/*
    * Copyright (C) 2013 AMIS research group, Faculty of Mathematics and Physics, Charles University in Prague, Czech Republic
    *
    * 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 3 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, see <http://www.gnu.org/licenses/>.
   */
  package cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh;
  
  import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
  import java.util.ArrayList;
  import java.util.List;
  
  /**
   * class used in algorithm A* in pathfinding in NavMesh
   * @author Jakub
   */
  public class AStarNode {
      private INavMeshAtom atom;
      private AStarNode from;
      private List<AStarNode> followers;
      private double distanceFromStart;
      private double estimatedDistanceToTarget;
      private double estimatedTotalDistance;
      
      public AStarNode(AStarNode from, INavMeshAtom atom, NavMesh mesh, INavMeshAtom start, INavMeshAtom target) {
          
          this.from = from;
          this.atom = atom;
          followers = new ArrayList<AStarNode>();
          
          // count distance from start
          if(from == null) {
              distanceFromStart = 0;
          }
          else {
              distanceFromStart = from.getDistanceFromStart() + mesh.getDistance(from.atom, atom);
          }
          
          // count distance to end
          estimatedDistanceToTarget = mesh.getDistance(atom, target);
          
          // count total distance
          estimatedTotalDistance = distanceFromStart + estimatedDistanceToTarget;   
      }
      
      public double getDistanceFromStart() {
          return distanceFromStart;
      }
      public double getEstimatedDistanceToTarget() {
          return estimatedDistanceToTarget;
      }
      public double getEstimatedTotalDistance() {
          return estimatedTotalDistance;
      }
      public INavMeshAtom getAtom() {
          return atom;
      }
      public AStarNode getFrom() {
          return from;
      } 
      public List<AStarNode> getFollowers() {
          return followers;
      }
  }