/*************************************************************************/
/*  a_star.h                                                             */
/*************************************************************************/
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/* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
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#ifndef ASTAR_H
#define ASTAR_H

#include "core/reference.h"
#include "core/self_list.h"

/**
	A* pathfinding algorithm

	@author Juan Linietsky <reduzio@gmail.com>
*/

class AStar : public Reference {

	GDCLASS(AStar, Reference)

	uint64_t pass;

	struct Point {

		int id;
		Vector3 pos;
		real_t weight_scale;
		bool enabled;

		Set<Point *> neighbours;
		Set<Point *> unlinked_neighbours;

		// Used for pathfinding
		Point *prev_point;
		real_t g_score;
		real_t f_score;
		uint64_t open_pass;
		uint64_t closed_pass;
	};

	Map<int, Point *> points;

	struct SortPoints {
		_FORCE_INLINE_ bool operator()(const Point *A, const Point *B) const { // Returns true when the Point A is worse than Point B
			if (A->f_score > B->f_score)
				return true;
			else if (A->f_score < B->f_score)
				return false;
			else
				return A->g_score < B->g_score; // If the f_costs are the same then prioritize the points that are further away from the start
		}
	};

	struct Segment {
		union {
			struct {
				int32_t from;
				int32_t to;
			};
			uint64_t key;
		};

		Point *from_point;
		Point *to_point;

		bool operator<(const Segment &p_s) const { return key < p_s.key; }
		Segment() { key = 0; }
		Segment(int p_from, int p_to) {
			if (p_from > p_to) {
				SWAP(p_from, p_to);
			}

			from = p_from;
			to = p_to;
		}
	};

	Set<Segment> segments;

	bool _solve(Point *begin_point, Point *end_point);

protected:
	static void _bind_methods();

	virtual float _estimate_cost(int p_from_id, int p_to_id);
	virtual float _compute_cost(int p_from_id, int p_to_id);

public:
	int get_available_point_id() const;

	void add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale = 1);
	Vector3 get_point_position(int p_id) const;
	void set_point_position(int p_id, const Vector3 &p_pos);
	real_t get_point_weight_scale(int p_id) const;
	void set_point_weight_scale(int p_id, real_t p_weight_scale);
	void remove_point(int p_id);
	bool has_point(int p_id) const;
	PoolVector<int> get_point_connections(int p_id);
	Array get_points();

	void set_point_disabled(int p_id, bool p_disabled = true);
	bool is_point_disabled(int p_id) const;

	void connect_points(int p_id, int p_with_id, bool bidirectional = true);
	void disconnect_points(int p_id, int p_with_id);
	bool are_points_connected(int p_id, int p_with_id) const;

	void clear();

	int get_closest_point(const Vector3 &p_point) const;
	Vector3 get_closest_position_in_segment(const Vector3 &p_point) const;

	PoolVector<Vector3> get_point_path(int p_from_id, int p_to_id);
	PoolVector<int> get_id_path(int p_from_id, int p_to_id);

	AStar();
	~AStar();
};

#endif // ASTAR_H