package cz.cuni.amis.pogamut.ut2004.utils;
   
   import javax.vecmath.Point3d;
   import javax.vecmath.Vector3d;
   
   import cz.cuni.amis.pogamut.base3d.worldview.object.Velocity;
   import cz.cuni.amis.pogamut.unreal.communication.messages.UnrealId;
   import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.Jump;
   
  /**
   * Class with utility methods for converting to Unreal units plus some handy constants.<p>
   * Measures are in Unreal Engine native units called Unreal units (UU).
   * @author ik
   */
  public class UnrealUtils {
  
  	public static final int iNT_NONE = Integer.MAX_VALUE;
  	
  	public static final long lONG_NONE = Long.MAX_VALUE;
  	
  	public static final float fLOAT_NONE = Float.MAX_VALUE;
  	
  	public static final double dOUBLE_NONE = Double.MAX_VALUE;
  	
  	public static final Integer INT_NONE = Integer.MAX_VALUE;
  	
  	public static final Long LONG_NONE = Long.MAX_VALUE;
  	
  	public static final Float FLOAT_NONE = Float.MAX_VALUE;
  	
  	public static final Double DOUBLE_NONE = Double.MAX_VALUE;
  	
  	public static final String STRING_NONE = "@@NONE@@";
  	
  	public static final Point3d POINT3D_NONE = new Point3d(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE);
  	
  	public static final Vector3d VECTOR3D_NONE = new Vector3d(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE);
  	
      /**
       * Radius in UU of the bounding cylinder used for collision detection.
       */
      public static final double CHARACTER_COLLISION_RADIUS = 25;
      /**
       * Height in UU of the bounding cylinder used for collision detection.
       */
      public static final double CHARACTER_COLLISION_HEIGHT = 44;
      /**
       * Height in UU of the bot when stading.
       */
      public static final double CHARACTER_HEIGHT_STANDING = 96;
      /**
       * Height in UU of the bot when crouching.
       */
      public static final double CHARACTER_HEIGHT_CROUCHING = 64;
      /**
       * Speed of the bot while running.
       * TODO: fill after the reception of INIT message.
       * @deprecated you should not use this as it is not reliable in multi-bot scenario
       */
      public static Velocity CHARACTER_RUN_SPEED;
      /**
       * Speed of the bot while walking.
       * TODO: fill after the reception of INIT message.
       * @deprecated you should not use this as it is not reliable in multi-bot scenario
       */
      public static Velocity CHARACTER_WALK_SPEED;
      /**
       * Center of gravity - distance from the floor in UU.
       * TODO: estimate
       */
      public static final double BOT_CENTER_OF_GRAVITY_HEIGHT = 50;
      /**
       * NavPoint distance from the floor.
       * TODO: estimate
       */
      public static final double NAV_POINT_HEIGHT = 10;
  
      public static final double FULL_ANGLE_IN_UNREAL_DEGREES = 65536;
      
      public static final double ONE_DEGREE_IN_UNREAL_DEGREES = ((double)FULL_ANGLE_IN_UNREAL_DEGREES) / ((double)360);
      
      public static final double ONE_RAD_IN_UNREAL_DEGREES = ((double)FULL_ANGLE_IN_UNREAL_DEGREES) / ((double)2*Math.PI);
      
      public static final double ONE_UNREAL_DEGREE_IN_DEGREES = ((double)360) / ((double)FULL_ANGLE_IN_UNREAL_DEGREES);
      
      public static final double ONE_UNREAD_DEGREE_IN_RAD = ((double)2*Math.PI) / ((double)FULL_ANGLE_IN_UNREAL_DEGREES);
      
      /**
       * @deprecated use {@link UnrealUtils#ONE_UNREAD_DEGREE_IN_RAD}
       */
      public static final double UT_ANGLE_TO_RAD = 2*Math.PI / ((double)FULL_ANGLE_IN_UNREAL_DEGREES);
  
      /**
       * @deprecated use {@link UnrealUtils#ONE_DEGREE_IN_UNREAL_DEGREES}
       */
      public static final double DEG_TO_UT_ANGLE = ((double)FULL_ANGLE_IN_UNREAL_DEGREES) / ((double)360);
  
      /**
       * @deprecated 
      */
     public static final double UT_ANGLE_TO_DEG =  FULL_ANGLE_IN_UNREAL_DEGREES * 360;
     
     /**
      * @deprecated use {@link UnrealUtils#ONE_RAD_IN_UNREAL_DEGREES}
      */
     public static final double RAD_TO_UT_ANGLE =  ((double)FULL_ANGLE_IN_UNREAL_DEGREES) / (2 * Math.PI);
     
     /**
      * UT2004 time is running 110% of normal time. I.e., when 1 sec pass according to {@link System#currentTimeMillis()} than 1.1 secs pass according
      * to UT2004.
      */
     public static final double UT2004_TIME_SPEED = 1.1;
     
     /**
      * Force to be applied to {@link Jump#setForce(Double)} if full jump is needed.
      * <p><p>
      * Note that you actually do not need to set this value directly as GB2004 always assumes you want to do full jump. 
      */
     public static final int FULL_JUMP_FORCE = 340;
     
     /**
      * Force to be applied to {@link Jump#setForce(Double)} if full double jump is needed.
      * <p><p>
      * Note that you actually do not need to set this value directly as GB2004 always assumes you want to do full double jump.
      * We raised this value by 50 (was 705) in GameBots of Pogamut 3.3.1 because of problems of accessing spots 
      * on the verge of reachability with double jump. 
      */
     public static final int FULL_DOUBLEJUMP_FORCE = 755;
     
     /**
      * Delay to be made between two jumps in double jumping ({@link Jump#setDelay(Double)}) if full double jump is needed.
      * <p><p>
      * Note that you actually do not need to set this value directly as GB2004 always assumes you want to do full double jump.
      * <p><p>
      * In seconds. 
      */
     public static final double FULL_DOUBLEJUMP_DELAY = 0.39;
     
     /**
      * Standard max. velocity of bots (it's actually almost 440 but it is better to have this number lower as you will check whether
      * you're running at max speed with it...).
      */
     public static final double MAX_VELOCITY = 439.5;
     
     /**
      * Converts angle in degrees (0-360) to Unreal units used for angles (0 - 65536).
      * @param degrees Angle in degrees
      * @return corresponding angle in Unreal units
      */
     public static int degreeToUnrealDegrees(double degrees) {
         return (int)Math.round((degrees * (double)ONE_DEGREE_IN_UNREAL_DEGREES));
     }
 
     /**
      * Converts Unreal degrees (0-65536) to normal degrees (0 - 360).
      * @param unrealDegrees
      * @return
      */
     public static double unrealDegreeToDegree(int unrealDegrees) {
         return ((double)unrealDegrees) * ((double)ONE_UNREAL_DEGREE_IN_DEGREES);
     }
 
     /**
      * Converts Unreal degrees (0-65536) to radians (0 - 2*PI)
      * @param unrealDegrees
      * @return
      */
     public static double unrealDegreeToRad(double unrealDegrees) {
         return ((double)unrealDegrees) * ((double)ONE_UNREAD_DEGREE_IN_RAD);
     }
 
     /**
      * Tells whether UnrealId belongs to POGAMUT-CONTROLLED-BOT.
      * @param botId
      * @return
      */
     public static boolean isBotId(UnrealId id) {
     	return id.getStringId().contains("RemoteBot");
     }
     
 }