#include <stdlib.h>
#include <LEDA/list.h>
#include <LEDA/point.h>
#include <LEDA/polygon.h>
#include <LEDA/ps_file.h>
#include <LEDA/window.h>
#include "ship.h"
#include "obs.h"
#include "Planner.h"

int main()
{
  window w(600,600,"Asteroid Motion Strategy - Nicholas Lovell and Joel Varney");
  obs o;
  Ship ship (30, 30, 0, 0, 0);
  Planner RRT;
  random_source R;
  list<vector> path;
  float angle, tempx, tempy;
  bool fire;
  vector v;
  float t;
  int col;
  point goal (75, 75);
  int fileNum = 0;
  char myFile[15];

  w.display();

  for(int t = 0; t < 20; t++)
  {
    o.AddAsteroid ();
  }

  for(t=0;;t++)
  {
    angle = 0;
    fire = false;    

    if (path.size () > 0)
    {
      v = path.pop ();
      angle = v[0];
      fire = v[1];
    }
    ship.NewPosition (angle, fire, 1);
    if ((int(t) == 0) || (path.size () == 0) ||
	((int(goal.xcoord () - 1) <= int(ship.GetPosition ()[0])) && 
	 (int(goal.xcoord () + 1) >= int(ship.GetPosition ()[0])) &&
	 (int(goal.ycoord () - 1) <= int(ship.GetPosition ()[1])) &&
	 (int(goal.ycoord () + 1) >= int(ship.GetPosition ()[1]))))

    {

      if (path.size () != 0 || int (t) == 0)
      {
	R >> tempx;
	R >> tempy;

	tempx *= 100;
	tempy *= 100;

	goal = point(tempx, tempy);

	cout << "(" << goal << ")" << endl;
      }
      fileNum = RRT.Plan(goal, path, ship, t, o, w, fileNum);
    }

    col = o.InFree (ship.GetPosition()[0], ship.GetPosition()[1], t);

    w.clear();
    w.draw_circle (ship.GetShape(), 1, 3 - col);

    o.Display (w, t);
    w.draw_point (goal);

    if (int(t) % 7 == 0)
    {
      sprintf (myFile, "ast%.3d.ps", fileNum);
      ps_file myps (10, 10, myFile);

      o.Display (myps, t);
      myps.draw_circle (ship.GetShape(), 1, 3 - col);
      myps.draw_point (goal);

      fileNum++;
      myps.close ();
    }
    for (int abcde=0;abcde<1000000;abcde++);  // Wait so that we can 
                                              // see the animation
  }

  return 0;
}