coolDown = 0
bulletsFired = 0
timeSinceSeen = 999
lastSeenPos = Vec(0,0,0)
lastAngle = 1
emission = nil
function init()	
	turret = FindBody("turret")
	turretShape = FindShape("turret")
	target = FindBody("head")
	hinge = FindJoint("hinge")
	eye = FindLight("eye")
	activate = FindTrigger("activate")
	turndirection = -1
	emission = 0

	--Find gun position in turret local coordinate frame
	local gun = FindLocation("gun")
	local gunWorldPos = GetLocationTransform(gun).pos
	local turretTransform = GetBodyTransform(turret)
	gunLocalPos = TransformToLocalPoint(turretTransform, gunWorldPos)
	
	--Load sound from game assets
	gunSound = LoadSound("silenced0.ogg", 5)
end


function canSeeRobot()
	--Use the area light transform to determine visiblity
	local t = GetLightTransform(eye)
	local origin = TransformToParentPoint(t, Vec(0, 0, 0.1))
	local forward = TransformToParentVec(t, Vec(0, 0, 1))
	
	--Direction and distance to the robot
	local robotPos
	if GetBool("level.espionagealarm") then
		robotPos = GetPlayerCameraTransform().pos
	else
		robotPos = GetBodyTransform(target).pos
	end
	local dirToRobot = VecNormalize(VecSub(robotPos, origin))
	local distToRobot = VecLength(VecSub(robotPos, origin))

	--The robot is seen when in front of turret and visible
	if VecDot(forward, dirToRobot) > 0 then
		QueryRejectBody(target)
		if QueryRaycast(origin, dirToRobot, distToRobot,0,true) then
			--Raycast hit something, that means the robot is not seen
			return false
		else
			--Raycast does not hit anything, the robot is seen!
			return true
		end
	else
		--Tthe robot is behind turret
		return false
	end
end


--This function will return the signed angle to provided position. This is used
--to figure out which direction to turn the turret.
function getTurretAngleTo(pos)
	local t = GetLightTransform(eye)
	local origin = TransformToParentPoint(t, Vec(0, 0, 0.1))
	local forward = TransformToParentVec(t, Vec(0, 0, 1))
	local dirToPos = VecNormalize(VecSub(pos, origin))
	
	--Compute angle between forward directino and direction to pos
	local angle = math.acos(VecDot(forward, dirToPos))

	--Check sign of cross product y component to determine sign of angle
	if VecCross(dirToPos, forward)[2] > 0 then
		return angle
	else
		return -angle
	end
end


function fire()
	--Find world space gun position and direction using the turret transform
	local turretTransform = GetBodyTransform(turret)
	local gunWorldPos = TransformToParentPoint(turretTransform, gunLocalPos)
	local forward = TransformToParentVec(turretTransform, Vec(0, 0, -1))

	--Play sound, flash light and shoot
	PlaySound(gunSound, gunWorldPos)
	PointLight(gunWorldPos, 1, 0.8, 0.6, 5)
	Shoot(gunWorldPos, forward, "bullet", 0.4)
end


function tick(dt)
	if not IsPointInTrigger(activate, GetPlayerCameraTransform().pos) then
		SetShapeEmissiveScale(turretShape,0)
		return
	end
	emission = emission - dt*2
	--Check if seen
	local seen = canSeeRobot()
	if seen then
		if GetBool("level.espionagealarm") then
			lastSeenPos = GetPlayerCameraTransform().pos
		else
			lastSeenPos = GetBodyTransform(target).pos
		end
		timeSinceSeen = 0
	else
		timeSinceSeen = timeSinceSeen + dt
	end

	--Turn towards the robot and shoot for a while even if no longer seen
	if timeSinceSeen < 2 then
		local angle = getTurretAngleTo(lastSeenPos)
		--If the angle is small, engage the gun
		if timeSinceSeen < 1 and math.abs(angle) < 0.2 then
			coolDown = coolDown - dt
			if coolDown < 0.20 then
				emission = 1
			end
			if coolDown < 0 then
				fire()
				if not GetBool("level.espionagealarm") then
					bulletsFired = bulletsFired + 1
				end
				if bulletsFired >= 5 then
					coolDown = 3.0
					bulletsFired = 0
				else
					coolDown = 0.14
				end
			end
		end

		--Turn turret
		angle = angle * 3
		if angle < -2 then angle = -2 end
		if angle > 2 then angle = 2 end
		SetJointMotor(hinge, angle, 100)
		
		--Remember the last angle to the robot
		lastAngle = angle
	else
		--Robot not seen, keep oscilating between 25 and -25 degrees
		local turnangle = GetJointMovement(hinge)
		if turnangle > 25 and turndirection < 0 then
			turndirection = 0.5
		end
		if turnangle < -25 and turndirection > 0 then
			turndirection = -0.5
		end
		SetJointMotor(hinge, turndirection, 100)
	end
	SetShapeEmissiveScale(turretShape,emission)
end