#ifndef XODRFUNC_H
#define XODRFUNC_H

#include <OpenDrive/OpenDrive.h>

#include <QPointF>


namespace iv {
struct LanePoint
{
    int mnlane;
    int mnLaneSection;
    double mS;
    double mflanewidth;
    double mflanetocenter;
    double mfX;
    double mfY;
    double mfhdg;
    int mnlanetype;  //0 driving 1 border 2 none 3 bike
    int mnlanemarktype; // -1 no 0 solid 1 broken 2 solidsolid
    int mnlanecolor;
    double mfGeoX;
    double mfGeoY;

};

}

class xodrfunc
{
public:
    xodrfunc();

public:
    static inline double calcpointdis(QPointF p1,QPointF p2);
    static bool pointinarc(GeometryArc * parc,QPointF poingarc,QPointF point1);
    static double CalcHdg(QPointF p0, QPointF p1);
    static double GetParamPoly3Dis(GeometryParamPoly3 * parc,double xnow,double ynow,double & nearx,
                            double & neary,double & nearhead,double & frels);
    static double GetArcDis(GeometryArc * parc,double x,double y,double & nearx,
                            double & neary,double & nearhead,double & frels);
    static double GetSpiralDis(GeometrySpiral * pspiral,double xnow,double ynow,double & nearx,
                            double & neary,double & nearhead,double & frels);
    static double GetLineDis(GeometryLine * pline,const double x,const double y,double & nearx,
                             double & neary,double & nearhead,double & frels);
    static int GetNearPoint(const double x,const double y,OpenDrive * pxodr,Road ** pObjRoad,GeometryBlock ** pgeo, double & fdis,double & nearx,
                     double & neary,double & nearhead,const double nearthresh,double * pfs=0,int * pnlane= 0,bool bnotuselane = false);

    static double GetAcurateDis(const double x,const double y,Road * pRoad,const  double  s,const double nearx,
                                const double neary,const double nearhead,int * pnlane= 0);

    static std::vector<iv::LanePoint> GetAllLanePoint(Road * pRoad,const double s,const double x, const double y,const double fhdg);

public:
    static Road * GetRoadByID(OpenDrive * pxodr,std::string strroadid);
    static int GetRoadXYByS(Road * pRoad,const double s,double &x, double & y, double & hdg);

    static int GetLineXY(GeometryLine * pline,double soff,double &x, double & y, double & hdg);
    static int GetSpiralXY(GeometrySpiral * pspira,double soff,double &x, double & y, double & hdg);
    static int GetArcXY(GeometryArc * parc,double soff,double &x, double & y, double & hdg);
    static int GetParamPoly3XY(GeometryParamPoly3 * pparam3d,double soff,double &x, double & y, double & hdg);

    static int GetRoadIndex(OpenDrive * pxodr, Road * pRoad);
};

#endif // XODRFUNC_H