#ifndef OBSTACLE3_H
#define OBSTACLE3_H

#include <vector>
#include "../../../geo/Triangle3.h"
#include "../../../geo/Sphere3.h"

#include "../../../floorplan/v2/Floorplan.h"

namespace Ray3D {

	/**
	 * 3D obstacle
	 * based on multiple triangles
	 * has a material and a type
	 */
	struct Obstacle3D {

		enum class Type {
			UNKNOWN,
			GROUND_INDOOR,
			GROUND_OUTDOOR,
			STAIR,
			HANDRAIL,
			DOOR,
			WALL,
			WINDOW,
			OBJECT,
		};

		Type type;
		Floorplan::Material mat;
		std::vector<Triangle3> triangles;

		/** empty ctor */
		Obstacle3D() : type(Type::UNKNOWN), mat() {;}

		/** ctor */
		Obstacle3D(Type type, Floorplan::Material mat) : type(type), mat(mat) {;}


		/** translated copy */
		Obstacle3D translated(const Point3 pos) const {
			Obstacle3D copy = *this;
			for (Triangle3& tria : copy.triangles) {
				tria += pos;
			}
			return copy;
		}

		/** rotated [around (0,0,0)] copy */
		Obstacle3D rotated_deg(const Point3 rot) const {
			Obstacle3D copy = *this;
			for (Triangle3& tria : copy.triangles) {
				tria.p1 = tria.p1.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
				tria.p2 = tria.p2.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
				tria.p3 = tria.p3.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
			}
			return copy;
		}

		/** get all triangle-edge-points (x,y) within the obstacle */
		std::vector<Point2> getPoints2D() const {
			std::vector<Point2> res;
			for (const Triangle3& tria : triangles) {
				res.push_back(tria.p1.xy());
				res.push_back(tria.p2.xy());
				res.push_back(tria.p3.xy());
			}
			return res;
		}

		/** get all triangle-edge-points (x,y,z) within the obstacle */
		std::vector<Point3> getPoints3D() const {
			std::vector<Point3> res;
			for (const Triangle3& tria : triangles) {
				res.push_back(tria.p1);
				res.push_back(tria.p2);
				res.push_back(tria.p3);
			}
			return res;
		}

	};

}

#endif // OBSTACLE3_H