/*
    * 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 cz.cuni.amis.pogamut.base3d.worldview.object.Location;
  import cz.cuni.amis.pogamut.unreal.communication.messages.UnrealId;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPointNeighbourLink;
  import java.util.ArrayList;
  import java.util.List;
  import java.util.Map;
  import math.geom3d.Point3D;
  
  /**
   * CLass representing a navpoint which is a part of an off mesh connection in navMesh
   * Contains mainly the real navpoint and then some more information , like polygon and connections to others
   * @author Jakub Tomek
   */
  public class OffMeshPoint implements ILocated, INavMeshAtom, java.io.Serializable {
      
      private UnrealId navpointId = null;
      private int pId = -1;
      private ArrayList<OffMeshEdge> outgoingEdges = new ArrayList<OffMeshEdge>();
      private ArrayList<OffMeshEdge> incomingEdges = new ArrayList<OffMeshEdge>();
      private Location location;
     
      public OffMeshPoint(NavPoint navpoint, int pId) {
          this.navpointId = navpoint.getId();
          this.pId = pId;
          this.location = navpoint.getLocation();
      }
  
      public UnrealId getNavPointId() {
          return navpointId;
      }
  
      public int getPId() {
          return pId;
      } 
  
      public ArrayList<OffMeshEdge> getOutgoingEdges() {
          return outgoingEdges;
      } 
  
      public ArrayList<OffMeshEdge> getIncomingEdges() {
          return incomingEdges;
      }
  
      @Override
      public Location getLocation() {
          return location;
      }
  
       /**
       * Gets a list of all neighbors of this atom in navmesh. That includes both polygons and offmesh points.
       * @param mesh
       * @return 
       */
      @Override
      public List<INavMeshAtom> getNeighbours(NavMesh mesh) {      
          List<INavMeshAtom> neighbours = new ArrayList<INavMeshAtom>();
          
          //CHANGE: pId = 0 is valid polygon!!!
          if(pId >= 0) neighbours.add(new NavMeshPolygon(pId));
          
          for(OffMeshEdge oe : outgoingEdges) {
              neighbours.add(oe.getTo());
          }
          
          return neighbours;
      }
      
      /**
       * Compares atoms if they are the same (same class, same polygon/point)
       * @param atom
       * @return 
       */
      @Override
      public boolean equals(INavMeshAtom atom) {
          if(atom.getClass() == OffMeshPoint.class) {
              OffMeshPoint op = (OffMeshPoint) atom;
              return (op.navpointId.getStringId().equals(this.navpointId.getStringId()));
          }
          else return false;
     }
     
 }