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

namespace mg {
    PermanentObstacle::PermanentObstacle(const Json::Value& json) :
      pos(json.get("x", 1.0).asDouble(), json.get("y", 1.0).asDouble()),
      size(json.get("width", 0.0).asDouble(), json.get("height", 0.0).asDouble()) { }

    double PermanentObstacle::distance(glm::dvec2 position) const {
        return boxSdf(pos + 0.5 * glm::dvec2{ size.x, -size.y }, size * 0.5, position);
    }

    bool PermanentObstacle::contains(glm::dvec2 position, double radius) const {
        return inBoxSdf(pos + 0.5 * glm::dvec2{ size.x, -size.y }, size * 0.5, position, radius);
    }

    double PermanentObstacle::distanceBox(const glm::dvec2 position,
                                          const glm::dvec2 size,
                                          const glm::dmat2 rot_mat) const {

        return boxToBox(pos + 0.5 * glm::dvec2{ this->size.x, -this->size.y }, this->size, position, size, rot_mat);
    }
}