PolyVoxCore/include/PolyVoxCore/AStarPathfinder.h

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/*******************************************************************************
Copyright (c) 2005-2009 David Williams

This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.

Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:

    1. The origin of this software must not be misrepresented; you must not
    claim that you wrote the original software. If you use this software
    in a product, an acknowledgment in the product documentation would be
    appreciated but is not required.

    2. Altered source versions must be plainly marked as such, and must not be
    misrepresented as being the original software.

    3. This notice may not be removed or altered from any source
    distribution.
*******************************************************************************/

#ifndef __PolyVox_AStarPathfinder_H__
#define __PolyVox_AStarPathfinder_H__

#include "PolyVoxImpl/AStarPathfinderImpl.h"
#include "PolyVoxImpl/TypeDef.h"

#include "PolyVoxCore/Array.h"

#include <list>
#include <stdexcept> //For runtime_error

namespace PolyVox
{
    const float sqrt_1 = 1.0f;
    const float sqrt_2 = 1.4143f;
    const float sqrt_3 = 1.7321f;

    extern const POLYVOX_API Vector3DInt32 arrayPathfinderFaces[6];
    extern const POLYVOX_API Vector3DInt32 arrayPathfinderEdges[12];
    extern const POLYVOX_API Vector3DInt32 arrayPathfinderCorners[8];

    template< template<typename> class VolumeType, typename VoxelType>
    bool aStarDefaultVoxelValidator(const VolumeType<VoxelType>* volData, const Vector3DInt32& v3dPos);

    template< template<typename> class VolumeType, typename VoxelType>
    struct AStarPathfinderParams
    {
    public:
        AStarPathfinderParams
        (
            VolumeType<VoxelType>* volData,
            const Vector3DInt32& v3dStart,
            const Vector3DInt32& v3dEnd,
            std::list<Vector3DInt32>* listResult,
            float fHBias = 1.0,
            uint32_t uMaxNoOfNodes = 10000,
            Connectivity connectivity = TwentySixConnected,
            polyvox_function<bool (const VolumeType<VoxelType>*, const Vector3DInt32&)> funcIsVoxelValidForPath = &aStarDefaultVoxelValidator<VolumeType, VoxelType>,
            polyvox_function<void (float)> funcProgressCallback = 0
        )
            :volume(volData)
            ,start(v3dStart)
            ,end(v3dEnd)
            ,connectivity(connectivity)
            ,hBias(fHBias)
            ,result(listResult)
            ,maxNumberOfNodes(uMaxNoOfNodes)
            ,isVoxelValidForPath(funcIsVoxelValidForPath)
            ,progressCallback(funcProgressCallback)
        {
        }

        VolumeType<VoxelType>* volume;

        Vector3DInt32 start;
        
        Vector3DInt32 end;

        std::list<Vector3DInt32>* result;

        Connectivity connectivity;

        float hBias;

        uint32_t maxNumberOfNodes;

        polyvox_function<bool (const VolumeType<VoxelType>*, const Vector3DInt32&)> isVoxelValidForPath;

        polyvox_function<void (float)> progressCallback;
    };

    template< template<typename> class VolumeType, typename VoxelType>
    class AStarPathfinder
    {
    public:
        AStarPathfinder(const AStarPathfinderParams<VolumeType, VoxelType>& params);

        void execute();

    private:
        void processNeighbour(const Vector3DInt32& neighbourPos, float neighbourGVal);

        float SixConnectedCost(const Vector3DInt32& a, const Vector3DInt32& b);
        float EighteenConnectedCost(const Vector3DInt32& a, const Vector3DInt32& b);
        float TwentySixConnectedCost(const Vector3DInt32& a, const Vector3DInt32& b);
        float computeH(const Vector3DInt32& a, const Vector3DInt32& b);     

        //Node containers
        AllNodesContainer allNodes;
        OpenNodesContainer openNodes;
        ClosedNodesContainer closedNodes;

        //The current node
        AllNodesContainer::iterator current;
        
        float m_fProgress;

        AStarPathfinderParams<VolumeType, VoxelType> m_params;
    };
}

#include "PolyVoxCore/AStarPathfinder.inl"

#endif //__PolyVox_AStarPathfinder_H__