#ifndef PATHFINDER_H
#define PATHFINDER_H

#include <vector>
#include <list>

const int kCost1=10; //直移一格消耗
const int kCost2=14; //斜移一格消耗

struct Point
{
    int x,y; //点坐标，这里为了方便按照C++的数组来计算，x代表横排，y代表竖列
    int F,G,H; //F=G+H
    Point *parent; //parent的坐标，这里没有用指针，从而简化代码
    Point(int _x,int _y):x(_x),y(_y),F(0),G(0),H(0),parent(nullptr)  //变量初始化
    {
    }
};


class Astar
{
public:
    void InitAstar(std::vector<std::vector<int>> &_maze);
    std::list<Point *> GetPath(Point &startPoint,Point &endPoint,bool isIgnoreCorner);

private:
    Point *findPath(Point &startPoint,Point &endPoint,bool isIgnoreCorner);
    std::vector<Point *> getSurroundPoints(const Point *point,bool isIgnoreCorner) const;
    bool isCanreach(const Point *point,const Point *target,bool isIgnoreCorner) const; //判断某点是否可以用于下一步判断
    Point *isInList(const std::list<Point *> &list,const Point *point) const; //判断开启/关闭列表中是否包含某点
    Point *getLeastFpoint(); //从开启列表中返回F值最小的节点
    //计算FGH值
    int calcG(Point *temp_start,Point *point);
    int calcH(Point *point,Point *end);
    int calcF(Point *point);
private:
    std::vector<std::vector<int>> maze;
    std::list<Point *> openList;  //开启列表
    std::list<Point *> closeList; //关闭列表
};


#endif // PATHFINDER_H