module GJK.CollisionSpec where

import GJK.Point (Pt)
import GJK.Support (isCollision)

import Test.Hspec

spec :: Spec
spec =
  describe "collision" $ do
    it "shoult find collision for inner polygon" $
      isCollision polygon inner `shouldBe` True
    it "should not find collison for outer polygon" $
      isCollision polygon outer `shouldBe` False

inner :: [Pt]
inner =
  [(145.63095,6.0234867), (148.85714,6.0), (147.89875,18.336034)]
outer :: [Pt]
outer =
  [(-145.63095,-6.0234867), (-148.85714,-6.0), (-147.89875,-18.336034)]

polygon :: [Pt] 
polygon = 
  [
    (139.17857,6.0704),
    (142.40476,6.0469733),
    (145.63095,6.0234867),
    (148.85714,6.0),
    (147.89875,18.336034),
    (144.4624,30.087212),
    (140.17162,41.636725),
    (138.36944,68.981639),
    (137.73101,96.540654),
    (136.37472,123.9676),
    (150.19177,123.61152),
    (164.00883,123.25543),
    (177.82588,122.89935),
    (185.00665,127.58098),
    (190.9907,135.33072),
    (197.71169,141.19113),
    (199.02091,154.95038),
    (197.44984,169.18769),
    (202.38455,182.3452),
    (206.25152,188.6),
    (199.97172,193.42446),
    (197.29801,198.75726),
    (189.50963,202.65248),
    (179.81968,204.03986),
    (171.31917,206.99592),
    (169.3488,223.48563),
    (167.37843,239.97534),
    (165.40806,256.46505),
    (164.24008,273.96448),
    (159.82797,290.87333),
    (155.48766,307.79525),
    (156.54064,313.27045),
    (160.71456,318.38221),
    (162.91958,323.72325),
    (155.80489,337.62366),
    (148.6902,351.52408),
    (141.57551,365.42449),
    (128.85958,373.21405),
    (117.55062,382.86298),
    (106.29592,392.58362),
    (108.33764,401.26715),
    (110.38688,409.94899),
    (112.1795,418.68823),
    (114.70465,430.05987),
    (108.16003,440.09535),
    (104.27689,450.32682),
    (96.442887,451.79346),
    (88.608884,453.26011),
    (80.774881,454.72675),
    (75.326819,446.28062),
    (67.769397,438.84088),
    (66.282582,428.5048),
    (67.700871,419.96118),
    (71.641538,411.46724),
    (74.36394,403.0588),
    (73.079495,395.03705),
    (68.822842,387.01472),
    (66.42807,378.99274),
    (61.155271,374.19988),
    (53.665446,371.24121),
    (47.535604,367.1574),
    (39.41249,356.14722),
    (32.714949,343.67355),
    (25.13649,332.10423),
    (19.570258,326.7377),
    (24.211787,319.4322),
    (24.6413,312.92678),
    (24.522209,299.82585),
    (21.928665,286.63534),
    (20.85883,273.5),
    (28.080043,253.59142),
    (33.947501,233.15747),
    (42.846111,213.89987),
    (43.027779,202.6816),
    (41.13384,191.12284),
    (40.532747,179.77616),
    (40.105987,162.99701),
    (43.132751,146.23134),
    (43.266082,129.40315),
    (41.218892,115.46725),
    (36.99227,101.69368),
    (33.518309,87.970109),
    (31.908966,74.634958),
    (33.794832,60.876757),
    (33.550433,47.376398),
    (35.472187,39.405204),
    (27.203997,34.874597),
    (23.553492,28.78485),
    (18.132204,24.599655),
    (19.020117,18.0171),
    (18.660865,11.90844),
    (24.962761,11.109781),
    (31.264657,10.311122),
    (37.566553,9.5124627),
    (45.570266,6.7217735),
    (52.069862,13.115795),
    (59.174551,15.814881),
    (66.125532,17.494749),
    (60.477337,26.272902),
    (61.398652,31.34984),
    (58.116471,38.942736),
    (67.239702,39.703007),
    (72.0,42.866284),
    (74.670209,56.143639),
    (77.340418,69.420994),
    (80.010627,82.698349),
    (84.795758,117.82934),
    (87.660612,153.25473),
    (91.700336,188.5),
    (94.057138,172.58703),
    (96.530163,156.68896),
    (98.023683,140.6653),
    (101.30239,122.57318),
    (97.125272,104.389),
    (96.249823,86.245585),
    (98.245583,71.836862),
    (100.27465,57.167253),
    (103.29534,42.959979),
    (107.9678,35.160614),
    (109.17039,26.41331),
    (109.76531,17.5),
    (119.56973,13.690153),
    (129.37415,9.8803067),
    (139.17857,6.07046)
  ]