/*
    * Copyright (C) 2014 AMIS research group, Faculty of Mathematics and Physics, Charles University in Prague, Czech Republic
    *
    * This program is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * This program is distributed in the hope that it will be useful,
   * but WITHOUT ANY WARRANTY; without even the implied warranty of
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   * GNU General Public License for more details.
   *
   * You should have received a copy of the GNU General Public License
   * along with this program.  If not, see <http://www.gnu.org/licenses/>.
   */
  package cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.pathfollowing;
  
  import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPointNeighbourLink;
  
  /**
   * Contains precomputed information about coming jump. If it is even jumpable, minimal and maximal take off point, landing target and navigation target of current link.
   *
   * @author Bogo
   */
  public class JumpBoundaries {
  
      private boolean jumpable;
  
      private Location takeOffMin;
      private Location takeOffMax;
      private Location takeoffEdgeDirection;
  
      private Location landingTarget;
      
      private Location navigTarget;
  
      private Location targetEdgeDirection;
      private NavPointNeighbourLink link;
  
      /**
       * Constructor for jumpable link.
       * 
       * @param link
       * @param takeOffMin
       * @param takeOffMax
       * @param takeoffEdgeDirection
       * @param target
       * @param targetEdgeDirection
       * @param navigTarget 
       */
      public JumpBoundaries(NavPointNeighbourLink link, Location takeOffMin, Location takeOffMax, Location takeoffEdgeDirection, Location target, Location targetEdgeDirection, Location navigTarget) {
          this.link = link;
          this.takeOffMin = takeOffMin;
          this.takeOffMax = takeOffMax;
          this.takeoffEdgeDirection = takeoffEdgeDirection;
          this.landingTarget = target;
          this.targetEdgeDirection = targetEdgeDirection;
          this.navigTarget = navigTarget;
          this.jumpable = true;
      }
  
      /**
       * Constructor for not jumpable link.
       * 
       * @param link 
       */
      public JumpBoundaries(NavPointNeighbourLink link) {
          this.link = link;
          this.jumpable = false;
      }
  
      /**
       * Get link this boundaries are for.
       * @return 
       */
      public NavPointNeighbourLink getLink() {
          return link;
      }
  
      /**
       * Get link this boundaries are for.
       * @param link 
       */
      public void setLink(NavPointNeighbourLink link) {
          this.link = link;
      }
  
      /**
       * If is jumpable.
       * @return 
       */
      public boolean isJumpable() {
          return jumpable;
      }
  
      /**
       * Set jumpable.
      * @param jumpable 
      */
     public void setJumpable(boolean jumpable) {
         this.jumpable = jumpable;
     }
 
     /**
      * Get earliest take off point.
      * @return 
      */
     public Location getTakeOffMin() {
         return takeOffMin;
     }
 
     /**
      * Set earliest take off point.
      * @param takeOffMin 
      */
     public void setTakeOffMin(Location takeOffMin) {
         this.takeOffMin = takeOffMin;
     }
 
     /**
      * Get latest take off point.
      * @return 
      */
     public Location getTakeOffMax() {
         return takeOffMax;
     }
 
     /**
      * Set latest take off point.
      * @param takeOffMax 
      */
     public void setTakeOffMax(Location takeOffMax) {
         this.takeOffMax = takeOffMax;
     }
 
     /**
      * Get landing target.
      * @return 
      */
     public Location getLandingTarget() {
         return landingTarget;
     }
 
     /**
      * Set landing target.
      * @param landingTarget 
      */
     public void setLandingTarget(Location landingTarget) {
         this.landingTarget = landingTarget;
     }
 
     /**
      * If the given location is between take off boundaries.
      * 
      * @param botLocation
      * @return 
      */
     boolean isInBoundaries(Location botLocation) {
         if (!jumpable) {
             return false;
         }
 
         if (takeOffMin.equals(takeOffMax, 1.0)) {
             //We have only the point, we are out of NavMesh
             return botLocation.getDistance(takeOffMin) < 20;
         }
 
         //TODO: Improve || inform about passing max boundary
         return botLocation.getDistance(takeOffMax) + botLocation.getDistance(takeOffMin) <= 2 * takeOffMin.getDistance(takeOffMax);
     }
 
     /**
      * If the given location is past take off boundaries.
      * 
      * @param botLocation
      * @return 
      */
     boolean isPastBoundaries(Location botLocation) {
         if (jumpable) {
             return botLocation.getDistance(landingTarget) < takeOffMax.getDistance(landingTarget);
         } else {
             return false;
         }
     }
 
     /**
      * If the jump is up and not fall.
      * 
      * @return 
      */
     public boolean isJumpUp() {
         return jumpable && landingTarget.z - takeOffMax.z > 45;
     }
 
     /**
      * Get direction of the mesh edge the landing target lies on.
      * 
      * @return 
      */
     public Location getTargetEdgeDirection() {
         return targetEdgeDirection;
     }
 
     /**
      * Get direction of the mesh edge the take off point lies on.
      * 
      * @return 
      */
     public Location getTakeoffEdgeDirection() {
         return takeoffEdgeDirection;
     }
 
     /**
      * Get target of current link.
      * 
      * @return 
      */
     public Location getNavigTarget() {
         return navigTarget;
     }
 
     /**
      * If the bot can land later than at landing target without problem detected by mesh.
      * 
      * @param distanceLater
      * @return 
      */
     boolean canLandLater(double distanceLater) {
         return landingTarget.getDistance2D(navigTarget) > distanceLater;
     }
 
 }