#ifndef ASTAR_H
#define ASTAR_H

#include "reference.h"
#include "self_list.h"

class AStar: public Reference {

	OBJ_TYPE(AStar,Reference)


	uint64_t pass;

	struct Point {

		SelfList<Point> list;

		int id;
		Vector3 pos;
		float weight_scale;
		uint64_t last_pass;

		Vector<Point*> neighbours;

		//used for pathfinding
		Point *prev_point;
		float distance;

		Point() : list(this) {}
	};

	Map<int,Point*> points;

	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();
public:

	int get_available_point_id() const;

	void add_point(int p_id,const Vector3& p_pos,float p_weight_scale=1);
	Vector3 get_point_pos(int p_id) const;
	float get_point_weight_scale(int p_id) const;
	void remove_point(int p_id);

	void connect_points(int p_id,int p_with_id);
	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_pos_in_segment(const Vector3& p_point) const;

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

	AStar();
	~AStar();
};

#endif // ASTAR_H