Pathfinder.h

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/*
Copyright (C) 2003-2007 The Pentagram team

This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
*/

#ifndef PATHFINDER_H
#define PATHFINDER_H

#include <vector>
#include <queue>
#include <list>
#include "Animation.h"

class Actor;
class Item;

struct PathfindingState
{
        sint32 x, y, z;
        Animation::Sequence lastanim;
        uint32 direction;
        bool flipped;
        bool firststep;
        bool combat;

        void load(Actor* actor);
        bool checkPoint(sint32 x_, sint32 y_, sint32 z_,int range);
        bool checkItem(Item* item, int xyRange, int zRange);
        bool checkHit(Actor* actor, Actor* target);
};

struct PathfindingAction
{
        Animation::Sequence action;
        uint32 direction;
        uint32 steps;
};

struct PathNode;

class PathNodeCmp {
public:
        bool operator()(PathNode* n1, PathNode* n2);
};

class Pathfinder
{
public:
        Pathfinder();
        ~Pathfinder();

        void init(Actor* actor, PathfindingState* state=0);
        void setTarget(sint32 x, sint32 y, sint32 z);
        void setTarget(Item* item, bool hit=false);

        bool canReach();

        bool pathfind(std::vector<PathfindingAction>& path);

#ifdef DEBUG
        static void ConCmd_visualDebug(const Console::ArgvType &argv);
        static ObjId visualdebug_actor;
#endif


protected:
        PathfindingState start;
        Actor* actor;
        sint32 targetx, targety, targetz;
        Item* targetitem;
        bool hitmode;
        sint32 expandtime;

        sint32 actor_xd,actor_yd,actor_zd;

        std::list<PathfindingState> visited;
        std::priority_queue<PathNode*,std::vector<PathNode*>,PathNodeCmp> nodes;

        std::list<PathNode*> nodelist;

        bool alreadyVisited(sint32 x, sint32 y, sint32 z);
        void newNode(PathNode* oldnode,PathfindingState& state,unsigned int steps);
        void expandNode(PathNode* node);
        unsigned int costHeuristic(PathNode* node);
        bool checkTarget(PathNode* node);
};

#endif

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