import SKDataUtil from "../gear/SKDataUtil";

export default class PathUtil {

    static getAvailabelPoint(r: number, l: number, mapArr: any[], rows: number, lines: number): any {
        if (r < 0) {
            r = 0;
        }
        if (l < 0) {
            l = 0;
        }
        if (r >= rows) {
            r = rows - 1;
        }
        if (l >= lines) {
            l = lines - 1;
        }
        let value = SKDataUtil.intOf2Array(mapArr, r, l, 0);
        if (value != 0) {
            return {
                r: r,
                l: l
            };
        }
        let count = 1;
        for (let i = 0; i < 10000000; i++) {
            if (count > lines && count > rows) {
                return {
                    r: -1,
                    l: -1
                };
            }
            if (r + count < rows && mapArr[r + count][l] != 0) {
                return {
                    r: r + count,
                    l: l
                };
            }
            if (l + count < lines && mapArr[r][l + count] != 0) {
                return {
                    r: r,
                    l: l + count
                };
            }
            if (r >= count && mapArr[r - count][l] != 0) {
                return {
                    r: r - count,
                    l: l
                };
            }
            if (l >= count && mapArr[r][l - count] != 0) {
                return {
                    r: r,
                    l: l - count
                };
            }
            if (r + count < rows && l + count < lines && mapArr[r + count][l + count] != 0) {
                return {
                    r: r + count,
                    l: l + count
                };
            }
            if (r >= count && l >= count && mapArr[r - count][l - count] != 0) {
                return {
                    r: r - count,
                    l: l - count
                };
            }
            if (r >= count && l + count < lines && mapArr[r - count][l + count] != 0) {
                return {
                    r: r - count,
                    l: l + count
                };
            }
            if (l >= count && r + count < rows && mapArr[r + count][l - count] != 0) {
                return {
                    r: r + count,
                    l: l - count
                };
            }
            count++;
        }
    };
    // 寻路
    static searchRoad(start_r: number, start_l: number, end_r: number, end_l: number, mapArr: any[], rows: number, cols: number): any[] {
        if (end_r == -1 && end_l == -1) {
            return [];
        }
        let openList: any[] = [], //开启列表
            closeObjList: any = {}, //关闭列表索引
            openObjList: any = {}, //开启列表索引
            result: any[] = [], //结果数组
            result_index: number = 0; //终点位置
        if (start_r == end_r && start_l == end_l) {
            return result;
        }
        openList.push({
            r: start_r,
            l: start_l,
            G: 0
        }); //把当前点加入到开启列表中，并且G是0
        openObjList[start_r * cols + start_l] = start_r * cols + start_l;
        do {
            var currentPoint = openList[0];
            if (openList.length > 1) {
                openList[0] = openList[openList.length - 1];
                this.minheap_filterdown(openList, 0, openObjList, cols);
            }
            openList.splice(openList.length - 1, 1);
            closeObjList[currentPoint.r * cols + currentPoint.l] = currentPoint;
            delete openObjList[currentPoint.r * cols + currentPoint.l];
            let surroundPoint = this.SurroundPoint(currentPoint);
            for (let i in surroundPoint) {
                let item: any = surroundPoint[i]; //获得周围的八个点
                if (
                    item.r >= 0 && //判断是否在地图上
                    item.l >= 0 &&
                    item.r < rows &&
                    item.l < cols &&
                    mapArr[item.r][item.l] != 0 && //判断是否是障碍物
                    !this.existInCloseList(item, closeObjList, cols) && //判断是否在关闭列表中
                    mapArr[item.r][currentPoint.l] != 0 && //判断之间是否有障碍物，如果有障碍物是过不去的
                    mapArr[currentPoint.r][item.l] != 0) {
                    //g 到父节点的位置
                    //如果是上下左右位置的则g等于10，斜对角的就是14
                    var g = currentPoint.G + ((currentPoint.r - item.r) * (currentPoint.l - item.l) == 0 ? 10 : 14);
                    let temp: number = this.existInOpenList(item, openObjList, cols);
                    if (temp == null) { //如果不在开启列表中
                        //计算H，通过水平和垂直距离进行确定
                        item['H'] = Math.abs(end_r - item.r) * 10 + Math.abs(end_l - item.l) * 10;
                        item['G'] = g;
                        item['F'] = item.H + item.G;
                        item['parent'] = currentPoint;
                        openList.push(item);
                        openObjList[item.r * cols + item.l] = openList.length - 1;
                        if (item['H'] == 0) {
                            break;
                        }
                        this.minheap_filterup(openList, openList.length - 1, openObjList, cols);
                    } else { //存在在开启列表中，比较目前的g值和之前的g的大小
                        let index: number = temp;
                        //如果当前点的g更小
                        if (g < openList[index].G) {
                            openList[index].parent = currentPoint;
                            openList[index].G = g;
                            openList[index].F = g + openList[index].H;
                        }
                        this.minheap_filterup(openList, index, openObjList, cols);
                    }
                }
            }
            //如果开启列表空了，没有通路，结果为空
            if (openList.length == 0) {
                break;
            }
            // openList.sort(this.sortF);//这一步是为了循环回去的时候，找出 F 值最小的, 将它从 "开启列表" 中移掉
        } while (!(result_index = this.existInOpenList({
            r: end_r,
            l: end_l
        }, openObjList, cols)));

        //判断结果列表是否为空
        if (!result_index) {
            result = [];
        } else {
            var currentObj = openList[result_index];
            do {
                //把路劲节点添加到result当中
                result.unshift({
                    r: currentObj.r,
                    l: currentObj.l
                });
                currentObj = currentObj.parent;
            } while (currentObj.r != start_r || currentObj.l != start_l);
        }
        let alpha = 0.8;
        let beta = 0.2;
        let p = result.slice(0);
        for (let i = 1; i <= 8; i++) {
            for (let k = 2; k < p.length - 1; k++) {
                let t = p[k];
                let l = p[k - 1];
                let n = p[k + 1];
                t.l = t.l + alpha * (result[k].l - t.l) + beta * (l.l - 2 * t.l + n.l);
                t.r = t.r + alpha * (result[k].r - t.r) + beta * (l.r - 2 * t.r + n.r);
            }
        }
        return p;
        // return result;
    };

    /**
     * 小顶堆上升算法
     * list 小顶堆列表
     * pos 起始计算位置，即从改点开始上升
     * indexlist 地图节点索引，节点地图坐标对应list中的位置
     * cols 地图列数
     */
    static minheap_filterup(list: any[], pos: number, indexlist: any, cols: number) {
        let c = pos; // 当前节点(current)的位置
        let p = Math.floor((c - 1) / 2); // 父(parent)结点的位置 
        let tmp = list[c]; // 当前节点(current)
        while (c > 0) { // c>0 还未上升到顶部
            if (list[p].F <= tmp.F) // 父节点比当前节点小，上升结束
                break;
            else {
                list[c] = list[p]; // 父节点放到当前位置
                indexlist[list[p].r * cols + list[p].l] = c; //设置父节点的索引位置
                c = p; // 当前位置上升到父节点位置
                p = Math.floor((p - 1) / 2); // 重新计算父节点位置
            }
        }
        list[c] = tmp; // 把传入节点放到上升位置
        indexlist[tmp.r * cols + tmp.l] = c; // 设置传入点的索引位置
    };

    /**
     * 小顶堆下沉算法
     * list 小顶堆列表
     * pos 起始计算位置，即从改点开始上升
     * indexlist 地图节点索引，节点地图坐标对应list中的位置
     * cols 地图列数
     */
    static minheap_filterdown(list: any[], pos: number, indexlist: any, cols: number) {
        let c = pos; // 当前(current)节点的位置
        let l = 2 * c + 1; // 左(left)孩子的位置
        let tmp = list[c]; // 当前(current)节点
        let end = list.length - 1; // 数组终点
        while (l <= end) {
            if (l < end && list[l].F > list[l + 1].F) // "l"是左孩子，"l+1"是右孩子
                l++; // 左右两孩子中选择较小者，即list[l+1]
            if (tmp.F <= list[l].F) // 当前节点比最小的子节点小，调整结束
                break;
            else {
                list[c] = list[l];
                indexlist[list[l].r * cols + list[l].l] = c;
                c = l;
                l = 2 * l + 1;
            }
        }
        list[c] = tmp;
        indexlist[tmp.r * cols + tmp.l] = c;
    };
    // 是否在开放列表中
    static existInOpenList(point: any, list: any, cols: number): number {
        let result: number = list[point.r * cols + point.l];
        return result;
    };
    //获取周围八个点的值
    static SurroundPoint(curPoint: any): any[] {
        let r = curPoint.r,
            l = curPoint.l;
        return [{
            r: r - 1,
            l: l - 1
        },
        {
            r: r,
            l: l - 1
        },
        {
            r: r + 1,
            l: l - 1
        },
        {
            r: r + 1,
            l: l
        },
        {
            r: r + 1,
            l: l + 1
        },
        {
            r: r,
            l: l + 1
        },
        {
            r: r - 1,
            l: l + 1
        },
        {
            r: r - 1,
            l: l
        }
        ];
    };
    // 是否在关闭列表中
    static existInCloseList(point: any, list: any, cols: number): boolean {
        if (list[point.r * cols + point.l]) {
            return true;
        }
        return false;
    };
}