#pragma once
#include <vector>
#include "agent.h"
#include <QDebug>

#define RADUIS 10
#define BLIND_ANGLE M_PI/3
class Enviroment
{
private:
    double lenth;
    double width;
    std::vector<Agent *> *multi_agent;
    std::vector<std::vector<int>> adjacency_matrix;
    std::vector<AgentState> coordinat_matrix;
public:
    Enviroment(std::vector<Agent *> *, double, double);
    ~Enviroment(void);
    void Observe(void);
    void ObserveFromData(std::vector<AgentState>);
    bool isRight(Agent*, Agent*);
    bool isLeft(Agent*, Agent*);
    int LeftRightDirection(Agent*, Agent*);
    bool isInBlindAngle(Agent*, Agent*);
    bool isInSenseRaduis(Agent*, Agent*);
    AgentState GetRelativeCoordinate(Agent*, Agent*);

    std::vector<std::vector<int>> GetAdjMat();
    std::vector<AgentState> GetCoorMat();
    std::vector<Point> GetTargets();
    void RunOnce();
};