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

namespace Fluctio.FluctioSim.Core.Components.MachineLearning.Actuating
{
	[AddComponentMenu(Config.PrefixedName+"/Machine Learning/Actuating/Servo", Config.ComponentMenuOrder + 40)]
	public class Servo : Actuator
	{
		
		[SerializeField] public float kp = 0.55f;
		[SerializeField] public float kv = 0.12f;

		protected override void InitializeOnce()
		{
			base.InitializeOnce();
			mujocoActuator.Type = MjActuator.ActuatorType.Position;
		}

		public override void OnSelfChanged()
		{
			base.OnSelfChanged();
			mujocoActuator.CustomParams.Kp = kp;
			mujocoActuator.CustomParams.Kvp = kv;
		}

		public override void OnOtherChanged()
		{
			base.OnOtherChanged();
			kp = mujocoActuator.CustomParams.Kp;
			kv = mujocoActuator.CustomParams.Kvp;
		}
		
	}
}