package queries

import "http://www.example.com/crossingScenario"
import "http://www.eclipse.org/emf/2002/Ecore"

//////Minimal Failing Example
//@Constraint(severity = "error", key = {l}, message = "this defines the placedOn relation")
//pattern patterThatOnlyWorksWithInt(l : Lane) {
//	Lane.referenceCoord(l, w);
//	check(w <= 0-10.0);
//}

//////////////
//CrossingScenario
/////////////

/* 
//TODO Hard-code xSize?
//TODO Hard-code ySize?

//TODO Hard-code maxTime?
@Constraint(severity="error", key={l}, message="3 CrossingScenari")
pattern define_cs_maxTime(cs:CrossingScenario) {
	CrossingScenario.maxTime(cs, mt);
	check(mt != 60.0);
}
*/

///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//Lane
///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
/*

////<<<<OLD>>>>
////Width: Different Lanes
//@Constraint(severity="error", key={l}, message="1 Lane")
//pattern define_numWidth_small(l : Lane) {
//	Lane.width(l, Size::S_Small);
//	Lane.numWidth(l, nw);
//	check(nw <= 5.0);
//} or {
//	Lane.width(l, Size::S_Small);
//	Lane.numWidth(l, nw);
//	check(nw >= 10.0);
//}
//
//@Constraint(severity="error", key={l}, message="2 Lane")
//pattern define_numWidth_medium(l : Lane) { 
//	Lane.width(l, ::S_Med);
//	Lane.numWidth(l, nw);
//	check(nw <= 10.0);
//}
//or {
//	Lane.width(l, Size::S_Med);
//	Lane.numWidth(l, nw);
//	check(nw >= 15.0);
//}
//
//@Constraint(severity="error", key={l}, message="3 Lane")
//pattern define_numWidth_large(l : Lane) { 
//	Lane.width(l, Size::S_Large);
//	Lane.numWidth(l, nw);
//	check(nw <= 15.0);
//}
//or {
//	Lane.width(l, Size::S_Large);
//	Lane.numWidth(l, nw);
//	check(nw >= 20.0);
//}

//<<<<NEW>>>>
//Width is FIXED: always 5

/////////////Prevlane

////<<<<OLD>>>>
////Generating 2 linkedlists (1 for horizontal, 1 for vertical lanes)
//////////head lanes do not have prevLane
//@Constraint(severity="error", key={l}, message="6.1 Lane")
//pattern define_prevLane_headVertLaneDoesNotHavePrevLane(cs:CrossingScenario, l:Lane_Vertical) {
//	CrossingScenario.vertical_head(cs, l);
//	Lane.prevLane(l, _);
//}
//
//@Constraint(severity="error", key={l}, message="6.2 Lane")
//pattern define_prevLane_headHoriLaneDoesNotHavePrevLane(cs:CrossingScenario, l:Lane_Horizontal) {
//	CrossingScenario.horizontal_head(cs, l);
//	Lane.prevLane(l, _);
//}
//
//////////Non-head lanes must have prevLane
//@Constraint(severity="error", key={l}, message="6.1 Lane")
//pattern define_prevLane_nonheadVertLaneHasPrevLane(l:Lane_Vertical) {
//	neg find find_headVertLane(l);
//	neg find find_laneWithPrevLane(l);
//}
//
//@Constraint(severity="error", key={l}, message="6.1 Lane")
//pattern define_prevLane_nonheadHoriLaneHasPrevLane(l:Lane_Horizontal) { 
//	neg find find_headHoriLane(l);
//	neg find find_laneWithPrevLane(l);
//}
//
//private pattern find_headVertLane(l:Lane_Vertical) {
//	CrossingScenario.vertical_head(_, l);
//}
//private pattern find_headHoriLane(l:Lane_Horizontal) {
//	CrossingScenario.horizontal_head(_, l);
//}
//private pattern find_laneWithPrevLane(l:Lane) {
//	Lane.prevLane(l, _);
//}
//
///////////Lane cannot be its own recursive prevLane
//@Constraint(severity="error", key={l}, message="6.1 Lane")
//pattern define_prevLane_lanecannotBeItsOwnPrevLane(l:Lane) {
//	Lane.prevLane(l, l);
//}
//
//@Constraint(severity="error", key={l}, message="6.2 Lane")
//pattern define_prevLane_lanecannotBeItsOwnRecursivePrevLane(l:Lane) {
//	find find_prevLane+(l, l);
//}
//private pattern find_prevLane(l1:Lane, l2:Lane) {
//	Lane.prevLane(l1, l2);
//}
//
////////Lane cannot be prevLane of >1 other lane
//@Constraint(severity="error", key={l1, l2}, message="7 Lane")
//pattern define_prevLane_lanecannotbeprevLaneof2lanes(l1:Lane, l2:Lane) {
//	Lane.prevLane(l1, l);
//	Lane.prevLane(l2, l);
//	l1 != l2;
//}
//
////////consecutive lanes must have same orientation
//@Constraint(severity="error", key={l1, l2}, message="8 Lane")
//pattern define_prevLane_consecutiveLanesMustHaveSameOrientation1(l1:Lane_Horizontal, l2:Lane_Vertical) {
//	Lane.prevLane(l1, l2);
//}
//
//@Constraint(severity="error", key={l1, l2}, message="8 Lane")
//pattern define_prevLane_consecutiveLanesMustHaveSameOrientation2(l1:Lane_Vertical, l2:Lane_Horizontal) {
//	Lane.prevLane(l1, l2);
//}
//
///////////////ReferenceCoord
//
///////refCoord of head lanes must be 0
//@Constraint(severity="error", key={l}, message="6.2 Lane")
//pattern define_prevLane_headHoriLaneHas0RefCoord(cs:CrossingScenario, l:Lane_Horizontal) {
//	CrossingScenario.horizontal_head(cs, l);
//	Lane.referenceCoord(l, rc);
//	check(rc != 0.0);
//}
//
//@Constraint(severity="error", key={l}, message="6.2 Lane")
//pattern define_prevLane_headVertLaneHas0RefCoord(cs:CrossingScenario, l:Lane_Vertical) {
//	CrossingScenario.vertical_head(cs, l);
//	Lane.referenceCoord(l, rc);
//	check(rc != 0.0);
//}
//
////////refCoord of a lane is prevLane.rc + curLane.numWidth
//
//@Constraint(severity="error", key={l}, message="6.2 Lane")
//pattern define_referenceCoord_laneWithPrevHasCorrectRefCoord(l:Lane) {
//	Lane.prevLane(l, prev);
//	Lane.referenceCoord(l, rcCur);
//	
//	Lane.numWidth(prev, wPrev);
//	Lane.referenceCoord(prev, rcPrev);
//	check(rcCur != rcPrev + wPrev);
//}

//<<<<NEW>>>>
//Lanes are all predefind
*/

///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//Lane+Actor
///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

/////////Actor (a) on vertical lane (l) must have a.xPos=[l.rc, l.rc + l.nw]
@Constraint(severity = "error", key = {a}, message = "this defines the placedOn relation for vertical lanes")
pattern define_placedOn_actorOnVerticalLane(a : Actor, vl:Lane_Vertical) {
    Actor.placedOn(a, vl);
    Actor.xPos(a, x);
    Lane.referenceCoord(vl, r);
    check(x <= r);
} or {
    Actor.placedOn(a, vl);
    Actor.xPos(a, x);
    Lane.referenceCoord(vl, r);
//     //<<<<OLD>>>>
//    Lane.numWidth(vl, w);
//    check(x >= (r + w));
    
    //<<<<NEW>>>>: lanes all have width=5
    check(x >= (r + 5.0));
}

@Constraint(severity = "error", key = {a}, message = "this defines the placedOn relation for vertical lanes")
pattern define_placedOn_actorOnHorizLane(a : Actor, hl:Lane_Horizontal) {
    Actor.placedOn(a, hl);
    Actor.yPos(a, y);
    Lane.referenceCoord(hl, r);
    check(y <= r);
} or {
    Actor.placedOn(a, hl);
    Actor.yPos(a, y);
    Lane.referenceCoord(hl, r);
//    //<<OLD>>
//    Lane.numWidth(hl, w);
//    check(y >= (r + w));
    
    //<<NEW>>
    check(y >= (r + 5.0));
    
}

///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//Actor
///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

//Xpos and Ypos Bounds

private pattern helper_getXAndBounds(cs:CrossingScenario, a:Actor,
	xMax:java Double, xP:java Double) {
	CrossingScenario.actors(cs, a);
	CrossingScenario.xSize(cs, xMax);
	Actor.xPos(a, xP);
}

private pattern helper_getYAndBounds(cs:CrossingScenario, a:Actor,
	yMax:java Double, yP:java Double) {
	CrossingScenario.actors(cs, a);
	CrossingScenario.ySize(cs, yMax);
	Actor.yPos(a, yP);
}

@Constraint(severity="error", key={cs}, message="x")
pattern define_actor_maxXp(cs:CrossingScenario, a:Actor) {
	Actor.placedOn(a, hl);
	Lane_Horizontal(hl);
	find helper_getXAndBounds(cs, a, xMax, xP); 
	check(xP >= xMax);}

@Constraint(severity="error", key={cs}, message="x")
pattern define_actor_minXp(cs:CrossingScenario, a:Actor) {
	Actor.placedOn(a, hl);
	Lane_Horizontal(hl);
	find helper_getXAndBounds(cs, a, xMax, xP); 
	check(xP <= 0-xMax);}
	
@Constraint(severity="error", key={cs}, message="x")
pattern define_actor_maxYp(cs:CrossingScenario, a:Actor) {
	Actor.placedOn(a, vl);
	Lane_Vertical(vl);
	find helper_getYAndBounds(cs, a, yMax, yP); 
	check(yP >= yMax);}

@Constraint(severity="error", key={cs}, message="x")
pattern define_actor_minYp(cs:CrossingScenario, a:Actor) {
	Actor.placedOn(a, vl);
	Lane_Vertical(vl);
	find helper_getYAndBounds(cs, a, yMax, yP); 
	check(yP <= 0-yMax);}
	
//Xspeed and Yspeed bounds
	
//TODO THIS IS HARD_CODED
//@Constraint(severity="error", key={a}, message="x")
//pattern define_actor_maxXs(a:Actor) {
//	Actor.xSpeed(a, xS);
//	check(xS >= 100.0);}
//	
//@Constraint(severity="error", key={a}, message="x")
//pattern define_actor_minXs(a:Actor) {
//	Actor.xSpeed(a, xS);
//	check(xS <= 0-100.0);}
//	
////TODO THIS IS HARD_CODED
//@Constraint(severity="error", key={a}, message="x")
//pattern define_actor_maxYs(a:Actor) {
//	Actor.ySpeed(a, yS);
//	check(yS >= 100.0);}
//
//@Constraint(severity="error", key={a}, message="x")
//pattern define_actor_minYs(a:Actor) {
//	Actor.ySpeed(a, yS);
//	check(yS <= 0-100.0);}
//END Hard-coded stuff

////TODO May be required
/////////xPos of every actor mmust be within bounds defined in CS
//@Constraint(severity="error", key={l}, message="1 Actor")
//pattern define_actor_xPosWithinCSbounds(cs:CrossingScenario, a:Actor) {
//	
//}
//
////TODO May be required
/////////yPos of every actor mmust be within bounds defined in CS
//@Constraint(severity="error", key={l}, message="2 Actor")
//pattern define_actor_yPosWithinCSbounds(cs:CrossingScenario, a:Actor) {
//	
//}


///////pedestrian-width (3) //TODO Derived?
@Constraint(severity="error", key={p}, message="3 Actor")
pattern define_actor_pedestrianWidth(p:Pedestrian) {
    Pedestrian.width(p, w);
    check(w != 1.0);
}

/////////pedestrian-width (4) //TODO Derived?
@Constraint(severity="error", key={p}, message="4 Actor")
pattern define_actor_pedestrianLength(p:Pedestrian) {
    Pedestrian.length(p, l);
    check(l != 1.0);
}

/////////actor-width (5) //TODO Derived?
@Constraint(severity="error", key={v}, message="5 Actor")
pattern define_actor_vehicleWidth(v:Vehicle) {
	Vehicle.placedOn(v, lane);
	Lane_Vertical(lane);
    Vehicle.width(v, w);
    check(w != 1.0);
} or {
	Vehicle.placedOn(v, lane);
	Lane_Horizontal(lane);
    Vehicle.width(v, w);
    check(w != 3.0);
}

/////////actor-width (6) //TODO Derived?
@Constraint(severity="error", key={v}, message="6 Actor")
pattern define_actor_vehicleLength(v:Vehicle) {
	Vehicle.placedOn(v, lane);
	Lane_Vertical(lane);
    Vehicle.length(v, l);
    check(l != 3.0);
} or {
	Vehicle.placedOn(v, lane);
	Lane_Horizontal(lane);
    Vehicle.length(v, l);
    check(l != 1.0);
}

/////////xSpeed of actor on verticalLane is 0
@Constraint(severity="error", key={a}, message="7 Actor")
pattern define_actor_actorOnVertLaneHasxSpeed0(a:Actor, vl:Lane_Vertical) {
	Actor.placedOn(a, vl);
    Actor.xSpeed(a, xSpeed);
    check(xSpeed != 0);
}

/////////ySpeed of actor on horizontalLane is 0
@Constraint(severity="error", key={a}, message="8 Actor")
pattern define_actor_actorOnHoriLaneHasySpeed0(a:Actor, hl:Lane_Horizontal) {
	Actor.placedOn(a, hl);
    Actor.ySpeed(a, ySpeed);
    check(ySpeed != 0);
}

//<<NEW>> Derived Features
private pattern helper_getCoords(a1:Actor, 
	a2: Actor, x1:java Double, x2:java Double, y1:java Double, y2:java Double) {
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
}

@QueryBasedFeature 
pattern dist_near(a1: Actor, a2: Actor) {
	find helper_actorsAreNear(a1, a2);
	Actor.dist_near(a1, a2);
}

private pattern helper_actorsAreNear(a1: Actor, a2: Actor) {
	find helper_getCoords(a1, a2, x1, x2, y1, y2);
	//check(dx^2 + dy^2 < 10^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 10*10);	
}

@QueryBasedFeature
pattern dist_med(a1: Actor, a2: Actor) {
	find helper_actorsAreMed(a1, a2);
	Actor.dist_med(a1, a2);
}

private pattern helper_actorsAreMed(a1: Actor, a2: Actor) {
	find helper_getCoords(a1, a2, x1, x2, y1, y2);
	//check(10^2 < dx^2 + dy^2 < 15^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 10*10);
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);
}

@QueryBasedFeature
pattern dist_far(a1: Actor, a2: Actor) {
	find helper_actorsAreFar(a1, a2);
	Actor.dist_far(a1, a2);
}

private pattern helper_actorsAreFar(a1: Actor, a2: Actor) {
	find helper_getCoords(a1, a2, x1, x2, y1, y2);
	//check(dx^2 + dy^2 > 20^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 20*20);	
}

//<<END NEW>> 

///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//Relation
///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

@Constraint(severity="error", key={a1, a2}, message="1 Relation")
pattern define_relation_noSelfRelation(a1:Actor, a2:Actor) {
	Relation.source(r, a1);
	Relation.target(r, a2);
	a1 == a2;
}

//TODO do above but transitively?/
//////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//CollisionExists
///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
	
//@Constraint(severity="error", key={c}, message="x")
//pattern collisionExists_timeWithinBound(ss:CrossingScenario, c:CollisionExists) {
//	CrossingScenario.relations(ss, c);
//	CrossingScenario.maxTime(ss, maxTime);
//	CollisionExists.collisionTime(c, cTime);
//	check(cTime >= maxTime);}
//
//@Constraint(severity="error", key={c}, message="x")
//pattern collisionExists_timeNotNegative(c:CollisionExists) {
//	CollisionExists. collisionTime(c, cTime);
//	check(cTime <= 0.0);}
//
//private pattern helper_getCollExistsTime(a1:Actor, a2: Actor, cTime:java Double) {
//	CollisionExists.source(c, a1);
//	CollisionExists.target(c, a2);
//	CollisionExists. collisionTime(c, cTime);
//}
//
//private pattern helper_getYCoords(a:Actor, l:java Double, 
//	yPos:java Double, ySpeed:java Double) {
//
//	Actor.length(a, l);
//	Actor.yPos(a, yPos);
//	Actor.ySpeed(a, ySpeed);
//}
//
//private pattern helper_getAllYCoords(a1:Actor, a2: Actor, 
//	l1:java Double, l2:java Double, yPos1:java Double, yPos2:java Double,
//	ySpeed1:java Double, ySpeed2:java Double) {
//
//	find helper_getYCoords(a1, l1, yPos1, ySpeed1);
//	find helper_getYCoords(a2, l2, yPos2, ySpeed2);
//}
//
//private pattern helper_getXCoords(a:Actor, l:java Double, 
//	xPos:java Double, xSpeed:java Double) {
//
//	Actor.length(a, l);
//	Actor.xPos(a, xPos);
//	Actor.xSpeed(a, xSpeed);
//}
//
//private pattern helper_getAllXCoords(a1:Actor, a2: Actor, 
//	w1:java Double, w2:java Double, xPos1:java Double, xPos2:java Double,
//	xSpeed1:java Double, xSpeed2:java Double) {
//
//	find helper_getYCoords(a1, w1, xPos1, xSpeed1);
//	find helper_getYCoords(a2, w2, xPos2, xSpeed2);
//}
//
//@Constraint(severity="error", key={a1}, message="x")
//pattern collisionExists_defineCollision_y1(a1:Actor, a2:Actor) {
//
//	find helper_getCollExistsTime(a1, a2, cTime);
//	find helper_getAllYCoords(a1, a2, l1, l2, yPos1, yPos2, ySpeed1, ySpeed2);
//	
//	//check(y_1_bottom > y_2_top
//	check((yPos1 + (ySpeed1 * cTime)) - (l1/2) > (yPos2 + (ySpeed2 * cTime)) + (l2/2));	
//}
//
//@Constraint(severity="error", key={a1}, message="x")
//pattern collisionExists_defineCollision_y2(a1:Actor, a2:Actor) {
//	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
//
//	find helper_getCollExistsTime(a1, a2, cTime);
//	find helper_getAllYCoords(a1, a2, l1, l2, yPos1, yPos2, ySpeed1, ySpeed2);
//	
//	//check(y_1_top < y_2_bottom)
//	check((yPos1 + (ySpeed1 * cTime)) + (l1/2) < (yPos2 + (ySpeed2 * cTime)) - (l2/2));	
//}
//
//@Constraint(severity="error", key={a1}, message="x")
//pattern collisionExists_defineCollision_x1(a1:Actor, a2:Actor) {
//
//	find helper_getCollExistsTime(a1, a2, cTime);
//	find helper_getAllYCoords(a1, a2, w1, w2, xPos1, xPos2, xSpeed1, xSpeed2);
//	
//	//check(x_1_left > x_2_right)
//	check((xPos1 + (xSpeed1 * cTime)) - (w1/2) > (xPos2 + (xSpeed2 * cTime)) + (w2/2));	
//}
//
//@Constraint(severity="error", key={a1}, message="x")
//pattern collisionExists_defineCollision_x2(a1:Actor, a2:Actor) {
//	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
//
//	find helper_getCollExistsTime(a1, a2, cTime);
//	find helper_getAllYCoords(a1, a2, w1, w2, xPos1, xPos2, xSpeed1, xSpeed2);
//	
//	//check(x_1_right < x_2_left)
//	check((xPos1 + (xSpeed1 * cTime)) + (w1/2) < (xPos2 + (xSpeed2 * cTime)) - (w2/2));	
//}


///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//VisionBlocked
///////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////

//<<QUALTATIF ABSTRACTION>>

@Constraint(severity="error", key={a1, a2}, message="x")
pattern visionBlocked_qualAbstr(a1:Actor, a2:Actor) {
	VisionBlocked.source(vb, a1);
	VisionBlocked.target(vb, a2);
	Actor.placedOn(a1, l);
	Actor.placedOn(a2, l);
} or {
	VisionBlocked.source(vb, a1);
	VisionBlocked.blockedBy(vb, a2);
	Actor.placedOn(a1, l);
	Actor.placedOn(a2, l);
} or {
	VisionBlocked.blockedBy(vb, a1);
	VisionBlocked.target(vb, a2);
	Actor.placedOn(a1, l);
	Actor.placedOn(a2, l);
}
//<<END QUALITATIF ABSTRACTION>>

@Constraint(severity="error", key={a1, a2}, message="x")
pattern visionBlocked_invalidBlocker(a1:Actor, a2:Actor) {
	VisionBlocked.source(vb, a1);
	VisionBlocked.target(vb, a2);
	VisionBlocked.blockedBy(vb, a2);
} or {	
	VisionBlocked.source(vb, a1);
	VisionBlocked.target(vb, a2);
	VisionBlocked.blockedBy(vb, a1);
}

@Constraint(severity="error", key={a1, vb}, message="x")
pattern visionBlocked_ites_notOnSameVertLine(a1:Actor, a2:Actor, vb:VisionBlocked) {
	//REQUIRED to avoid division by 0 in next 2 queries
	VisionBlocked.source(vb, a1);
	VisionBlocked.target(vb, a2);
	
	Actor.xPos(a1, x1);
	Actor.xPos(a2, x2);
	
	//check(slope of a1-to-BlockerTop < slope of a1-to-a2)
	check(x1 == x2);	
}

//OPTIONS 1: everything is from a single check expression containing ITEs
//Currently unhandled bygenerator
@Constraint(severity="error", key={a1, vb}, message="x")
pattern visionBlocked_ites_top(a1:Actor, a2:Actor, vb:VisionBlocked) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	VisionBlocked.source(vb, a1);
	VisionBlocked.target(vb, a2);
	VisionBlocked.blockedBy(vb, aBlocker);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	Actor.xPos(aBlocker, xBlocker);
	Actor.yPos(aBlocker, yBlocker);
	Actor.length(aBlocker, lenBlocker);
	Actor.width(aBlocker, widBlocker);
	
	//check(slope of a1-to-BlockerTop < slope of a1-to-a2)
	check(
		( yBlocker - y1 + (if(xBlocker > x1){lenBlocker/2}else{0-lenBlocker/2})) / 
		( xBlocker - x1 + (if(yBlocker > y1){0-widBlocker/2}else{widBlocker/2}))
		< ((y1-y2)/(x1-x2)));	
}

@Constraint(severity="error", key={a1, vb}, message="x")
pattern visionBlocked_ites_bottom(a1:Actor, a2:Actor, vb:VisionBlocked) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	VisionBlocked.source(vb, a1);
	VisionBlocked.target(vb, a2);
	VisionBlocked.blockedBy(vb, aBlocker);
	
	Actor.xPos(a1, x1);
	Actor.yPos(a1, y1);
	Actor.xPos(a2, x2);
	Actor.yPos(a2, y2);
	Actor.xPos(aBlocker, xBlocker);
	Actor.yPos(aBlocker, yBlocker);
	Actor.length(aBlocker, lenBlocker);
	Actor.width(aBlocker, widBlocker);
	
	//check(slope of a1-to-BlockerBottom > slope of a1-to-a2)
	check(
		( yBlocker - y1 + (if(xBlocker > x1){0-lenBlocker/2}else{lenBlocker/2})) / 
		( xBlocker - x1 + (if(yBlocker > y1){widBlocker/2}else{0-widBlocker/2}))
		> ((y1-y2)/(x1-x2)));	
}

/////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//SeparationDistance
/////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
/*
private pattern helper_getSeperateActorsCoords(a1:Actor, 
	a2: Actor, sd:SeparationDistance, 
	x1:java Double, x2:java Double, y1:java Double, y2:java Double) {
	SeperationDistance.source(sd, a1);
	SeparationDistance.target(sd, a2);
	
	find helper_getCoords(a1, a2, x1, x2, y1, y2);
}

@Constraint(severity="error", key={a1, sd}, message="x")
pattern SeparationDistance_near_lb(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	find helper_getSeparateActorsCoords(a1, a2, sd, x1, x2, y1, y2);
	SeparationDistance.distance(sd, Distance::D_Near);

	//check(dx^2 + dy^2 < 5^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 5*5);	
}

@Constraint(severity="error", key={a1, sd}, message="x")
pattern SeparationDistance_near_ub(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	find helper_getSeparateActorsCoords(a1, a2, sd, x1, x2, y1, y2);
	SeparationDistance.distance(sd, Distance::D_Near);

	//check(dx^2 + dy^2 > 10^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 10*10);	
}

@Constraint(severity="error", key={a1, sd}, message="x")
pattern SeparationDistance_medium_lb(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	find helper_getSeparateActorsCoords(a1, a2, sd, x1, x2, y1, y2);
	SeparationDistance.distance(sd, Distance::D_Med);

	//check(dx^2 + dy^2 < 10^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 10*10);	
}

@Constraint(severity="error", key={a1, sd}, message="x")
pattern SeparationDistance_medium_ub(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	find helper_getSeparateActorsCoords(a1, a2, sd, x1, x2, y1, y2);
	SeparationDistance.distance(sd, Distance::D_Med);

	//check(dx^2 + dy^2 > 1^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) > 15*15);	
}

@Constraint(severity="error", key={a1, sd}, message="x")
pattern SeparationDistance_far_lb(a1:Actor, a2:Actor, sd:SeparationDistance) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	find helper_getSeparateActorsCoords(a1, a2, sd, x1, x2, y1, y2);
	SeparationDistance.distance(sd, Distance::D_Far);

	//check(dx^2 + dy^2 < 15^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);	
}
*/

/////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
//CollisionDoesNotExist
/////*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*-_-*//////
/*
//TODO
@Constraint(severity="error", key={a1, cdne}, message="x")
pattern collisionDoesNotExist(a1:Actor, a2:Actor, ss:CrossingScenario, cdne:CollisionDoesNotExist) {
	//This second one is required because we do not want to enforce both a1->c->a2 and a2->c->a1
	
	CrossingScenario.actors(ss, a1);
	CrossingScenario.actors(ss, a2);
	Actor.relations(a1, cdne);
	CollisionDoesNotExist.target(cdne, a2);
	CrossingScenario.maxTime(ss, maxTime);
	
	Actor.width(a1, w1);
	Actor.length(a1, l1);
	Actor.xPos(a1, xPos1);
	Actor.yPos(a1, yPos1);
	Actor.xSpeed(a1, xSpeed1);
	Actor.ySpeed(a1, ySpeed1);
	
	Actor.width(a2, w2);
	Actor.length(a2, l2);
	Actor.xPos(a2, xPos2);
	Actor.yPos(a2, yPos2);
	Actor.xSpeed(a2, xSpeed2);
	Actor.ySpeed(a2, ySpeed2);
	//check(dx^2 + dy^2 < 15^2)
	check((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) < 15*15);	
}
*/