#ifndef SPACE_ANALYZER_HPP
#define SPACE_ANALYZER_HPP

#include "busbar_config.hpp"
#include <vector>
#include <cstdint>

class SpaceAnalyzer {
private:
    const BusbarConfig& config_;
    const std::vector<bool>& obstacles_;
    uint64_t xsize_, ysize_, zsize_;

    size_t getIndex(int64_t x, int64_t y, int64_t z) const {
        return x + y * xsize_ + z * xsize_ * ysize_;
    }

public:
    SpaceAnalyzer(const BusbarConfig& config,
        const std::vector<bool>& obstacles,
        uint64_t xsize, uint64_t ysize, uint64_t zsize)
        : config_(config), obstacles_(obstacles),
        xsize_(xsize), ysize_(ysize), zsize_(zsize) {}

    // 检查体素是否为障碍物
    bool isObstacle(int64_t x, int64_t y, int64_t z) const;
    bool isObstacle(const Point& p) const;

    // 检查体素是否在边界内
    bool isInBounds(int64_t x, int64_t y, int64_t z) const;
    bool isInBounds(const Point& p) const;

    // 检查体素是否可通过（考虑间隙）
    bool isVoxelFree(const Point& p) const;

    // 检查某个点在给定方向上是否有足够空间
    bool hasSpace(const Point& p, const Vector3& tangent,
        const Vector3& normal) const;

    // 获取地图尺寸
    uint64_t xsize() const { return xsize_; }
    uint64_t ysize() const { return ysize_; }
    uint64_t zsize() const { return zsize_; }
};

#endif