// Portfolio reconstruction, 2026. Not original production source.
// Models rotation-dependent sensor selection; no proprietary sensor SDK or data.
using System;
using UnityEngine;

public sealed class RotationSensorSelector : MonoBehaviour
{
    [Serializable] public class Source
    {
        public Transform calibratedPose; // All poses must already share world coordinates.
        public float bestFacingYaw;
        public bool tracked = true; // Set by the sensor adapter, including stale-data handling.
    }
    [SerializeField] Transform rig;
    [SerializeField] Transform output;
    [SerializeField] Source[] sources;
    [SerializeField, Min(0)] float switchMarginDegrees = 12;
    [SerializeField, Min(0.001f)] float blendSeconds = 0.15f;
    int selected = -1;

    bool Valid(int i) => sources != null && i >= 0 && i < sources.Length && sources[i] != null
        && sources[i].tracked && sources[i].calibratedPose != null;

    void LateUpdate()
    {
        if (rig == null || output == null || sources == null) return;
        float yaw = rig.eulerAngles.y;
        int best = -1; float bestError = float.PositiveInfinity;
        for (int i = 0; i < sources.Length; i++)
        {
            if (!Valid(i)) continue;
            float error = Mathf.Abs(Mathf.DeltaAngle(yaw, sources[i].bestFacingYaw));
            if (error < bestError) { best = i; bestError = error; }
        }
        if (best < 0) { selected = -1; return; } // Hold the last pose on complete tracking loss.
        float currentError = Valid(selected)
            ? Mathf.Abs(Mathf.DeltaAngle(yaw, sources[selected].bestFacingYaw)) : float.PositiveInfinity;
        if (!Valid(selected) || bestError + switchMarginDegrees < currentError) selected = best;
        Transform pose = sources[selected].calibratedPose;
        float alpha = 1 - Mathf.Exp(-Time.deltaTime / Mathf.Max(0.001f, blendSeconds));
        output.SetPositionAndRotation(Vector3.Lerp(output.position, pose.position, alpha),
            Quaternion.Slerp(output.rotation, pose.rotation, alpha));
    }
}