# -*- coding: utf-8 -*-
'''
@File    : terrain_levels_config.py
@Time    : 2025/12/25 11:27:05
@Author  : wty-yy
@Version : 1.0
@Blog    : https://wty-yy.github.io/
@Desc    : Terrain Levels Configuration
'''
from robogauge.utils.config import Config

SEARCH_LEVELS_TERRAINS = ['slope', 'wave', 'stairs_up', 'stairs_down', 'obstacle']

class TerrainSearchLevelsConfig(Config):
    class flat:
        levels = [0]
        targets = [[4, 0, 0]]  # target positions for each level, if target goal is used
    
    class slope:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        targets = [
            [4.8, 0, 0.588 + 0.1],
            [4.8, 0, 0.776 + 0.1],
            [4.8, 0, 0.964 + 0.1],
            [4.8, 0, 1.152 + 0.1],
            [4.8, 0, 1.340 + 0.1],
            [4.8, 0, 1.528 + 0.1],
            [4.8, 0, 1.716 + 0.1],
            [4.8, 0, 1.904 + 0.1],
            [4.8, 0, 2.092 + 0.1],
            [4.8, 0, 2.280 + 0.1],
        ]

    class wave:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        targets = [
            [6.5, -2.65, 0.08],
            [6.5, -2.65, 0.16],
            [6.5, -2.65, 0.24],
            [6.5, -2.65, 0.32],
            [6.5, -2.65, 0.40],
            [6.5, -2.65, 0.48],
            [6.5, -2.65, 0.56],
            [6.5, -2.65, 0.64],
            [6.5, -2.65, 0.72],
            [6.5, -2.65, 0.80],
        ]

    class stairs_up:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        targets = [
            [4.5, 0.0, 1.35],
            [4.5, 0.0, 1.80],
            [4.5, 0.0, 2.25],
            [4.5, 0.0, 2.70],
            [4.5, 0.0, 2.85],
            [4.5, 0.0, 3.00],
            [4.5, 0.0, 3.15],
            [4.5, 0.0, 3.30],
            [4.5, 0.0, 3.45],
            [4.5, 0.0, 3.60],
        ]

    class stairs_down:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        targets = [
            [8.3, 0.0, 1.90 - 0.07 * 15],
            [8.3, 0.0, 1.90 - 0.07 * 12],
            [8.3, 0.0, 1.90 - 0.07 * 9],
            [8.3, 0.0, 1.90 - 0.07 * 6],
            [8.3, 0.0, 1.90 - 0.07 * 5],
            [8.3, 0.0, 1.90 - 0.07 * 4],
            [8.3, 0.0, 1.90 - 0.07 * 3],
            [8.3, 0.0, 1.90 - 0.07 * 2],
            [8.3, 0.0, 1.90 - 0.07],
            [8.3, 0.0, 1.90],
        ]

        spawns = [
            [1.1, 3.0, 7 - 0.3 * 15],
            [1.1, 3.0, 7 - 0.3 * 12],
            [1.1, 3.0, 7 - 0.3 * 9],
            [1.1, 3.0, 7 - 0.3 * 6],
            [1.1, 3.0, 7 - 0.3 * 5],
            [1.1, 3.0, 7 - 0.3 * 4],
            [1.1, 3.0, 7 - 0.3 * 3],
            [1.1, 3.0, 7 - 0.3 * 2],
            [1.1, 3.0, 7 - 0.3],
            [1.1, 3.0, 7],
        ]

    class obstacle:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]

class TerrainEvalLevelsConfig(Config):
    class flat:
        levels = [0]

    class slope:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        spawns = [
            [5.0, 0, 4.2 * (0.57 - 0.047 * 9)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 8)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 7)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 6)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 5)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 4)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 3)],
            [5.0, 0, 4.2 * (0.57 - 0.047 * 2)],
            [5.0, 0, 4.2 * (0.57 - 0.047)],
            [5.0, 0, 4.2 * 0.57],
        ]

    class wave:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        spawns = [
            [4.55, 0, 0.65 - 0.075 * 9],
            [4.55, 0, 0.65 - 0.075 * 8],
            [4.55, 0, 0.65 - 0.075 * 7],
            [4.55, 0, 0.65 - 0.075 * 6],
            [4.55, 0, 0.65 - 0.075 * 5],
            [4.55, 0, 0.65 - 0.075 * 4],
            [4.55, 0, 0.65 - 0.075 * 3],
            [4.55, 0, 0.65 - 0.075 * 2],
            [4.55, 0, 0.65 - 0.075 * 1],
            [4.55, 0, 0.65],
        ]

    class stairs_up:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        spawns = [
            [5.0, 0.0, 1.35],
            [5.0, 0.0, 1.80],
            [5.0, 0.0, 2.25 + 0.03],
            [5.0, 0.0, 2.70 + 0.08],
            [5.0, 0.0, 2.85 + 0.1],
            [5.0, 0.0, 3.00 + 0.12],
            [5.0, 0.0, 3.15 + 0.14],
            [5.0, 0.0, 3.30 + 0.16],
            [5.0, 0.0, 3.45 + 0.18],
            [5.0, 0.0, 3.60 + 0.2],
        ]

    class stairs_down:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        spawns = [
            [5.1, 0.0, 1.35],
            [5.1, 0.0, 1.80 + 0.08],
            [5.1, 0.0, 2.25 + 0.15],
            [5.1, 0.0, 2.70 + 0.25],
            [5.1, 0.0, 2.85 + 0.27],
            [5.1, 0.0, 3.00 + 0.30],
            [5.1, 0.0, 3.15 + 0.33],
            [5.1, 0.0, 3.30 + 0.36],
            [5.1, 0.0, 3.45 + 0.39],
            [5.1, 0.0, 3.60 + 0.42],
        ]

    class obstacle:
        levels = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        spawns = [
            [5, 0.0, 0.20 - 0.023 * 9],
            [5, 0.0, 0.20 - 0.023 * 8],
            [5, 0.0, 0.20 - 0.023 * 7],
            [5, 0.0, 0.20 - 0.023 * 6],
            [5, 0.0, 0.20 - 0.023 * 5],
            [5, 0.0, 0.20 - 0.023 * 4],
            [5, 0.0, 0.20 - 0.023 * 3],
            [5, 0.0, 0.20 - 0.023 * 2],
            [5, 0.0, 0.20 - 0.023 * 1],
            [5, 0.0, 0.20],
        ]