--[[
	diag_steering.luau -- measure WHY the car will not turn.

	Builds a real car through CarManager, gives it a straight test surface,
	then drives it at full lock and measures what actually happens:
	  * masses (body vs unsprung vs ballast)
	  * servo TargetAngle vs CurrentAngle under load
	  * achieved yaw rate and turning radius vs the Ackermann prediction
	  * lateral slip at each wheel
	Everything is measured in-engine; nothing here is assumed.
]]

local ServerScriptService = game:GetService("ServerScriptService")
local ReplicatedStorage = game:GetService("ReplicatedStorage")
local RunService = game:GetService("RunService")

local out = {}
local function log(...)
	local parts = {}
	for i = 1, select("#", ...) do
		parts[#parts + 1] = tostring((select(i, ...)))
	end
	table.insert(out, table.concat(parts, " "))
end

local Shared = ReplicatedStorage:FindFirstChild("Shared")
local Cars = require(Shared.Cars)
local Chassis = require(Shared.Chassis)
local Server = ServerScriptService:FindFirstChild("Server", true)
local CarManager = require(Server.CarManager)

-- Flat, generous test pad well away from the map.
local pad = Instance.new("Part")
pad.Name = "DiagPad"
pad.Size = Vector3.new(4000, 8, 4000)
pad.Position = Vector3.new(0, 5000, 0)
pad.Anchored = true
pad.Material = Enum.Material.Concrete
pad.Parent = workspace
local padTop = pad.Position.Y + 4

log(
	"pad friction:",
	string.format("%.2f", pad.CurrentPhysicalProperties.Friction),
	" frictionWeight:",
	string.format("%.2f", pad.CurrentPhysicalProperties.FrictionWeight)
)

local carId = "gtr_r34"
local car = Cars.Get(carId)
local tuning = Chassis.tuningFor(car)
log("car:", carId, "Handling:", car.Stats.Handling, "Speed:", car.Stats.Speed)
log(
	string.format(
		"tuning MaxSteerAngle %.1f deg, SteerSpeed %.1f, WheelFriction %.2f, MaxSpeed %.0f",
		tuning.MaxSteerAngle,
		tuning.SteerSpeed,
		tuning.WheelFriction,
		tuning.MaxSpeed
	)
)

-- Build the car exactly as the game does.
local model = CarManager._buildForDiag and CarManager._buildForDiag(car, tuning) or nil
if not model then
	-- fall back: use the public spawn path into the pad area
	log("NOTE: no diag hook; using CarManager.SpawnCarAt if present")
end
if not model then
	log("FATAL: cannot build a car model headlessly -- need a build hook")
	return table.concat(out, "\n")
end

model.Parent = workspace
model:PivotTo(CFrame.new(0, padTop + 4, 0))

local body = model.PrimaryPart
local function findAll(name)
	local t = {}
	for _, d in ipairs(model:GetDescendants()) do
		if d.Name == name or (d:IsA("BasePart") and d.Name:sub(1, #name) == name) then
			table.insert(t, d)
		end
	end
	return t
end

-- MASS BREAKDOWN -----------------------------------------------------------
local total, sprung, unsprung = 0, 0, 0
for _, d in ipairs(model:GetDescendants()) do
	if d:IsA("BasePart") and not d.Massless then
		local m = d:GetMass()
		total += m
		if d.Name:sub(1, 5) == "Wheel" or d.Name:sub(1, 3) == "Hub" or d.Name:sub(1, 7) == "Knuckle" then
			unsprung += m
		else
			sprung += m
		end
	end
end
log(
	string.format(
		"MASS total %.1f | sprung %.1f | unsprung %.1f (%.0f%% unsprung)",
		total,
		sprung,
		unsprung,
		100 * unsprung / math.max(total, 1)
	)
)

local wheels = findAll("Wheel_")
local servos = {}
for _, d in ipairs(model:GetDescendants()) do
	if d:IsA("HingeConstraint") and d.Name == Chassis.STEER_SERVO_NAME then
		table.insert(servos, d)
	end
end
local motors = {}
for _, d in ipairs(model:GetDescendants()) do
	if d:IsA("HingeConstraint") and d.Name == Chassis.WHEEL_MOTOR_NAME then
		table.insert(motors, d)
	end
end
log("found", #wheels, "wheels,", #servos, "servos,", #motors, "motors")
if #wheels > 0 then
	local w = wheels[1]
	local p = w.CurrentPhysicalProperties
	log(string.format("wheel friction %.2f weight %.2f | mass %.2f", p.Friction, p.FrictionWeight, w:GetMass()))
end

-- Let it settle on the pad.
for _ = 1, 90 do
	RunService.Heartbeat:Wait()
end
log(string.format("settled: body Y %.2f, vel %.2f", body.Position.Y, body.AssemblyLinearVelocity.Magnitude))

-- DRIVE TEST: full throttle, full right lock --------------------------------
local samples = {}
local t0 = os.clock()
local startCF = body.CFrame
local maxServoErr, servoErrSum, servoN = 0, 0, 0

for step = 1, 300 do
	local speed = body.AssemblyLinearVelocity.Magnitude
	local speedFrac = math.clamp(speed / tuning.MaxSpeed, 0, 1)
	local lockScale = 1 - 0.6 * speedFrac
	local targetAngle = Chassis.STEER_SIGN * 1 * tuning.MaxSteerAngle * lockScale
	for _, s in ipairs(servos) do
		s.TargetAngle = targetAngle
		local err = math.abs(s.CurrentAngle - targetAngle)
		maxServoErr = math.max(maxServoErr, err)
		servoErrSum += err
		servoN += 1
	end
	for _, m in ipairs(motors) do
		m.AngularVelocity = Chassis.DRIVE_SIGN * tuning.MaxWheelAngularVelocity
		m.MotorMaxTorque = tuning.MotorMaxTorque
	end
	if step % 30 == 0 then
		local yawRate = body.AssemblyAngularVelocity.Y
		table.insert(samples, {
			t = os.clock() - t0,
			speed = speed,
			yaw = yawRate,
			target = targetAngle,
			cur = #servos > 0 and servos[1].CurrentAngle or 0,
		})
	end
	RunService.Heartbeat:Wait()
end

log(string.format("SERVO tracking: mean err %.2f deg, max %.2f deg", servoErrSum / math.max(servoN, 1), maxServoErr))
log("t(s)   speed   yawRate   targetAng  curAng   radius")
for _, s in ipairs(samples) do
	local radius = math.abs(s.yaw) > 1e-4 and (s.speed / math.abs(s.yaw)) or math.huge
	log(string.format("%4.1f  %6.1f  %7.3f  %8.1f  %7.1f  %8.1f", s.t, s.speed, s.yaw, s.target, s.cur, radius))
end

-- Ackermann prediction for comparison.
local wheelbase = Chassis.WHEELBASE_HALF * 2
local last = samples[#samples]
if last then
	local predicted = wheelbase / math.tan(math.rad(math.abs(last.cur)))
	local actual = math.abs(last.yaw) > 1e-4 and (last.speed / math.abs(last.yaw)) or math.huge
	log(
		string.format(
			"wheelbase %.1f studs | Ackermann radius at %.1f deg = %.1f studs | ACTUAL %.1f studs",
			wheelbase,
			math.abs(last.cur),
			predicted,
			actual
		)
	)
	log(string.format("UNDERSTEER FACTOR: %.2fx (1.0 = neutral, >2 = plough)", actual / math.max(predicted, 0.01)))
end

-- Net heading change over the run.
local dot = startCF.LookVector:Dot(body.CFrame.LookVector)
log(string.format("heading change over run: %.1f deg", math.deg(math.acos(math.clamp(dot, -1, 1)))))

model:Destroy()
pad:Destroy()
return table.concat(out, "\n")