#pragma once
#include "board.hpp"
#include "pedestrian.hpp"
#include <cmath>

// $\tau_{\alpha}$
const double tau_alpha = 0.5;

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

// $\sigma$
const double SIGMA = 0.3;

//
// $\frac{V^0_{\alpha\beta}}{\sigma}$
// 
const double V0_AB_div_SIGMA =  V0_AB / SIGMA;

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

// $R$
const double R = 0.2;

// 
// $\frac{U^0_{\alpha B}}{R}$
// 
const double U0_AB_div_R = U0_AB / R;

// $c$
const double c = 0.5;

// $\varphi$
const double phi = 45.0 / 180.0 * M_PI;

// $cos(\varphi)$
const double cos_phi = cos(phi);

// $<v^0>$
const double v0_mean = 1.34;

// $\sqrt{\theta}$
const double v0_std_dev = 0.26;

// $\varDelta_{t}$
const double delta_t = 2;

// $dt$
const double dt = 0.2;

const double cost_add = 1;
const double cost_mult = 1;
const double cost_div = 1;

// https://acl.inf.ethz.ch/teaching/fastcode/knowledgebase/#:~:text=How%20do%20exp(x)%2C%20sin(x)%2C%20etc.%20count%20in%20the%20flopcount%20of%20an%20algorithm%3F
const double cost_exp = 30;

// -O3 maps each sqrt() call to an instruction
const double cost_sqrt = 1;

double w(Vector2d e, Vector2d f);

double g(double v_max_alpha, double w_alpha_norm);

void add_acceleration_term(Pedestrian *p);

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

void add_repulsive_effects_from_borders(Board &B, Pedestrian *p);