#ifndef OBS_H
#define OBS_H

#include <LEDA/polygon.h>
#include <LEDA/window.h>
#include <LEDA/ps_file.h>
#include "ast.h"
#include <LEDA/list.h>

class obs
{
 public:
  void AddAsteroid ();
  bool InFree (float x, float y, float timeVar);
  void Display (window &w, float timeVar);
  void Display (ps_file &w, float timeVar);

 private:
  list<ast> obs;
};

void obs::AddAsteroid ()
{
  random_source R;
  ast a;
  list<point> l;  

  for(int u = 0; u < 4; u++)
  {
    float x, y;
    R >> x;
    R >> y;
    x *= 10.0;
    y *= 10.0;
    //y=rand()%100/10.0;
    if (u != 0 && u != 3)
    {
      x = -x;
    }
    if (u > 1)
    {
      y = -y;
    }

    point poi (x, y);
    l.push (poi);
  }

  R >> a.x;
  R >> a.y;
  R >> a.xv;
  R >> a.yv;
  R >> a.theta;
  a.x *= 100;
  a.y *= 100;
  a.xv -= 0.5;
  a.yv -= 0.5;
  a.theta /= 10.0;
  polygon p (l, 1);
  a.p = p;
  obs.push (a);
}

bool obs::InFree (float x, float y, float timeVar)
{
  ast tempAst;
  bool isIn = false;

  for(int i = 0; i < obs.size() && isIn == false; i++)
  {
    tempAst = obs[obs[i]];
    isIn += tempAst.inside(x+100, y+000, timeVar);
    isIn += tempAst.inside(x+100, y-100, timeVar);
    isIn += tempAst.inside(x+000, y+100, timeVar);
    isIn += tempAst.inside(x+000, y+000, timeVar);
    isIn += tempAst.inside(x+000, y-100, timeVar);
    isIn += tempAst.inside(x-100, y+100, timeVar);
    isIn += tempAst.inside(x-100, y+100, timeVar);
    isIn += tempAst.inside(x-100, y-100, timeVar);
  }

  return !isIn;
}

void obs::Display (window &w, float timeVar)
{
  for(int i = 0; i < obs.size(); i++)
  {
    polygon pp=obs[obs[i]].cp(timeVar);
    w.draw_filled_polygon (pp.translate(+100,+100), 1);
    w.draw_filled_polygon (pp.translate(+100,000), 1);
    w.draw_filled_polygon (pp.translate(+100,-100), 1);
    w.draw_filled_polygon (pp.translate(0000,+100), 1);
    w.draw_filled_polygon (pp.translate(0000,0000), 1);
    w.draw_filled_polygon (pp.translate(0000,-100), 1);
    w.draw_filled_polygon (pp.translate(-100,+100), 1);
    w.draw_filled_polygon (pp.translate(-100,0000), 1);
    w.draw_filled_polygon (pp.translate(-100,-100), 1);
  }
}


void obs::Display (ps_file &w, float timeVar)
{
  for(int i = 0; i < obs.size(); i++)
  {
    polygon pp=obs[obs[i]].cp(timeVar);
    w.draw_filled_polygon (pp.translate(+100,+100), 1);
    w.draw_filled_polygon (pp.translate(+100,000), 1);
    w.draw_filled_polygon (pp.translate(+100,-100), 1);
    w.draw_filled_polygon (pp.translate(0000,+100), 1);
    w.draw_filled_polygon (pp.translate(0000,0000), 1);
    w.draw_filled_polygon (pp.translate(0000,-100), 1);
    w.draw_filled_polygon (pp.translate(-100,+100), 1);
    w.draw_filled_polygon (pp.translate(-100,0000), 1);
    w.draw_filled_polygon (pp.translate(-100,-100), 1);
  }
}


#endif