/*************************************************************************/
/*  navigation_agent_2d.h                                                */
/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
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#ifndef NAVIGATION_AGENT_2D_H
#define NAVIGATION_AGENT_2D_H

#include "scene/main/node.h"

class Node2D;

class NavigationAgent2D : public Node {
	GDCLASS(NavigationAgent2D, Node);

	Node2D *agent_parent = nullptr;

	RID agent;

	uint32_t navigable_layers = 1;

	real_t target_desired_distance = 1.0;
	real_t radius;
	real_t neighbor_dist;
	int max_neighbors;
	real_t time_horizon;
	real_t max_speed;

	real_t path_max_distance = 3.0;

	Vector2 target_location;
	Vector<Vector2> navigation_path;
	int nav_path_index;
	bool velocity_submitted = false;
	Vector2 prev_safe_velocity;
	/// The submitted target velocity
	Vector2 target_velocity;
	bool target_reached = false;
	bool navigation_finished = true;
	// No initialized on purpose
	uint32_t update_frame_id;

protected:
	static void _bind_methods();
	void _notification(int p_what);

public:
	NavigationAgent2D();
	virtual ~NavigationAgent2D();

	RID get_rid() const {
		return agent;
	}

	void set_navigable_layers(uint32_t p_layers);
	uint32_t get_navigable_layers() const;

	void set_target_desired_distance(real_t p_dd);
	real_t get_target_desired_distance() const {
		return target_desired_distance;
	}

	void set_radius(real_t p_radius);
	real_t get_radius() const {
		return radius;
	}

	void set_neighbor_dist(real_t p_dist);
	real_t get_neighbor_dist() const {
		return neighbor_dist;
	}

	void set_max_neighbors(int p_count);
	int get_max_neighbors() const {
		return max_neighbors;
	}

	void set_time_horizon(real_t p_time);
	real_t get_time_horizon() const {
		return time_horizon;
	}

	void set_max_speed(real_t p_max_speed);
	real_t get_max_speed() const {
		return max_speed;
	}

	void set_path_max_distance(real_t p_pmd);
	real_t get_path_max_distance();

	void set_target_location(Vector2 p_location);
	Vector2 get_target_location() const;

	Vector2 get_next_location();

	Vector<Vector2> get_nav_path() const {
		return navigation_path;
	}

	int get_nav_path_index() const {
		return nav_path_index;
	}

	real_t distance_to_target() const;
	bool is_target_reached() const;
	bool is_target_reachable();
	bool is_navigation_finished();
	Vector2 get_final_location();

	void set_velocity(Vector2 p_velocity);
	void _avoidance_done(Vector3 p_new_velocity);

	TypedArray<String> get_configuration_warnings() const override;

private:
	void update_navigation();
	void _check_distance_to_target();
};

#endif