=0;
         }
         this.x-=Math.sin(this.angle)*this.speed;
         this.y-=Math.cos(this.angle)*this.speed;
    }

    draw(ctx,drawSensor=false){
        if(this.damaged){
            ctx.fillStyle="gray";
        }else{
            ctx.fillStyle="black";
        }
        ctx.beginPath();
        ctx.moveTo(this.polygon[0].x,this.polygon[0].y);
        for(let i=1;i<this.polygon.length;i++){
            ctx.lineTo(this.polygon[i].x,this.polygon[i].y);
        }
        ctx.fill();
        if(this.sensor && drawSensor){
            this.sensor.draw(ctx);
        }
    }
}