extends RefCounted

# Local-ship reconciliation policy (MULTIPLAYER_SPEC.md §4.4).  Kept out of
# NetworkedMatch so the decision table is pure-testable; the imperative half
# only writes Ship's existing Jolt-safe queued correction hooks.

const DEFAULT_HARD_POSITION_ERROR := 2.0
const DEFAULT_HARD_ROTATION_ERROR_DEGREES := 60.0
const DEFAULT_MAX_VISUAL_OFFSET := 0.4
const METRIC_SAMPLE_CAPACITY := 3600 # one minute at the 60Hz snapshot rate
const NetBodyState = preload("res://scripts/net_body_state.gd")
const LocalPredictionHistory = preload("res://scripts/local_prediction_history.gd")

var _last_reset_gen := -1   # first snapshot establishes baseline, never resets
var _position_errors: Array[float] = []
var _rotation_errors: Array[float] = []
var _free_flight_position_errors: Array[float] = []
var _free_flight_rotation_errors: Array[float] = []
var _visual_correction_errors: Array[float] = []
var _free_flight_visual_correction_errors: Array[float] = []
var _hard_snap_count := 0
var _decision_count := 0
var _resync_until_seq := -1
var _metrics_started_ms := -1
var hard_position_error := DEFAULT_HARD_POSITION_ERROR
var hard_rotation_error_degrees := DEFAULT_HARD_ROTATION_ERROR_DEGREES
var max_visual_offset := DEFAULT_MAX_VISUAL_OFFSET
var _hard_snap_reasons := {}
var _hard_snap_cohorts := {"free_flight": 0, "contact": 0, "reset": 0, "resync": 0, "unsimulated": 0}
var _cohort_counts := {"free_flight": 0, "contact": 0, "reset": 0, "resync": 0, "unsimulated": 0}


static func decide(comparison: Dictionary, local_frozen: bool, reset_changed: bool, position_threshold: float = DEFAULT_HARD_POSITION_ERROR, rotation_threshold_degrees: float = DEFAULT_HARD_ROTATION_ERROR_DEGREES) -> Dictionary:
	var authoritative: NetBodyState = comparison.get("authoritative_state", null)
	if reset_changed:
		return {"mode": "hard", "reason": "reset_gen"}
	# An attack's skipped sequence is issued, sent, and acknowledged, but never
	# locally simulated — there is no predicted state to compare and nothing is
	# wrong. It is not history loss and must not teleport the ship or arm resync
	# suppression: the lead controller produces these during ordinary play, and
	# treating them as missing history cost several unnecessary hard snaps a
	# minute. Skip the acknowledgement; the next simulated sequence (at most a
	# tick or two later, since the server consumes one per tick) reconciles
	# normally against real data.
	if comparison.get("status", "") == "unsimulated_gap":
		return {"mode": "skip", "reason": "unsimulated_gap"}
	if comparison.get("status", "") == "warmup_not_recorded":
		# Sequence acknowledgements that predate the first local post-step state
		# are expected during startup. The initial snapshot already placed the
		# body, so there is no correction to apply and no resync to arm.
		return {"mode": "skip", "reason": "warmup_not_recorded"}
	if comparison.get("status", "missing_not_recorded") != "matched":
		return {"mode": "hard", "reason": comparison.get("status", "missing")}
	if authoritative == null or authoritative.frozen != local_frozen:
		return {"mode": "hard", "reason": "frozen_mismatch"}
	if float(comparison["position_error_magnitude"]) > position_threshold:
		return {"mode": "hard", "reason": "position_error"}
	if float(comparison["rotation_error_degrees"]) > rotation_threshold_degrees:
		return {"mode": "hard", "reason": "rotation_error"}
	return {"mode": "soft", "reason": "within_thresholds"}


static func soft_corrected_transform(current_transform: Transform3D, comparison: Dictionary) -> Transform3D:
	var authoritative: NetBodyState = comparison["authoritative_state"]
	var predicted: NetBodyState = comparison["predicted_state"]
	var position_delta: Vector3 = authoritative.position - predicted.position
	var rotation_delta := Basis(authoritative.rotation.normalized()) * Basis(predicted.rotation.normalized()).inverse()
	return Transform3D(
		(rotation_delta * current_transform.basis).orthonormalized(),
		current_transform.origin + position_delta
	)


func reconcile(comparison: Dictionary, ship: Ship, reset_gen: int, current_seq: int, history: LocalPredictionHistory) -> Dictionary:
	var reset_changed := _last_reset_gen != -1 and reset_gen != _last_reset_gen
	_last_reset_gen = reset_gen
	var comparison_seq := int(comparison.get("seq", -1))
	# A reset is an epoch boundary, never ordinary stale traffic. It must
	# preempt an outstanding missing-history suppression or the first reset
	# snapshot could be discarded and every later snapshot share its generation.
	if reset_changed:
		_resync_until_seq = -1
		var reset_decision := decide(comparison, ship.freeze, true, hard_position_error, hard_rotation_error_degrees)
		_record_metrics(comparison, reset_decision)
		var reset_authority: NetBodyState = comparison.get("authoritative_state", null)
		if reset_authority != null:
			ship.queue_teleport_with_velocity(Transform3D(Basis(reset_authority.rotation), reset_authority.position), reset_authority.linear_velocity, reset_authority.angular_velocity)
			ship.net_visual_offset = Vector3.ZERO
			ship.net_visual_rotation_offset = Quaternion.IDENTITY
			if is_instance_valid(ship.visual):
				ship.visual.position = Vector3.ZERO
				ship.visual.basis = Basis.IDENTITY
		_resync_until_seq = current_seq + 1
		return reset_decision
	if _resync_until_seq >= 0:
		if comparison.get("status", "") == "matched" and comparison_seq >= _resync_until_seq:
			_resync_until_seq = -1
		else:
			return {"mode": "suppressed", "reason": "awaiting_resync"}
	var decision := decide(comparison, ship.freeze, false, hard_position_error, hard_rotation_error_degrees)
	_record_metrics(comparison, decision)
	if decision["mode"] == "skip":
		# Deliberately before the authority write below: a skipped acknowledgement
		# leaves the body, the visual offset and _resync_until_seq exactly as they
		# were. Nothing about this sequence is unhealthy, so nothing is corrected
		# and nothing is suppressed.
		return decision
	var authoritative: NetBodyState = comparison.get("authoritative_state", null)
	if authoritative == null:
		return decision
	if comparison.get("status", "") == "matched" and decision["reason"] != "reset_gen":
		# Transport the same-sequence authority error through current Jolt state
		# and retained predictions. This deliberately avoids fake single-body
		# replay, which cannot reproduce contact impulses/friction.
		var predicted: NetBodyState = comparison["predicted_state"]
		var position_delta: Vector3 = comparison["position_error"]
		var velocity_error: Vector3 = comparison["linear_velocity_error"]
		var angular_velocity_error: Vector3 = comparison["angular_velocity_error"]
		var rotation_delta := (authoritative.rotation.normalized() * predicted.rotation.normalized().inverse()).normalized()
		history.overwrite_state(int(comparison["seq"]), authoritative)
		history.rebase_state_range(int(comparison["seq"]) + 1, current_seq, position_delta, rotation_delta, velocity_error, angular_velocity_error)
		var old_basis := ship.global_transform.basis
		var corrected_transform := soft_corrected_transform(ship.global_transform, comparison)
		# Apply both velocity deltas to the live body atomically with pose.  The
		# same deltas are transported through retained history above.
		ship.queue_teleport_with_velocity(corrected_transform, ship.linear_velocity + velocity_error, ship.angular_velocity + angular_velocity_error)
		var position_error: Vector3 = comparison["position_error"]
		if decision["mode"] == "soft":
			ship.net_visual_offset = (ship.global_transform.basis.inverse() * -position_error).limit_length(max_visual_offset)
			# The body rotates in world space. Convert the inverse correction to
			# the child visual's local basis so its global orientation is preserved
			# through the physical correction (B_old^-1 Δ^-1 B_old).
			var local_visual_delta: Basis = old_basis.inverse() * Basis(rotation_delta.inverse()) * old_basis
			ship.net_visual_rotation_offset = local_visual_delta.get_rotation_quaternion() * ship.net_visual_rotation_offset
		else:
			ship.net_visual_offset = Vector3.ZERO
			ship.net_visual_rotation_offset = Quaternion.IDENTITY
			if is_instance_valid(ship.visual):
				ship.visual.position = Vector3.ZERO
				ship.visual.basis = Basis.IDENTITY
	else:
		# Reset/missing state has no trustworthy delta. Place authority once;
		# callers must wait for a new matched history entry before correction.
		ship.queue_teleport_with_velocity(Transform3D(Basis(authoritative.rotation), authoritative.position), authoritative.linear_velocity, authoritative.angular_velocity)
		ship.net_visual_offset = Vector3.ZERO
		ship.net_visual_rotation_offset = Quaternion.IDENTITY
		if is_instance_valid(ship.visual):
			ship.visual.position = Vector3.ZERO
			ship.visual.basis = Basis.IDENTITY
		# Retain no fabricated future. Once local input history contains a
		# newly acknowledged sequence, normal delta reconciliation resumes.
		_resync_until_seq = current_seq + 1
	return decision


func get_metrics() -> Dictionary:
	return {
		"sample_count": _position_errors.size(),
		"position_error_p50": _percentile(0.50),
		"position_error_p95": _percentile(0.95),
		"position_error_p99": _percentile(0.99),
		"rotation_error_p50": _rotation_percentile(0.50),
		"rotation_error_p95": _rotation_percentile(0.95),
		"rotation_error_p99": _rotation_percentile(0.99),
		"free_flight_sample_count": _free_flight_position_errors.size(),
		"free_flight_position_error_p95": _percentile_from(_free_flight_position_errors, 0.95),
		"free_flight_position_error_p99": _percentile_from(_free_flight_position_errors, 0.99),
		"free_flight_rotation_error_p95": _percentile_from(_free_flight_rotation_errors, 0.95),
		"free_flight_rotation_error_p99": _percentile_from(_free_flight_rotation_errors, 0.99),
		"visual_correction_p95": _percentile_from(_visual_correction_errors, 0.95),
		"visual_correction_p99": _percentile_from(_visual_correction_errors, 0.99),
		"free_flight_visual_correction_p95": _percentile_from(_free_flight_visual_correction_errors, 0.95),
		"free_flight_visual_correction_p99": _percentile_from(_free_flight_visual_correction_errors, 0.99),
		"hard_snap_count": _hard_snap_count,
		"hard_snap_rate_per_min": _hard_snap_rate_per_min(),
		"hard_snap_reasons": _hard_snap_reasons.duplicate(),
		"hard_snap_cohorts": _hard_snap_cohorts.duplicate(),
		"cohorts": _cohort_counts.duplicate(),
		"position_threshold": hard_position_error,
		"rotation_threshold_degrees": hard_rotation_error_degrees,
		"max_visual_offset": max_visual_offset,
	}


func clear_metrics() -> void:
	_position_errors.clear()
	_rotation_errors.clear()
	_free_flight_position_errors.clear()
	_free_flight_rotation_errors.clear()
	_visual_correction_errors.clear()
	_free_flight_visual_correction_errors.clear()
	_hard_snap_count = 0
	_decision_count = 0
	_resync_until_seq = -1
	_metrics_started_ms = -1
	_hard_snap_reasons.clear()
	_hard_snap_cohorts = {"free_flight": 0, "contact": 0, "reset": 0, "resync": 0, "unsimulated": 0}
	_cohort_counts = {"free_flight": 0, "contact": 0, "reset": 0, "resync": 0, "unsimulated": 0}


func _record_metrics(comparison: Dictionary, decision: Dictionary) -> void:
	if _metrics_started_ms < 0:
		_metrics_started_ms = Time.get_ticks_msec()
	_decision_count += 1
	var cohort := _cohort_for(comparison, decision)
	if decision["mode"] == "hard":
		_hard_snap_count += 1
		var reason := str(decision.get("reason", "unknown"))
		_hard_snap_reasons[reason] = int(_hard_snap_reasons.get(reason, 0)) + 1
		_hard_snap_cohorts[cohort] = int(_hard_snap_cohorts.get(cohort, 0)) + 1
	_cohort_counts[cohort] = int(_cohort_counts.get(cohort, 0)) + 1
	if comparison.get("status", "") == "matched":
		# Only same-sequence predictions are quality samples. Recovery events
		# still count in their own cohorts/reason ledger, but must not distort
		# p95/p99 with an error that cannot honestly be measured.
		_position_errors.append(float(comparison["position_error_magnitude"]))
		_rotation_errors.append(float(comparison.get("rotation_error_degrees", 0.0)))
		if cohort == "free_flight":
			_free_flight_position_errors.append(float(comparison["position_error_magnitude"]))
			_free_flight_rotation_errors.append(float(comparison.get("rotation_error_degrees", 0.0)))
		# The visual offset hides at most max_visual_offset of a soft correction.
		# Record the exposed remainder, never the capped hidden component; hard
		# corrections are independently gated by their cohort count above.
		var visual_error := maxf(0.0, float(comparison.get("position_error_magnitude", 0.0)) - max_visual_offset) if decision["mode"] == "soft" else 0.0
		_visual_correction_errors.append(visual_error)
		if cohort == "free_flight":
			_free_flight_visual_correction_errors.append(visual_error)
	if _position_errors.size() > METRIC_SAMPLE_CAPACITY:
		_position_errors.pop_front()
	if _rotation_errors.size() > METRIC_SAMPLE_CAPACITY:
		_rotation_errors.pop_front()
	if _free_flight_position_errors.size() > METRIC_SAMPLE_CAPACITY:
		_free_flight_position_errors.pop_front()
	if _free_flight_rotation_errors.size() > METRIC_SAMPLE_CAPACITY:
		_free_flight_rotation_errors.pop_front()
	if _visual_correction_errors.size() > METRIC_SAMPLE_CAPACITY:
		_visual_correction_errors.pop_front()
	if _free_flight_visual_correction_errors.size() > METRIC_SAMPLE_CAPACITY:
		_free_flight_visual_correction_errors.pop_front()


func _cohort_for(comparison: Dictionary, decision: Dictionary) -> String:
	if decision.get("reason", "") == "reset_gen":
		return "reset"
	if decision.get("reason", "") == "unsimulated_gap":
		# Its own cohort, not free_flight: these carry no error sample, and
		# folding them into a quality cohort would silently inflate its count
		# with rows that contributed no measurement.
		return "unsimulated"
	if decision.get("reason", "").begins_with("missing") or _resync_until_seq >= 0:
		return "resync"
	if comparison.get("contact_window", false):
		return "contact"
	return "free_flight"


func _hard_snap_rate_per_min() -> float:
	if _metrics_started_ms < 0:
		return 0.0
	var elapsed_seconds := maxf(float(Time.get_ticks_msec() - _metrics_started_ms) / 1000.0, 0.001)
	return float(_hard_snap_count) * 60.0 / elapsed_seconds


func _percentile(fraction: float) -> float:
	return _percentile_from(_position_errors, fraction)


func _percentile_from(samples: Array[float], fraction: float) -> float:
	if samples.is_empty():
		return 0.0
	var sorted := samples.duplicate()
	sorted.sort()
	var index := clampi(roundi((sorted.size() - 1) * fraction), 0, sorted.size() - 1)
	return sorted[index]


func _rotation_percentile(fraction: float) -> float:
	return _percentile_from(_rotation_errors, fraction)