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//
// Copyright (c) 2009 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
enum dtNodeFlags
{
DT_NODE_OPEN = 0x01,
DT_NODE_CLOSED = 0x02,
};
struct dtNode
{
float cost;
float total;
unsigned int id;
unsigned int pidx : 30;
unsigned int flags : 2;
};
class dtNodePool
{
public:
dtNodePool(int maxNodes, int hashSize);
~dtNodePool();
inline void operator=(const dtNodePool&) {}
void clear();
dtNode* getNode(unsigned int id);
const dtNode* findNode(unsigned int id) const;
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 int getMemUsed() const
{
return sizeof(*this) +
sizeof(dtNode)*m_maxNodes +
sizeof(unsigned short)*m_maxNodes +
sizeof(unsigned short)*m_hashSize;
}
private:
inline unsigned int hashint(unsigned int a) const
{
a += ~(a<<15);
a ^= (a>>10);
a += (a<<3);
a ^= (a>>6);
a += ~(a<<11);
a ^= (a>>16);
return a;
}
dtNode* m_nodes;
unsigned short* m_first;
unsigned short* 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);
}
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
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