using UnityEngine;

[System.Serializable]
public class RobotJoint
{
    public Transform JointTransform;

    public enum RotationAxis { X, Y, Z }
    public RotationAxis Axis = RotationAxis.Y;

    public float MinLimit = -180f;
    public float MaxLimit = 180f;

    [HideInInspector] public float CurrentValue = 0f; // degrees

    // Lưu offset ban đầu
    private Quaternion baseRotation;

    public void Init()
    {
        if (JointTransform != null)
            baseRotation = JointTransform.localRotation;
        else
            Debug.LogWarning("JointTransform is not assigned in RobotJoint!");
    }

    public void SetValue(float angleDeg)
    {
        if (JointTransform == null) return;

        CurrentValue = Mathf.Clamp(angleDeg, MinLimit, MaxLimit);

        Vector3 axisVector = Vector3.zero;
        switch (Axis)
        {
            case RotationAxis.X: axisVector = Vector3.right; break;
            case RotationAxis.Y: axisVector = Vector3.up; break;
            case RotationAxis.Z: axisVector = Vector3.forward; break;
        }

        // rotation = baseRotation * xoay quanh trục
        JointTransform.localRotation = baseRotation * Quaternion.AngleAxis(CurrentValue, axisVector);
    }

    public float GetValue()
    {
        return CurrentValue;
    }
}