#include "mg_obstacles/static_obstacle.hpp"
#include "mg_obstacles/sdf.hpp"

namespace mg {

    double StaticObstacle::width  = 0.1;
    double StaticObstacle::height = 0.4;

    StaticObstacle::StaticObstacle(const Json::Value& json) :
      pos(json.get("x", 1.0).asDouble(), json.get("y", 1.0).asDouble()),
      horizontal(json.get("horizontal", true).asBool()) { }

    double StaticObstacle::distance(glm::dvec2 position) const {
        const double width  = StaticObstacle::width;
        const double height = StaticObstacle::height;
        if (!horizontal) {
            return boxSdf(pos + 0.5 * glm::dvec2{ width, -height }, glm::dvec2{ width, height } * 0.5, position);
        } else {
            return boxSdf(pos + 0.5 * glm::dvec2{ height, -width }, glm::dvec2{ height, width } * 0.5, position);
        }
    }

    double StaticObstacle::distanceBox(glm::dvec2 position, glm::dvec2 size, glm::dmat2 rot_mat) const {
        const double width  = StaticObstacle::width;
        const double height = StaticObstacle::height;
        if (!horizontal) {
            return boxToBox(
              pos + 0.5 * glm::dvec2{ width, -height }, glm::dvec2{ width, height }, position, size, rot_mat);
        } else {
            return boxToBox(
              pos + 0.5 * glm::dvec2{ height, -width }, glm::dvec2{ height, width }, position, size, rot_mat);
        }
    }

    bool StaticObstacle::contains(glm::dvec2 position, double radius) const {
        const double width  = StaticObstacle::width;
        const double height = StaticObstacle::height;
        if (!horizontal) {
            return inBoxSdf(
              pos + 0.5 * glm::dvec2{ width, -height }, glm::dvec2{ width, height } * 0.5, position, radius);
        } else {
            return inBoxSdf(
              pos + 0.5 * glm::dvec2{ height, -width }, glm::dvec2{ height, width } * 0.5, position, radius);
        }
    }
}