using Fluctio.FluctioSim.Common.Configuration;
using UnityEngine;

namespace Fluctio.FluctioSim.Core.Components.MachineLearning.Actuating
{
	[AddComponentMenu(Config.PrefixedName+"/Machine Learning/Actuating/Motor", Config.ComponentMenuOrder + 30)]
	public class Motor : Actuator
	{
		
		[SerializeField] public float maxForce = 100;

		protected override void InitializeOnce()
		{
			base.InitializeOnce();
			mujocoActuator.CommonParams.CtrlLimited = true;
			mujocoActuator.CommonParams.CtrlRange = new Vector2(-1, 1);
		}

		public override void OnSelfChanged()
		{
			base.OnSelfChanged();
			maxForce = Mathf.Max(maxForce, Config.MinFloat);
			mujocoActuator.CustomParams.GainPrm[0] = maxForce;
		}

		public override void OnOtherChanged()
		{
			base.OnOtherChanged();
			maxForce = mujocoActuator.CustomParams.GainPrm[0];
		}
		
	}
}