A well regulated Militia, being necessary to the security of a free State, The RIGHT OF THE PEOPLE TO KEEP AND BEAR ARMS, SHALL NOT BE INFRINGED . Not messy at all, only a mess to forked tongued lawyers and communists .
I'm not going to get into a whole treatise on the meaning of the second amendment, but that simple sentence you typed out does not mean what you think that it means.
An "infringement" of your rights is a complete violation of one's rights, while a regulation is simply management of one's rights. The Second Amendment allows for reasonable regulations of the right to bear arms, but does not allow government to come take your guns. Defining the line between regulation and infringement is where lawyers make the big bucks.
Further, what is the extent of the "Right of the people to keep and bear arms"? It was never an unlimited and unregulated right. So, another area of vast debate and legal wrangling is determining what that right is, and then whether a particular law would infringe upon that right.
And all of this debate comes without even discussing the "well-regulated militia" clause, which may or may not have any impact on understanding the right of the people.