let vec = p5.Vector

class Leg {
  constructor() {
    this.base = new vec(0, 0);
    this.end = new vec(0, 0);
    this.interPos = new vec(0, 0);
    this.ikJoint = new IKJoint(8, 8);
    this.repositionDist = 50;
    this.moveSpeed = 0.4;
  }

  moveTo(startX, startY, endX, endY) {
    this.base = new vec(startX, startY);
    let target = new vec(endX, endY);

    if (vec.dist(target, this.end) > this.repositionDist) {
      this.end = new vec(endX, endY);
    }
    this.interPos.lerp(this.end, this.moveSpeed);
    this.ikJoint.moveTo(startX, startY, this.interPos.x, this.interPos.y);
  }

  getPoints() {
    return this.ikJoint.points;
  }
}

class IKJoint {
  constructor(numSegments, pointDist) {
    this.origin = new vec(0, 0);
    this.points = [];
    for (let i = 0; i < numSegments + 1; i++) {
      this.points.push(new ConstraintPoint(0, 0, pointDist, 1.3));
    }
    this.pointDist = pointDist;
    this.iterations = 20;
  }

  moveStart(targetX, targetY) {
    let numPts = this.points.length;
    this.points[0].size = 1;
    this.points[0].follow(targetX, targetY);

    for (let i = 1; i < numPts; i++) {
      let prevPoint = this.points[i - 1];
      this.points[i].follow(prevPoint.pos.x, prevPoint.pos.y, prevPoint.forward);
    }
  }

  moveEnd(targetX, targetY) {
    let numPts = this.points.length;
    this.points[numPts - 1].pos.x = targetX;
    this.points[numPts - 1].pos.y = targetY;

    for (let i = numPts - 2; i >= 0; i--) {
      let prevPoint = this.points[i + 1];
      this.points[i].follow(prevPoint.pos.x, prevPoint.pos.y, null);
    }
  }

  moveTo(origX, origY, targetX, targetY) {
    for (let i = 0; i < this.iterations; i++) {
      this.moveEnd(targetX, targetY);
      this.moveStart(origX, origY);
    }
  }
}

class ConstraintPoint {
  constructor(x, y, size, angleConstraint = 0.2) {
    this.size = size;
    this.pos = new vec(x, y);
    this.forward = new vec(0, 0);
    this.angleConstraint = angleConstraint;
  }

  getRel(angleOffset, dist) {
    let dir = vec.rotate(this.forward, angleOffset);
    dir.setMag(dist);
    return vec.add(this.pos, dir);
  }

  follow(targetX, targetY, parentForward = null) {
    let target = new vec(targetX, targetY);
    let targetForward = vec.sub(target, this.pos);
    let targetAngle = targetForward.heading();

    if (parentForward) {
      let parentAngle = parentForward.heading();
      let diff = targetAngle - parentAngle;

      while (diff < -PI) diff += TWO_PI;
      while (diff > PI) diff -= TWO_PI;

      let maxAngle = this.angleConstraint;
      diff = constrain(diff, -maxAngle, maxAngle);

      targetAngle = parentAngle + diff;
    }

    this.forward = p5.Vector.fromAngle(targetAngle);

    let dir = p5.Vector.mult(this.forward, -this.size);
    this.pos = vec.add(target, dir);
  }
}
let baseColor; 
let gillColor;

let points = []
let sizes = [60, 55, 50, 40, 45, 47, 50, 47, 45, 42, 39, 35, 30, 25, 22, 17, 13]
function setup() {
  createCanvas(400, 400);
  
  for (let i = 0;i < sizes.length;i++) {
    points.push(new ConstraintPoint(0, 0, 20));
  }
  baseColor = color(249, 182, 249)
  gillColor = color(243, 158, 189)

}

function drawPoints(points, sizes) {
  beginShape();
  for (let a = -HALF_PI;a < HALF_PI;a+=0.1) {
    let p = points[0].getRel(a, sizes[0])
    vertex(p.x, p.y);
  }
  for (let i = 0;i < points.length;i++) {
    let p = points[i].getRel(HALF_PI, sizes[i])
    vertex(p.x, p.y);
  }
  
  for (let a = HALF_PI;a < HALF_PI + PI;a+=0.1) {
    let p = points[points.length -1].getRel(a, sizes[points.length -1])
    vertex(p.x, p.y);
  }
  
  for (let i = points.length-1;i >= 0;i--) {
    let p = points[i].getRel(-HALF_PI, sizes[i])
    vertex(p.x, p.y);
  }
  
  endShape();
}

let leg1 = new Leg()
let leg2 = new Leg()
let leg3 = new Leg()
let leg4 = new Leg()
let legSizes = [15,15,15,15,15,15,15,15,15,15]
function draw() {
  background(220);
  
  points[0].follow(mouseX, mouseY)
  for (let i = 1;i < sizes.length;i++) {
    let prev = points[i - 1];
    points[i].follow(prev.pos.x, prev.pos.y, prev.forward);
  }

  let legEndDist = 70;
  let baseJointL1 = points[2];
  let baseL1 = baseJointL1.getRel(-HALF_PI, 30);
  let endL1 = baseJointL1.getRel(-HALF_PI, legEndDist);
  let baseR1 = baseJointL1.getRel(HALF_PI, 30);
  let endR1 = baseJointL1.getRel(HALF_PI, legEndDist);

  let baseJointL2 = points[6];
  let baseL2 = baseJointL2.getRel(-HALF_PI, 30);
  let endL2 = baseJointL2.getRel(-HALF_PI, legEndDist);
  let baseR2 = baseJointL2.getRel(HALF_PI, 30);
  let endR2 = baseJointL2.getRel(HALF_PI, legEndDist);

  leg1.moveTo(baseL1.x, baseL1.y, endL1.x, endL1.y);
  leg2.moveTo(baseR1.x, baseR1.y, endR1.x, endR1.y);
  leg3.moveTo(baseL2.x, baseL2.y, endL2.x, endL2.y);
  leg4.moveTo(baseR2.x, baseR2.y, endR2.x, endR2.y);

  fill(baseColor);

  drawPoints(leg1.getPoints(), legSizes);
  drawPoints(leg2.getPoints(), legSizes);
  drawPoints(leg3.getPoints(), legSizes);
  drawPoints(leg4.getPoints(), legSizes);
  
  drawPoints(points, sizes);
  
  let eye1 = points[0].getRel(HALF_PI / 2, 45)
  let eye2 = points[0].getRel(-HALF_PI / 2, 45)
  fill(0);
  circle(eye1.x, eye1.y, 15);
  circle(eye2.x, eye2.y, 15);
}