using System;
using UnityEngine;
using System.Collections.Generic;
public class MoveRobotArm : MonoBehaviour
{
    public Transform target;
    public Transform endPoint;
    public enum eRobotArmRotateAxis
    {
        x, y, z
    }
    [Serializable]
    public struct stRobotArmJoint
    {
        public Transform jointTransform;
        public eRobotArmRotateAxis axisType;
        public float angle;
        public float maxAngle;
        public float minAngle;
        public float baseAngle;
        public float gradient;
        public float delta;
        public void Rotate(float angle)
        {
            switch (axisType)
            {
                case eRobotArmRotateAxis.x:
                    jointTransform.eulerAngles = new Vector3(angle, jointTransform.eulerAngles.y, jointTransform.eulerAngles.z);
                    break;
                case eRobotArmRotateAxis.y:
                    jointTransform.eulerAngles = new Vector3(jointTransform.eulerAngles.x, angle, jointTransform.eulerAngles.z);
                    break;
                case eRobotArmRotateAxis.z:
                    jointTransform.eulerAngles = new Vector3(jointTransform.eulerAngles.x, jointTransform.eulerAngles.y, angle);
                    break;
            }
        } 
    }
    public List<stRobotArmJoint> joints = new List<stRobotArmJoint>();
    // Start is called once before the first execution of Update after the MonoBehaviour is created
    void Start()
    {
        for (int i = 0; i < joints.Count; i++)
        {
            stRobotArmJoint joint = joints[i];
            joint.gradient = 1.0f;
        } 
    }

    // Update is called once per frame
    void Update()
    {
        if (target == null)
            return;
        for (int i = 0; i < joints.Count; i++)
        {
            stRobotArmJoint joint = joints[i];
            float distance = Vector3.Distance(target.position, endPoint.position);
            float angle = joint.angle;
            joint.Rotate(angle + joint.gradient);
            float checkDistanceP = Vector3.Distance(target.position, endPoint.position);
            joint.Rotate(angle - joint.gradient);
            float checkDistanceN = Vector3.Distance(target.position, endPoint.position);
            //if (checkDistanceP > )
        }
    }
}