#ifndef PATH2D_H
#define PATH2D_H


#include <Indoor/floorplan/v2/Floorplan.h>
#include "Renderable2D.h"
#include <Indoor/geo/Point3.h>
#include <Indoor/nav/dijkstra/DijkstraPath.h>
#include <Indoor/grid/Grid.h>

#include "../nav/Node.h"


class Path2D : public Renderable2D {

private:

	/** the path */
	std::vector<Point3> path;

	float width = 8;
	QColor color = Qt::blue;

public:

	/** ctor */
	Path2D() {

	}

	template <typename Node> void set(const DijkstraPath<Node>& path) {

		std::vector<Point3> out;
		for (const DijkstraNode<Node>* node : path.getVector()) {
			if (!node) {break;}
			const Node* elem = node->element;
			out.push_back(Point3(elem->x_cm/100.0f, elem->y_cm/100.0f, elem->z_cm/100.0f));
		}

		set(out);

	}

	/** MUST BE CALLED FROM THE MAIN THREAD */
	void set(const std::vector<Point3>& path) {
		this->path = simplify(path);
	}


	/** combine nodes while the direction stays the same (many small quads -> one large quad) */
	std::vector<Point3> simplify(const std::vector<Point3>& path) {

		// copy
		std::vector<Point3> out = path;

		// remove unneccesary nodes
		for (int i = 1; i < (int) out.size() - 1; ++i) {

			const Point3 pa = out[i-1];
			const Point3 pb = out[i-0];
			const Point3 pc = out[i+1];

			// same direction as last segment? combine segments!
			const float dir1 = std::atan2(pb.y-pa.y, pb.x-pa.x);			// last edge
			const float dir2 = std::atan2(pc.y-pb.y, pc.x-pb.x);			// next edge
			const bool isSameDir = std::abs(dir1-dir2) < 0.03;				// last-edge and next-edge have (approx) the same direction?
			if (isSameDir) {out.erase(out.begin()+i); --i; continue;}		// no additional information! remove the center node

			// too many changes in a small space? -> remove some!
			const float d1 = pb.getDistance(pa);							// distance to last node
			const float d2 = pb.getDistance(pc);							// distance to next node
			const float min = 1.0;
			const bool isPackedChange = d1 < min && d2 < min;				// both distances below a threshold?
			if (isPackedChange) {out.erase(out.begin()+i); --i; continue;}	// -> many changes in a small area -> remove current node!

		}

		return out;

	}


	/** the color to use */
	void setColor(const QColor color) {
		this->color = color;
	}

	/** the width to use */
	void setWidth(const float w) {
		this->width = w;
	}


protected:

	void doRender(QPainter& qp, const Scaler2D& s, const RenderParams2D& r) override {

		QPen pen;
		pen.setWidth(this->width);
		pen.setColor(color);
		qp.setPen(pen);

		for (int i = 0; i < (int)path.size() - 1; ++i) {

			const Point3 p1 = path[i];
			const Point3 p2 = path[i+1];

			if (p1.z < r.clip.belowHeight_m && p2.z < r.clip.belowHeight_m) {continue;}
			if (p1.z > r.clip.aboveHeight_m && p2.z > r.clip.aboveHeight_m) {continue;}

			const Point2 pa1 = s.mapToScreen(p1.xy());
			const Point2 pa2 = s.mapToScreen(p2.xy());

			qp.drawLine(pa1.x, pa1.y, pa2.x, pa2.y);

		}

	}


};

#endif // PATH2D_H