#pragma once
#include <pedestrian.h>
#include <sidewalk.h>

// Params
// TODO: change this
// $\tau$
const double TAU = 1.0; // time to reach desired speed in s

// TODO: change this
// $V^0_{\alpha \beta}$
const double V0_AB = 2.1;

// TODO: change this
// $\sigma$
const double SIGMA = 0.3;

// TODO: change this
// $U^0_{\alpha B}$
const double U0_AB = 10.0;

// TODO: change this
// $R$
const double R = 0.2;

// TODO: change this
// $C$
const double C = 0.2;

// TODO: change this
// $\phi$
// Field of view
const double PHI_DEG = 200.0;

// TODO: change this
const double DISTANCE = 2.0;

// Helper functions

Vector2d get_desired_direction(Pedestrian &p);

Vector2d get_actual_direction(Pedestrian &p);

double w(Vector2d e, Vector2d f);

// Force functions

void compute_acceleration_term(Pedestrian *p);

void compute_repulsive_effects_from_pedestrians(Pedestrian *P, Pedestrian *p, int N);

void compute_repulsive_effects_from_borders(Sidewalk &S, Pedestrian *p);