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PathFinder.h

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#ifndef __PathFinder_H__
#define __PathFinder_H__

// Includes
#include "HashTable.h"
#include "HashTableKey_Pointer.h"
#include "MemoryPool.h"
#include "PathFinderAgent.h"
#include "PathFinderCell.h"
#include "PriorityQueue.h"
#include "Array.h"

// Forward declares


// PathFinder
class PathFinder
   {
   public:
      PathFinder();

      bool FindPath(
         const PathFinderAgent* agent, 
         const PathFinderCell* start,  
         const PathFinderCell* end,    
         Array<const PathFinderCell*>& path, 
         int iterationSafetyLimit=80000 
         );       
      

   private:
      struct PathFinderNode
         {
         float costFromStart; 
         float estimatedCostToGoal; 
         float nodeScore; 
         PathFinderNode* parent; 
         const PathFinderCell* cell; 
         bool closed; 
         };

   private:
      void ClearLists();

      PathFinderNode*   GetNodeFromCell(const PathFinderCell* cell);

      void BuildPath(PathFinderNode* node,Array<const PathFinderCell*>& path);


      static bool PriorityCompareFunction(PathFinderNode* const &a, PathFinderNode* const &b);
   private:
      PriorityQueue<PathFinderNode*> openNodes_; // List of "open" nodes
      HashTable<HashTableKey_Pointer,PathFinderNode*> nodes_; // List of all nodes that this pathfinder uses
      MemoryPool<PathFinderNode> memoryPool_; // Memory pool used to speed up dynamic allocation
   
   };

#endif // __PathFinder_H__

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