using Fluctio.FluctioSim.Common.Configuration;
using Unity.MLAgents.Actuators;
using UnityEngine;

namespace Fluctio.FluctioSim.Core.Components.MachineLearning.Actuating
{
	[AddComponentMenu(Config.PrefixedName+"/Machine Learning/Actuating/Servo Position Control", Config.ComponentMenuOrder + 530)]
	public class ServoPositionControl : DirectControl
	{
		
		[SerializeField] private float minAngle = -Mathf.PI;
		[SerializeField] private float maxAngle = Mathf.PI;
		
		public override ActionBuffers GetActions()
		{
			var modelActionValue = base.GetActions().GetOneContinuous(); // [-1; 1]
			var normalizedValue = (modelActionValue + 1) / 2; // [0; 1]
			var remappedValue = normalizedValue * (maxAngle - minAngle) + minAngle; // [minAngle; maxAngle]
			return ActionBuffersExtensions.FromOneContinuous(remappedValue);
		}
		
	}
}