#include "simul/table.h"
#include "simul/robot.h"
#include "simul/objet.h"
#include "element.h"
#include "cstdlib"
#include "time.h"


#include <iostream>
#include <QPainter>
#include "CommandGoTo.h"

Position getCase(unsigned int i, unsigned int j)
{
	return Position(450 + i*350, j*350);
}

Position getCaseCenter(unsigned int i, unsigned int j)
{
	return Position(625 + i*350, 175 + j*350);
}

b2AABB Table::getWorldAABB()
{
	b2AABB a;
	a.lowerBound.Set(-100,-100);
	a.upperBound.Set(tableWidth+100, tableHeight+100);
	return a;
}

Table::Table(QWidget* parent) :
	QWidget(parent),
#ifdef BOX2D_2_0_1
	world(getWorldAABB(),b2Vec2(0.f,0.f), false)
#else
//	world(b2Vec2(0.f,0.f), false)
	world(b2Vec2(0.f,0.f))
#endif
{
	dt=0;
	setAutoFillBackground(true);

	QPalette p = palette();
	p.setColor(QPalette::Window,QColor(Qt::darkGray));
	setPalette(p);

    srand(time(NULL));
    int alea1 = rand()%11 ; // On génére deux nombres aléatoires pour définir quelles pièces seront noires
    int alea2 = alea1;
    while (alea2 == alea1)
        alea2 = rand()%11;
    Objet::Type couleur[11];
    for (unsigned int i = 0; i<11;i++)
        couleur[i] = Objet::whiteCoin;
    couleur[alea1] = Objet::blackCoin;
    couleur[alea2] = Objet::blackCoin;


    //création des robots
	robots.push_back(new Robot(world));
	//création des objets (par pair devant avoir la même couleur)
    objets.push_back(new Objet(world, Position(2000.,500.), couleur[0]));
    objets.push_back(new Objet(world, Position(1000.,500.), couleur[0]));
    objets.push_back(new Objet(world, Position(450.,1700.), couleur[1]));
    objets.push_back(new Objet(world, Position(2550.,1700.), couleur[1]));
    objets.push_back(new Objet(world, Position(1590.,1700.), couleur[2]));
    objets.push_back(new Objet(world, Position(1410.,1700.), couleur[2]));
    objets.push_back(new Objet(world, Position(1500.,1610.), couleur[3]));
    objets.push_back(new Objet(world, Position(1500.,1790.), couleur[3]));
    objets.push_back(new Objet(world, Position(1100.,750.), couleur[4]));
    objets.push_back(new Objet(world, Position(1900.,750.), couleur[4]));
    objets.push_back(new Objet(world, Position(1100.,1250.), couleur[5]));
    objets.push_back(new Objet(world, Position(1900.,1250.), couleur[5]));
    objets.push_back(new Objet(world, Position(850.,1000.), couleur[6]));
    objets.push_back(new Objet(world, Position(2150.,1000.), couleur[6]));
    objets.push_back(new Objet(world, Position(950.,850.), couleur[7]));
    objets.push_back(new Objet(world, Position(2050.,850.), couleur[7]));
    objets.push_back(new Objet(world, Position(950.,1150.), couleur[8]));
    objets.push_back(new Objet(world, Position(2050.,1150.), couleur[8]));
    objets.push_back(new Objet(world, Position(1250.,850.), couleur[9]));
    objets.push_back(new Objet(world, Position(1750.,850.), couleur[9]));
    objets.push_back(new Objet(world, Position(1250.,1150.), couleur[10]));
    objets.push_back(new Objet(world, Position(1750.,1150.), couleur[10]));

    objets.push_back(new Objet(world, Position(1500+75.,2000-647+35.), Objet::goldBar,0.));
    objets.push_back(new Objet(world, Position(400.,500+285+150.), Objet::goldBar,1.637));
    objets.push_back(new Objet(world, Position(2600-35.,500+285+150.), Objet::goldBar,1.504));


	//Geometry
	b2BodyDef bodyDef;
	bodyDef.position.Set(0., 0.);

	tableBody = world.CreateBody(&bodyDef);


#ifdef BOX2D_2_0_1
	b2PolygonDef box;
	b2PolygonDef &fixture = box;
#else
	b2PolygonShape box;
	b2FixtureDef fixture;
	fixture.shape = &box;
#endif
	fixture.friction = 0.5;
	fixture.density = 0;

#ifdef BOX2D_2_0_1
#define CreateFixture CreateShape
#endif
	box.SetAsBox(30,1, b2Vec2(0,-1),0);
	tableBody->CreateFixture(&fixture);

	box.SetAsBox(1,20, b2Vec2(-1,0),0);
	tableBody->CreateFixture(&fixture);

	box.SetAsBox(1,20, b2Vec2(31,0),0);
	tableBody->CreateFixture(&fixture);

	box.SetAsBox(30.,1., b2Vec2(0,21),0);
	tableBody->CreateFixture(&fixture);

	//Starting zones borders
	box.SetAsBox(4.00,.11, b2Vec2(0.,5.1), 0.);
	tableBody->CreateFixture(&fixture);
	box.SetAsBox(4.00,.11, b2Vec2(30.,5.1), 0.);
	tableBody->CreateFixture(&fixture);

	//Blocked zones
    box.SetAsBox(1.25,1.25, b2Vec2(11.,10.), 0.); //Totem rouge
	tableBody->CreateFixture(&fixture);
    box.SetAsBox(1.25,1.25, b2Vec2(19.,10.), 0.); //Totem violet
	tableBody->CreateFixture(&fixture);
    box.SetAsBox(0.2,0.2, b2Vec2(15.,10.), 0.); //Arbre TODO : à transformer en cercle
	tableBody->CreateFixture(&fixture);


	//Boat
    box.SetAsBox(0.11,3.75, b2Vec2(3.24,16.3), 0.0666); //Red Boat
	tableBody->CreateFixture(&fixture);
    box.SetAsBox(0.11,3.75, b2Vec2(26.76,16.3), 6.216); //Violet Boat
	tableBody->CreateFixture(&fixture);

	tableGraphics.load("tabledata.xml");
	tableGraphics.addYOffset(-tableHeight); // because we want the (0,0) point to be at the bottom left.

}

Table::~Table()
{
    for (unsigned int i = 0; i<robots.size();i++)
        delete robots[i];
    for (unsigned int i = 0; i<objets.size();i++)
        delete objets[i];
}

void Table::update(int dt)
{
	this->dt = dt;
	for(unsigned int i=0; i < robots.size(); i++)
	{
		robots[i]->updateForces(dt);
//		robots[i]->interact(elements);
	}

#ifdef BOX2D_2_0_1
	world.Step((float)dt/1000., 10);
#else
	world.Step((float)dt/1000., 10, 10);
	world.ClearForces();
#endif
	for(unsigned int i=0; i < objets.size(); i++)
		objets[i]->updatePos();
	repaint();
}

void Table::paintEvent(QPaintEvent* evt)
{
	QPainter p(this);
	p.setRenderHints(QPainter::Antialiasing,true);
	p.setWindow(QRect(0,-tableHeight,tableWidth,tableHeight));
	p.setWorldMatrixEnabled(true);

/*
	//Mer
	p.fillRect(0,0,3000,-2000,QColor(39,129,187)); // Blue
	//Starting zones
	p.fillRect(0,0,500,-500,QColor(160,0,28)); //Red
	p.fillRect(2500,0,500,-500,QColor(133,61,125)); //Violet
	//Boat
	p.setBrush(QBrush(QColor(119,76,59))); //Brown
	p.setPen(QBrush(QColor(119,76,59)));

	static const QPointF redBoat[4] = {QPointF(0, -500),QPointF(0, -2000), QPointF(325, -2000), QPointF(400, -500) };
	p.drawPolygon(redBoat, 4, Qt::OddEvenFill);

	static const QPointF violetBoat[4] = {QPointF(2600, -500),QPointF(2675, -2000), QPointF(3000, -2000), QPointF(3000, -500) };
	p.drawPolygon(violetBoat, 4, Qt::OddEvenFill);

	//Circle of the map
	p.setBrush(QBrush(QColor(242,191,0))); // Jaune
	p.setPen(QBrush(QColor(242,191,0)));
	float diameter = 800;
	p.drawEllipse(QRectF(1500 -diameter / 2.0, -diameter / 2.0, diameter, diameter));

	p.setBrush(QBrush(QColor(75,155,62))); // Vert
	p.setPen(QBrush(QColor(75,155,62)));
	diameter = 600;
	p.drawEllipse(QRectF(1500 -diameter / 2.0, -diameter / 2.0, diameter, diameter));

	//Island
	p.setBrush(QBrush(QColor(242,191,0))); // Jaune
	p.setPen(QBrush(QColor(242,191,0)));
	diameter = 600;
	p.drawEllipse(QRectF(1100 -diameter / 2.0, -1000 -diameter / 2.0, diameter, diameter));
	p.drawEllipse(QRectF(1900 -diameter / 2.0, -1000 -diameter / 2.0, diameter, diameter));
	p.fillRect(1100,-800,800,-400,QColor(242,191,0));
	p.setBrush(QBrush(QColor(39,129,187))); // Blue
        p.setPen(QBrush(QColor(39,129,187)));
	diameter = 237*2;
	p.drawEllipse(QRectF(1500 -diameter / 2.0, -1358 -diameter / 2.0, diameter, diameter));
	p.drawEllipse(QRectF(1500 -diameter / 2.0, -1000+358 -diameter / 2.0, diameter, diameter));

	p.setBrush(QBrush(QColor(75,155,62))); // Vert
	p.setPen(QBrush(QColor(75,155,62)));
	diameter = 150; // arbre central
	p.drawEllipse(QRectF(1500 -diameter / 2.0, -1000 -diameter / 2.0, diameter, diameter));

	diameter = 400; // autour des totems
	p.drawEllipse(QRectF(1100 -diameter / 2.0, -1000 -diameter / 2.0, diameter, diameter));
	p.drawEllipse(QRectF(1900 -diameter / 2.0, -1000 -diameter / 2.0, diameter, diameter));

	//Lignes noires de suivie
	p.fillRect(500,-450,150,-20,Qt::black);
	p.fillRect(630,-450,20,-1550,Qt::black);

	p.fillRect(2350,-450,150,-20,Qt::black);
	p.fillRect(2350,-450,20,-1550,Qt::black);

	//Totem
	p.fillRect(975,-875,250,-250,QColor(119,76,59));
	p.fillRect(1775,-875,250,-250,QColor(119,76,59));
	*/

	tableGraphics.draw(&p);

/*
    for (unsigned int i=0; i < objets.size(); i++)
        objets[i]->paint(p);

	for(unsigned int i=0; i < robots.size(); i++)
		robots[i]->paint(p,dt);*/

	dt = 0;

    // Dessin d'un trajet
/*	PositionPlusAngle** path = CommandGoTo::path();
    	p.setPen(QColor(Qt::black));
	if (path)
	{
		for(unsigned int i=0; i+1 < PATH_LENGTH; i++)
		p.drawLine(path[i]->position.x, -path[i]->position.y, path[i+1]->position.x, -path[i+1]->position.y);
	CommandGoTo::deletePath(path);
	}
*/
}

void Table::keyPressEvent(QKeyEvent* evt, bool press)
{
	for(unsigned int i=0; i < robots.size(); i++)
		robots[i]->keyPressEvent(evt, press);
    Sensors::getSensors()->keyPressEvent(evt,press);
}

Position getSideElemCenter(bool right, unsigned int elem)
{
	return Position(right ? 200 : 2800, 1810 - elem*280);
}