/* Brian O'Connor
 *
 * cell.h: functions & data structures for creating cell decomposition
 */

#ifndef CELL_H
#define CELL_H

#include "input.h"
#include "line.h"

//#define CELL_INTS  150
#define CELL_INTS  250

class Obstacle;
class PInfo;
class VPoly;
class PGAdjInfo;

/* all obstacles in the world */
class WorldInfo {
public:

	int nObs;
	Obstacle *robot;
	Obstacle **obs;
	Obstacle *border;

};

/* all obstacle edges */
class EdgeInfo {
public:

	~EdgeInfo();

	int nEdges;
	int firstEdge; /* edge where we start iterations */
	Line **edges;
};

class CellEdge: public Line {
public:

	CellEdge(Point *p1, Point *p2) : Line(p1, p2) { adjInfo = NULL; };

	CellEdge *dual;
	Cell *cell;
	Cell *dualCell;
	PGAdjInfo *adjInfo; // for graph search
};

class Cell {
/* incomplete */
public:
	int nEdges;
	int nGapEdges;
	CellEdge **edges;
	Point *pt; /* pt for roadmap */
	VPoly *vPoly; /* visibility polygon from roadmap pt */
};

class CellInfo {
public:
	int nEdges;
	CellEdge **edges;

	int nCells;
	Cell **cells;
};

void BuildDecomposition(char *file, PInfo *pInfo);
void RebuildDecomposition(PInfo *pInfo1, PInfo *pInfo2);
int OpenEdgeTest(Obstacle *ob, Point *p1, Point *p2);
int InsideTest(Line *l, Point *p1, Point *p2);
int IsPointAdjacent(Obstacle *ob, Point *p1, Point *p2);
void RemoveCell(CellInfo *cells, int i);

#endif /* CELL_H */