// # Replaced double with float
// # Predecessor: board_reduced.hpp

#pragma once

struct Obstacle {
  float start_x;
  float start_y;
  float end_x;
  float end_y;
  float obstacle_v_x;
  float obstacle_v_y;
  float length_sq_inv;

  Obstacle() : start_x(0), start_y(0), end_x(0), end_y(0), obstacle_v_x(0), obstacle_v_y(0), length_sq_inv(0.0) {}

  Obstacle(float s_x, float s_y, float e_x, float e_y) : start_x(s_x), start_y(s_y), end_x(e_x), end_y(e_y) {
    obstacle_v_x = end_x - start_x;
    obstacle_v_y = end_y - start_y;

    float length_sq = obstacle_v_x * obstacle_v_x + obstacle_v_y * obstacle_v_y;
    length_sq_inv = length_sq != 0.0 ? 1.0 / length_sq : 0.0;
  }
};

struct Board {
  float length;
  float width;
  Obstacle *obstacles;
  int n_obstacles;

  Board(float l, float w, int n, Obstacle *o) : length(l), width(w), n_obstacles(n + 2) {
    obstacles = new Obstacle[n + 2];

    for (int i = 0; i < n; i++) {
      obstacles[i] = o[i];
    }

    obstacles[n] = Obstacle(0, 0, l, 0);
    obstacles[n + 1] = Obstacle(0, w, l, w);
  }

  ~Board() { delete[] obstacles; }
};