// Fill out your copyright notice in the Description page of Project Settings.

#pragma once

#include "CoreMinimal.h"
#include "Link.h"
#include "GameFramework/Actor.h"
#include "Robot.generated.h"

UCLASS()
class PBDROBOTICS_API ARobot : public AActor
{
	GENERATED_BODY()
public:
	ARobot();

protected:
	virtual void BeginPlay() override;

	UPROPERTY()
	TArray<ULink*> Links = TArray<ULink*>();

	UPROPERTY()
	TArray<UJoint*> Joints = TArray<UJoint*>();

	UFUNCTION(BlueprintCallable)
	void Connect(ULink* L1, ULink* L2);

	UPROPERTY(BlueprintReadWrite)
	bool HasGravity = false;

	UFUNCTION(BlueprintCallable)
	ULink* GetEffector() const;

	UFUNCTION(BlueprintNativeEvent)
	void GetEffectorForce(FVector& Translation, FVector& Rotation);

private:
	// Assumes First Link to have Identity Orientation and Joints Array to be in order
	void ResetPositionAndOrientation();
public:	
	virtual void Tick(float DeltaTime) override;
};