HDRobotics/Assets/Scripts/View/InteractionView.cs

using System;
using System.Collections;
using System.Threading;
using System.Threading.Tasks;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;
using UnityEngine.XR.Interaction.Toolkit.Interactables;
using UnityEngine.XR.Interaction.Toolkit.Interactors;

public interface IInteractionView
{

}

public enum HandSide { Left, Right }

public class InteractionView : MonoBehaviour, IInteractionView
{
    public event Action<Vector3, Quaternion> OnRobotGrabbed;
    public event Action<RobotData> OnRobotReleased;
    public event Action<int, Vector3> OnPointClicked;
    public event Action<int> OnPointDragStart;
    public event Action<int, Vector3, Quaternion> OnPointDragUpdate;
    public event Action<int> OnPointDragEnd;

    [SerializeField]private NearFarInteractor nearFarInteractor;
    public HandSide handSide;
    private XRBaseInteractor baseInteractor;
    private IXRRayProvider rayProvider;

    [SerializeField]
    [Tooltip("<22>巡<EFBFBD><E5B7A1> <20><> <20><>ġ<EFBFBD><C4A1> ǥ<><C7A5><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>κ<EFBFBD> <20><><EFBFBD><EFBFBD>")]
    private GameObject ghostRobot;
    [SerializeField]
    [Tooltip("<22>巡<EFBFBD>׿<EFBFBD> <20><><EFBFBD>콺 <20>̹<EFBFBD><CCB9><EFBFBD>")]
    private GameObject dragArrow;
    [SerializeField] private float clickTimeThreshold = 0.5f;
    [SerializeField] private float dragMovementThreshold = 0.05f;
    private Coroutine clickOrDragCoroutine = null;
    private Vector3 startGrabPosition;

    private bool isInitialized = false;
    private bool isGrabbingPoint = false;
    private int currentGrabbedPointIndex = -1;

    Vector3 currentTargetPosition = Vector3.zero;
    Quaternion currentTargetRotation = Quaternion.identity;

    public bool isGrabbingRobot = false;

    //void Start()
    //{
    //    nearFarInteractor = GetComponentInChildren<NearFarInteractor>();

    //    if (nearFarInteractor == null)
    //    {
    //        Debug.LogError("InteractionView: 'nearFarInteractor'<27><> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>", this);
    //        return;
    //    }

    //    baseInteractor = nearFarInteractor as XRBaseInteractor;
    //    rayProvider = nearFarInteractor as IXRRayProvider;

    //    if (baseInteractor == null)
    //    {
    //        Debug.LogError("NearFarInteractor<6F><72> XRBaseInteractor<6F><72> <20><>ȯ<EFBFBD><C8AF> <20><> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>.", this);
    //        return;
    //    }

    //    InitializeInteraction();
    //}

    void Update()
    {
        if (!isInitialized || rayProvider == null)
        {
            if (nearFarInteractor == null)
            {
                nearFarInteractor = GetComponentInChildren<NearFarInteractor>(true);
                baseInteractor = nearFarInteractor as XRBaseInteractor;
                rayProvider = nearFarInteractor as IXRRayProvider;
            }
            if (nearFarInteractor != null)
            {
                InitializeInteraction();
            }
        }
        else
        {
            currentTargetPosition = rayProvider.rayEndPoint;
            currentTargetRotation = baseInteractor.attachTransform.rotation;

            if (isGrabbingRobot)
            {
                OnRobotGrabbed?.Invoke(currentTargetPosition, currentTargetRotation);
                return;
            }

            if (isGrabbingPoint)
            {
                OnPointDragUpdate?.Invoke(currentGrabbedPointIndex, currentTargetPosition, currentTargetRotation);
            }
            else if (clickOrDragCoroutine != null)
            {
                float distance = Vector3.Distance(startGrabPosition, currentTargetPosition);

                if (distance > dragMovementThreshold)
                {
                    StartDragMode();
                }
            }
        }
    }

    private void InitializeInteraction()
    {
        // XRI <20>̺<EFBFBD>Ʈ <20><><EFBFBD><EFBFBD>
        baseInteractor.selectEntered.AddListener(HandleGrabStart);
        baseInteractor.selectExited.AddListener(HandleGrabEnd);

        isInitialized = true;
        AppManager.Instance.RegisterView(this);
    }

    private void OnDestroy()
    {
        if (baseInteractor != null)
        {
            baseInteractor.selectEntered.RemoveListener(HandleGrabStart);
            baseInteractor.selectExited.RemoveListener(HandleGrabEnd);
        }
    }

    // --- XRI <20>̺<EFBFBD>Ʈ <20>ڵ鷯 ---

    private void HandleGrabStart(SelectEnterEventArgs args)
    {
        GameObject grabbedGO = args.interactableObject.transform.gameObject;

        RobotPoint point = grabbedGO.GetComponent<RobotPoint>();
        if (point != null)
        {
            isGrabbingPoint = true;
            isGrabbingRobot = false;
            currentGrabbedPointIndex = point.pointIndex;

            // Ÿ<≯<EFBFBD> <20><><EFBFBD><EFBFBD>
            startGrabPosition = rayProvider.rayEndPoint;
            if (clickOrDragCoroutine != null) 
                StopCoroutine(clickOrDragCoroutine);
            clickOrDragCoroutine = StartCoroutine(ClickOrDragTimer());

            //OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
        else if (grabbedGO.CompareTag("RobotArm"))
        {
            isGrabbingPoint = false;
            isGrabbingRobot = true;
            currentGrabbedPointIndex = -1;

            OnPointDragStart?.Invoke(currentGrabbedPointIndex);
        }
    }

    private void HandleGrabEnd(SelectExitEventArgs args)
    {
        if (isGrabbingRobot)
        {
            OnRobotReleased?.Invoke(new RobotData());
        }
        else
        {
            if (clickOrDragCoroutine != null)
            {
                StopCoroutine(clickOrDragCoroutine);
                clickOrDragCoroutine = null;

                OnPointClicked?.Invoke(currentGrabbedPointIndex, currentTargetPosition);
            }
            else if (isGrabbingPoint)
            {
                OnPointDragEnd?.Invoke(currentGrabbedPointIndex);
            }
        }

        // <20><><EFBFBD><EFBFBD> <20>ʱ<EFBFBD>ȭ
        clickOrDragCoroutine = null;
        isGrabbingPoint = false;
        isGrabbingRobot = false;
        currentGrabbedPointIndex = -1;
    }

    // Ŭ<><C5AC>/<2F>巡<EFBFBD><E5B7A1> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD> Ÿ<≯<EFBFBD> <20>ڷ<EFBFBD>ƾ
    private IEnumerator ClickOrDragTimer()
    {
        yield return new WaitForSeconds(clickTimeThreshold);

        if (clickOrDragCoroutine != null)
        {
            Debug.Log("<22>ð<EFBFBD> <20>ʰ<EFBFBD><CAB0><EFBFBD> <20>巡<EFBFBD><E5B7A1> <20><><EFBFBD><EFBFBD> (OnPointDragStart)");
            StartDragMode();
        }
    }

    // Ÿ<≯<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϰ<EFBFBD> <20>巡<EFBFBD><E5B7A1> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȯ
    private void StartDragMode()
    {
        if (clickOrDragCoroutine != null)
        {
            StopCoroutine(clickOrDragCoroutine);
            clickOrDragCoroutine = null;
        }

        isGrabbingPoint = true;
        OnPointDragStart?.Invoke(currentGrabbedPointIndex);
    }

    // <20>κ<EFBFBD> <20><>ǥ<EFBFBD><C7A5>(mm)<29><> Unity <20><><EFBFBD><EFBFBD> <20><>ǥ<EFBFBD><C7A5>(m)<29><> <20><>ȯ
    private Vector3 ConvertRobotDataToVector3(RobotData pose)
    {
        float x = Convert.ToSingle(pose.x / -1000.0);
        float y = Convert.ToSingle(pose.z / 1000.0);
        float z = Convert.ToSingle(pose.y / -1000.0);
        return new Vector3(x, y, z);
    }

    // <20>κ<EFBFBD> <20><><EFBFBD>Ϸ<EFBFBD> <20><>(rx,ry,rz)<29><> Unity <20><><EFBFBD>ʹϾ<CDB4><CFBE><EFBFBD><EFBFBD><EFBFBD> <20><>ȯ
    private Quaternion ConvertRobotDataToQuaternion(RobotData pose)
    {
        return Quaternion.Euler(pose.rx, pose.ry, pose.rz);
    }

    // <20><><EFBFBD><EFBFBD>Ʈ <20>κ<EFBFBD><CEBA><EFBFBD> <20><>ġ/ȸ<><C8B8> <20><><EFBFBD><EFBFBD>
    public void ShowGhostRobot()
    {
        if (ghostRobot == null)
        {
            Debug.LogWarning("Ghost Robot<6F><74> Inspector<6F><72> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>.");
            return;
        }

        ghostRobot.SetActive(true);
    }

    // <20><><EFBFBD><EFBFBD>Ʈ <20>κ<EFBFBD> <20><>Ȱ<EFBFBD><C8B0>ȭ
    public void HideGhostRobot()
    {
        if (ghostRobot != null)
        {
            ghostRobot.SetActive(false);
        }
    }

    // <20>巡<EFBFBD><E5B7A1> ȭ<><C8AD>ǥ Ȱ<><C8B0>ȭ <20><> <20><>ġ <20><><EFBFBD><EFBFBD>
    public void ShowDragArrow(Vector3 position)
    {
        if (dragArrow == null)
        {
            Debug.LogWarning("Drag Arrow<6F><77> Inspector<6F><72> <20>Ҵ<EFBFBD><D2B4><EFBFBD><EFBFBD><EFBFBD> <20>ʾҽ<CABE><D2BD>ϴ<EFBFBD>.");
            return;
        }

        dragArrow.SetActive(true);
        dragArrow.transform.position = position;
    }

    // <20>巡<EFBFBD><E5B7A1> ȭ<><C8AD>ǥ <20><>Ȱ<EFBFBD><C8B0>ȭ
    public void HideDragArrow()
    {
        if (dragArrow != null)
        {
            dragArrow.SetActive(false);
        }
    }

    // <20><><EFBFBD><EFBFBD> <20><> <20><>ġ <20><>ȯ
    public Vector3 GetCurrentRayPosition()
    {
        if (rayProvider != null)
        {
            return rayProvider.rayEndPoint;
        }

        if (baseInteractor != null)
        {
            return baseInteractor.attachTransform.position;
        }

        return transform.position;
    }
}