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#pragma once
#include "compat/safe-ptr.hpp"
#include "search-constants.hpp"
#include "search-pred.hpp"
#include "object-id.hpp"
#include <Corrade/Containers/Array.h>
namespace floormat::Search { struct cache; }
namespace floormat {
class world;
struct point;
struct path_search_result;
class astar
{
public:
struct visited;
using pred = Search::pred;
astar();
~astar() noexcept;
void reserve(size_t capacity);
void clear();
// todo add simple bresenham short-circuit
path_search_result Dijkstra(world& w, point from, point to,
object_id own_id, uint32_t max_dist, Vector2ub own_size,
int debug = 0, const pred& p = Search::never_continue());
private:
static constexpr auto initial_capacity = TILE_COUNT * 16 * Search::div_factor*Search::div_factor;
void add_to_heap(uint32_t id);
uint32_t pop_from_heap();
safe_ptr<struct Search::cache> _cache;
Array<visited> nodes;
Array<uint32_t> Q;
Array<point> temp_nodes;
};
} // namespace floormat
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