DetourNode.h

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//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// 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 DETOURNODE_H
#define DETOURNODE_H

#include "DetourNavMesh.h"

enum dtNodeFlags
{
        DT_NODE_OPEN = 0x01,
        DT_NODE_CLOSED = 0x02,
};

typedef unsigned short dtNodeIndex;
static const dtNodeIndex DT_NULL_IDX = (dtNodeIndex)~0;

struct dtNode
{
        float pos[3];                           
        float cost;                                     
        float total;                            
        unsigned int pidx : 30;         
        unsigned int flags : 2;         
        dtPolyRef id;                           
};


class dtNodePool
{
public:
        dtNodePool(int maxNodes, int hashSize);
        ~dtNodePool();
        inline void operator=(const dtNodePool&) {}
        void clear();
        dtNode* getNode(dtPolyRef id);
        dtNode* findNode(dtPolyRef id);

        inline unsigned int getNodeIdx(const dtNode* node) const
        {
                if (!node) return 0;
                return (unsigned int)(node - m_nodes)+1;
        }

        inline dtNode* getNodeAtIdx(unsigned int idx)
        {
                if (!idx) return 0;
                return &m_nodes[idx-1];
        }

        inline const dtNode* getNodeAtIdx(unsigned int idx) const
        {
                if (!idx) return 0;
                return &m_nodes[idx-1];
        }
        
        inline int getMemUsed() const
        {
                return sizeof(*this) +
                        sizeof(dtNode)*m_maxNodes +
                        sizeof(dtNodeIndex)*m_maxNodes +
                        sizeof(dtNodeIndex)*m_hashSize;
        }
        
        inline int getMaxNodes() const { return m_maxNodes; }
        
        inline int getHashSize() const { return m_hashSize; }
        inline dtNodeIndex getFirst(int bucket) const { return m_first[bucket]; }
        inline dtNodeIndex getNext(int i) const { return m_next[i]; }
        
private:
        
        dtNode* m_nodes;
        dtNodeIndex* m_first;
        dtNodeIndex* m_next;
        const int m_maxNodes;
        const int m_hashSize;
        int m_nodeCount;
};

class dtNodeQueue
{
public:
        dtNodeQueue(int n);
        ~dtNodeQueue();
        inline void operator=(dtNodeQueue&) {}
        
        inline void clear()
        {
                m_size = 0;
        }
        
        inline dtNode* top()
        {
                return m_heap[0];
        }
        
        inline dtNode* pop()
        {
                dtNode* result = m_heap[0];
                m_size--;
                trickleDown(0, m_heap[m_size]);
                return result;
        }
        
        inline void push(dtNode* node)
        {
                m_size++;
                bubbleUp(m_size-1, node);
        }
        
        inline void modify(dtNode* node)
        {
                for (int i = 0; i < m_size; ++i)
                {
                        if (m_heap[i] == node)
                        {
                                bubbleUp(i, node);
                                return;
                        }
                }
        }
        
        inline bool empty() const { return m_size == 0; }
        
        inline int getMemUsed() const
        {
                return sizeof(*this) +
                sizeof(dtNode*)*(m_capacity+1);
        }
        
        inline int getCapacity() const { return m_capacity; }
        
private:
        void bubbleUp(int i, dtNode* node);
        void trickleDown(int i, dtNode* node);
        
        dtNode** m_heap;
        const int m_capacity;
        int m_size;
};              


#endif // DETOURNODE_H