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#include <deque>
#include <iostream>

#include "problem.hpp"


using namespace std;

// ===================================== //
// IMPLEMENTATION FOR CLASS HILARE_A_MVT //
// ===================================== //

double hilare_a_mvt::length() {
    // returns length traveled by the car
    if (is_arc) return domega * (center - from.pos()).norm();
    return ds ;
}

bool hilare_a::intersects(const obstacle &o) const {
    
    if((pos()-o.c.c).norm() < o.c.r + param->r_c_car)return true ;
    if((pos_trolley()-o.c.c).norm() < o.c.r + param->r_c_trolley)return true ;
    if(segment(pos(),pos_trolley()).dist(o.c.c) < o.c.r)return true ;
    return false ;
}

bool hilare_a_mvt::intersects(const obstacle &o) const {
    hilare_a_param *p = from.param;
    vec pos_init = from.pos();
    vec pos_init_trolley = from.pos_trolley();
    if(is_arc){
    double r_min =
        min((pos_init - center).norm()-(p->r_c_car),
        (pos_init_trolley - center).norm()-(p->r_c_trolley));
    double r_max =
        max((pos_init - center).norm()+(p->r_c_car),
        (pos_init_trolley - center).norm()+(p->r_c_trolley));
    //TODO
    double theta1;
    double theta2;
    if (domega>=0) {
        if(from.phi > 0){
        theta1 = (from.pos()-center).angle();
        theta2 = (to.pos_trolley()-center).angle();
        }
        else {
        theta1 = (from.pos_trolley()-center).angle();
        theta2 = (to.pos()-center).angle();
        }
    }
    else {
        if(from.phi > 0){ //TODO ??
        theta2 = (from.pos()-center).angle();
        theta1 = (to.pos_trolley()-center).angle();
        }
        else {
        theta2 = (from.pos_trolley()-center).angle();
        theta1 = (to.pos()-center).angle();
        }
    }
    theta2 = canon_angle(theta1,theta2);
    angular_sector sector = angular_sector(circarc(circle(center,r_min), theta1, theta2), circarc(circle(center,r_max), theta1, theta2));
    if (sector.dist(o.c.c)<=o.c.r)return true;
    if (from.intersects(o)) return true;
    if (to.intersects(o)) return true;
    return false;
    
    }
    return false;
}

bool hilare_a_mvt::intersects(const problem &p) const {
    for (auto& i: p.obstacles) {
        if (intersects(i)) return true;
    }
    return false;
}

// ================================= //
// IMPLEMENTATION FOR CLASS SOLUTION //
// ================================= //

solution solution::direct_sol(const hilare_a &pos_a, const hilare_a &pos_b) {

    // première famille de mouvements :
    // - trouver les quatre droites tangentes aux deux cercles canoniques
    // - pour chacune de ces droites, se mettre dessus, aller droit, s'en séparer
    //   (vérifier la cohérence : il n'y en a que deux qui sont dans le bon sens !)
    
    // cas où la position de départ ou d'arrivée n'a pas pour courbe canonique un cercle : se tourner de pi/6 par exemple
    // (ce cas n'arrivera pas, car on tire complètement au hasard...)

    // calcul des centres des courbes canoniques
    vec cca = pos_a.canon_curve_center();
    
    double rca = (cca - pos_a.pos_trolley()).norm();
    vec ccb = pos_b.canon_curve_center();
    double rcb = (ccb - pos_b.pos_trolley()).norm();

    int eps[4][2] = { { 1, 1 }, { 1, -1 }, { -1, 1 }, { -1, -1 } };
    double delta = cca.x * ccb.y - cca.y * ccb.x;
    assert(delta != 0);

    for (int i_eps = 0; i_eps < 4; i_eps++) {
        int ea = eps[i_eps][0];
        int eb = eps[i_eps][1];

        double xc = cca.x, yc = cca.y, xcp = ccb.x, ycp = ccb.y;

        double a0 = (ea * rca - eb * rcb) / (xc - xcp);
        double b0 = 0;
        double c0 = (ea * rca - xc * a0);

        double delta = xc * ycp - xcp * yc;
        double a = (yc - ycp) / delta;
        double b = (xcp - xc) / delta;
        double c = 1;

        double di = a * a0 * a * a0 - (a0 * a0 - 1) * (a * a + b * b);
        if (di < 0) continue;

        double lambda = (-a * a0 + sqrt(di)) / (a * a + b * b);

        line l(a0 + lambda * a, b0 + lambda * b, c0 + lambda * c);

        vec v = l.proj(cca);
        vec w = l.proj(ccb);

        double domega1 = (v - cca).angle() - (pos_a.pos_trolley() - cca).angle();
        double dtheta1 = pos_a.phi;
        double dtheta2 = -pos_b.phi;
        double domega2 = (pos_b.pos_trolley() - ccb).angle() - (w - ccb).angle();
        double xx = pos_a.theta + domega1 + dtheta1 + dtheta2 + domega2 - pos_b.theta;
        cout << "domega1: " << domega1
            << ", domega2: " << domega2
            << ", xx:" << xx << endl;
        if (fabs(xx) < 0.01 || fabs(xx - 2*M_PI) < 0.01 && fabs(xx + 2*M_PI) < 0.01) {
            vector<hilare_a_mvt> sol;

            hilare_a_mvt r1;
            r1.is_arc = true;
            r1.from = pos_a;
            r1.to = pos_a;
            r1.to.x = v.x; r1.to.y = v.y;
            r1.to.theta = r1.from.theta + domega1;
            r1.center = cca;
            r1.domega = domega1;
            r1.dtheta_before = 0;
            sol.push_back(r1);

            hilare_a_mvt t;
            t.from = r1.to;
            t.to = t.from;
            t.to.x = w.x; t.to.y = w.y; t.to.phi = 0;
            t.is_arc = false;
            t.ds = (w - v).norm();
            t.dtheta_before = t.from.phi;
            sol.push_back(t);

            hilare_a_mvt r2;
            r2.from = t.to;
            r2.to = pos_b;
            r2.is_arc = true;
            r2.dtheta_before = -pos_b.phi;
            r2.center = ccb;
            r2.domega = domega2;
            sol.push_back(r2);

            return solution(sol);
        }
    }

    return solution();  // empty solution
}

bool solution::intersects(const problem &p) const {
    for (auto& x: movement) {
        if (x.intersects(p)) return true;
    }
    return false;
}

// =============================== //
// IMPLEMENTATION FOR CLASS SOLVER //
// =============================== //

solver::solver() : _worker(&solver::run, this) {
    _running = false;
    _done = false;
    _please_stop = false;
}

void solver::start(const problem &p) {
    _p = p;

    if (_running) {
        _please_stop = true;
        _worker.wait();
    }

    _please_stop = false;
    _done = false;
    _running = true;
    _worker.launch();
}

void solver::run() {
    problem p = _p;     // copy problem

    solver_internal d;
    d.initialize(p);
    {
        sf::Lock l(_d_lock);
        _d = d;
    }

    int i = 0;
    while (!_please_stop && (i++) < 300) {
        sf::sleep(sf::milliseconds(100));

        solution s = d.try_find_solution();
        if (s.movement.size() > 0) {
            _s = s;
            _done = true;
            break;
        }

        if (_please_stop) break;

        d.step(p);

        // Write local results to guys outside
        {
            sf::Lock l(_d_lock);
            _d = d;
        }
    }
    _running = false;
}

bool solver::finished() {
    return _done;
}

solution solver::get_solution() {
    if (_done) return _s;
    return solution();
}

solver_internal solver::peek_internal() {
    solver_internal x;
    {   
        sf::Lock l(_d_lock);
        x = _d;
    }
    return x;
}

void solver_internal::initialize(const problem &p) {
    cout << "Initializing solver..." << endl;

    paths.clear();
    pts.clear();

    pts.push_back(p.begin_pos);
    pts.push_back(p.end_pos);

    solution ts = solution::direct_sol(p.begin_pos, p.end_pos);
    if (ts.movement.size() > 0 && !ts.intersects(p)) {
        paths[0][1] = ts;
    }
}

solution solver_internal::try_find_solution() {
    cout << "Looking for solution in current graph..." << endl;
    // Simple graph search algorithm

    vector<int> par(pts.size(), -1);
    deque<int> q;

    par[0] = 0;
    q.push_back(0);
    while (!q.empty()) {
        int x = q.front();
        q.pop_front();

        if (paths.find(x) != paths.end()) {
            auto pp = paths.find(x)->second;

            for (auto& kv: pp) {
                int y = kv.first;
                if (par[y] == -1) {
                    par[y] = x;
                    q.push_back(y);
                }
            }
        }
    }

    if (par[1] != -1) {
        cout << "...found!" << endl;

        vector<hilare_a_mvt> sol;

        int b = 1;
        while (b != 0) {
            int a = par[b];

            auto& x = paths[a][b];

            sol.insert(sol.begin(), x.movement.begin(), x.movement.end());

            b = a;
        }

        return solution(sol);
    }

    cout << "...not found." << endl;
    return solution();  // not found
}

void solver_internal::step(const problem &p) {
    cout << "Solver step..." << endl;

    // take new random point
    double min_x = -800, min_y = -800;
    double max_x = 800, max_y = 800;
    for (auto& o: p.obstacles) {
        if (o.c.c.x < min_x) min_x = o.c.c.x;
        if (o.c.c.y < min_y) min_y = o.c.c.y;
        if (o.c.c.x > max_x) max_x = o.c.c.x;
        if (o.c.c.y > max_y) max_y = o.c.c.y;
    }
    hilare_a rp = p.begin_pos;
    rp.x = frand(min_x, max_x);
    rp.y = frand(min_y, max_y);
    rp.theta = frand(-M_PI, M_PI);
    rp.phi = frand(-M_PI, M_PI);

    // try to connect to all existing points
    for (unsigned i = 0; i < pts.size(); i++) {
        solution s = solution::direct_sol(pts[i], rp);
        if (s.movement.size() > 0 && !s.intersects(p)) {
            paths[i][pts.size()] = s;
        }
        solution ss = solution::direct_sol(rp, pts[i]);
        if (ss.movement.size() > 0 && !ss.intersects(p)) {
            paths[pts.size()][i] = ss;
        }
    }
    pts.push_back(rp);
}

/* vim: set ts=4 sw=4 tw=0 noet :*/