PathPlanner.h

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/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY 
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS 
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Any questions or comments should be sent to the authors {menge,geom}@cs.unc.edu

*/

#ifndef __PATH_PLANNER_H__
#define __PATH_PLANNER_H__

#include "mengeCommon.h"
#include "NavMesh.h"
#include "ReadersWriterLock.h"
#include <map>
#include <list>

namespace Menge {

    class MENGE_API PathPlannerException : public virtual MengeException {
    public:
        PathPlannerException() : MengeException() {}        

        PathPlannerException( const std::string & s ): MengeException(s) {}
    };

    class MENGE_API PathPlannerFatalException : public PathPlannerException, public MengeFatalException {
    public:
        PathPlannerFatalException() : MengeException(), PathPlannerException(), MengeFatalException() {}

        PathPlannerFatalException( const std::string & s ): MengeException(s), PathPlannerException(), MengeFatalException() {}
    };

    // FORWARD DECLARATIONS
    class PortalRoute;
    class PathPlanner;

    typedef size_t RouteKey;

    typedef std::list< PortalRoute * > PRouteList;

    typedef PRouteList::iterator PRouteListItr;

    typedef PRouteList::const_iterator PRouteListCItr;

    typedef HASH_MAP< RouteKey, PRouteList > PRouteMap;

    typedef PRouteMap::iterator PRouteMapItr;

    typedef PRouteMap::const_iterator PRouteMapCItr;

    class PathPlanner {
    public:
        PathPlanner( NavMeshPtr ptr );

        ~PathPlanner();

        PortalRoute * getRoute( unsigned int startID, unsigned int endID, float minWidth ); 

    protected:
        PortalRoute * computeRoute( unsigned int startID, unsigned int endID, float minWidth );

        float computeH( unsigned int node, const Vector2 & goal );

        PortalRoute * cacheRoute( unsigned int startID, unsigned int endID, PortalRoute * route );

        PRouteMap _routes;

        ReadersWriterLock _routeLock;

        NavMeshPtr  _navMesh;

         void initHeapMemory( size_t nodeCount );

        size_t DATA_SIZE;

        size_t STATE_SIZE;

        unsigned int * _HEAP;   

        unsigned int * _PATH;

        float * _DATA;  

        bool *  _STATE;
    };
}   // namespace Menge

#endif   // __PATH_PLANNER_H__