--!strict
--[[
	ChassisController.luau  (CLIENT)
	Drives the constraint chassis while the local player is in a DriveSeat.

	Why client-side: the server gives the driver network ownership of the car,
	so physics (and constraint targets) run authoritatively on THIS client —
	that's what makes driving feel responsive instead of laggy. The server
	still owns WHICH car you get (allowlist etc.); this module only turns
	seat input into motor/servo targets.

	Loop per Heartbeat while seated:
	  Steer   -> front servo TargetAngle (speed-sensitive: less lock when fast)
	  Throttle-> wheel motor AngularVelocity + MotorMaxTorque
	  No input-> brake torque toward zero angular velocity
]]

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

local Shared = ReplicatedStorage.Shared
local Cars = require(Shared.Cars)
local Chassis = require(Shared.Chassis)

local player = Players.LocalPlayer

local ChassisController = {}

local heartbeatConn: RBXScriptConnection? = nil
local seatedConn: RBXScriptConnection? = nil

local function findCarModel(seat: VehicleSeat): Model?
	local model = seat:FindFirstAncestorOfClass("Model")
	if model and model:GetAttribute("CarId") ~= nil then
		return model
	end
	return nil
end

local function collectConstraints(model: Model): ({ HingeConstraint }, { HingeConstraint })
	local motors: { HingeConstraint } = {}
	local servos: { HingeConstraint } = {}
	for _, desc in ipairs(model:GetDescendants()) do
		if desc:IsA("HingeConstraint") then
			if desc.Name == Chassis.WHEEL_MOTOR_NAME then
				table.insert(motors, desc)
			elseif desc.Name == Chassis.STEER_SERVO_NAME then
				table.insert(servos, desc)
			end
		end
	end
	return motors, servos
end

local function startDriving(seat: VehicleSeat)
	local model = findCarModel(seat)
	if not model then
		return
	end
	local carId = model:GetAttribute("CarId") :: string
	local car = Cars.Get(carId)
	if not car then
		return
	end
	local tuning = Chassis.tuningFor(car)
	local motors, servos = collectConstraints(model)
	local body = model.PrimaryPart
	if #motors == 0 or not body then
		return
	end

	heartbeatConn = RunService.Heartbeat:Connect(function()
		local throttle = seat.ThrottleFloat
		local steer = seat.SteerFloat

		-- Steering: speed-sensitive — at top speed only ~40% of full lock,
		-- so the car doesn't spin out from a tap of the key at 150 studs/s.
		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 * steer * tuning.MaxSteerAngle * lockScale
		for _, servo in ipairs(servos) do
			servo.TargetAngle = targetAngle
		end

		-- Drive/brake:
		if math.abs(throttle) > 0.05 then
			local targetVel = Chassis.DRIVE_SIGN * throttle * tuning.MaxWheelAngularVelocity
			for _, motor in ipairs(motors) do
				motor.AngularVelocity = targetVel
				motor.MotorMaxTorque = tuning.MotorMaxTorque
			end
		else
			-- Engine braking: drive wheel speed toward zero with brake torque.
			for _, motor in ipairs(motors) do
				motor.AngularVelocity = 0
				motor.MotorMaxTorque = tuning.BrakeTorque
			end
		end
	end)
end

local function stopDriving()
	if heartbeatConn then
		heartbeatConn:Disconnect()
		heartbeatConn = nil
	end
end

function ChassisController.init()
	-- SeatPart changes whenever the humanoid sits down or gets up.
	local function onCharacter(character: Model)
		local humanoid = character:WaitForChild("Humanoid") :: Humanoid
		if seatedConn then
			seatedConn:Disconnect()
		end
		local function applySeat()
			stopDriving()
			local seatPart = humanoid.SeatPart
			if seatPart and seatPart:IsA("VehicleSeat") and seatPart.Name == Chassis.SEAT_NAME then
				startDriving(seatPart)
			end
		end

		seatedConn = humanoid:GetPropertyChangedSignal("SeatPart"):Connect(applySeat)

		-- WATCHDOG: the SeatPart signal alone is NOT reliable enough to arm the
		-- chassis. Observed on cold boot: humanoid is Seated in a valid DriveSeat,
		-- the car is network-owned by us, and the catch-up applySeat() below has
		-- already run — yet the Heartbeat loop is not connected, so every motor
		-- keeps MotorMaxTorque = 0 and the car is completely undrivable. The
		-- signal fires during client bootstrap while modules are still being
		-- required, and the edge is simply lost; re-running applySeat() once at
		-- init doesn't help when the seat is assigned a moment AFTER that call.
		-- A level-triggered check is immune to every ordering of these events:
		-- if we are seated in a DriveSeat but have no live loop, arm it.
		task.spawn(function()
			while humanoid.Parent do
				local seatPart = humanoid.SeatPart
				local seated = seatPart
					and seatPart:IsA("VehicleSeat")
					and seatPart.Name == Chassis.SEAT_NAME
				if seated and not heartbeatConn then
					startDriving(seatPart :: VehicleSeat)
				elseif not seated and heartbeatConn then
					stopDriving()
				end
				task.wait(0.5)
			end
		end)

		-- RACE FIX: the server can seat the player in a spawned car BEFORE this
		-- listener exists (CarManager sits them during spawn, which may complete
		-- before the client finishes requiring its modules). In that case the
		-- SeatPart signal already fired with nobody listening, so startDriving
		-- never ran and the motors kept MotorMaxTorque = 0 — the car looked
		-- completely dead to the player. Evaluate the CURRENT seat state once at
		-- init instead of only reacting to future changes.
		applySeat()
	end

	if player.Character then
		onCharacter(player.Character)
	end
	player.CharacterAdded:Connect(onCharacter)
end

return ChassisController