#include "Robot/PilotComponent/RobotPilotComponent.h"

#include "Actors/MujocoVolumeActor.h"
#include "Robot/RobotPawn.h"

URobotPilotComponent::URobotPilotComponent()
{
	
}

void URobotPilotComponent::BeginPlay()
{
	Super::BeginPlay();

	// Reference owning robot
	RobotOwner = Cast<ARobotPawn>(GetOwner());
	InitPilotComponent();
}

void URobotPilotComponent::TickComponent(float DeltaTime, enum ELevelTick TickType,
	FActorComponentTickFunction* ThisTickFunction)
{
	Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
}

void URobotPilotComponent::InitPilotComponent()
{
	if (RobotOwner.Get() && RobotOwner->PhysicsSceneProxy.Get())
	{
		RobotOwner->PhysicsSceneProxy->BindPostPhysicStepDelegate(this, &URobotPilotComponent::PostPhysicStepUpdate);
	}
}

void URobotPilotComponent::PostPhysicStepUpdate(const float SimulationTime)
{
	// Overriden in each dedicated RobotPilotComponent
}

FTransform URobotPilotComponent::GetReachableTransform()
{
	return FTransform::Identity;
}

bool URobotPilotComponent::GetIsReadyForTraining()
{
	// Overriden in individual components
	return false;
}

bool URobotPilotComponent::GetIsInRestState()
{
	// Overriden in individual components
	return true;
}

void URobotPilotComponent::SetRobotTarget(const FTransform& TargetTransformIn)
{
}

void URobotPilotComponent::SetRobotCurrentRewardZone(const FTransform& RewardTransformIn)
{
}