GraphSearch.h

#pragma once
 
#include <Foundation/Math/Math.h>
#include <Utilities/PathFinding/PathState.h>
#include <Utilities/UtilitiesDLL.h>
 
template <typename PathStateType>
class plPathSearch
{
public:
  using IsSearchedObjectCallback = bool (*)(plInt64 iStartNodeIndex, const PathStateType& StartState);
 
  struct PathResultData
  {
    PL_DECLARE_POD_TYPE();
 
    plInt64 m_iNodeIndex;
 
    const PathStateType* m_pPathState;
  };
 
  void SetPathStateGenerator(plPathStateGenerator<PathStateType>* pStateGenerator) { m_pStateGenerator = pStateGenerator; }
 
  plResult FindPath(plInt64 iStartNodeIndex, const PathStateType& StartState, plInt64 iTargetNodeIndex, plDeque<PathResultData>& out_Path,
    float fMaxPathCost = plMath::Infinity<float>());
 
  plResult FindClosest(plInt64 iStartNodeIndex, const PathStateType& StartState, IsSearchedObjectCallback Callback, plDeque<PathResultData>& out_Path,
    float fMaxPathCost = plMath::Infinity<float>());
 
  void AddPathNode(plInt64 iNodeIndex, const PathStateType& NewState);
 
private:
  void ClearPathStates();
  plInt64 FindBestNodeToExpand(PathStateType*& out_pPathState);
  void FillOutPathResult(plInt64 iEndNodeIndex, plDeque<PathResultData>& out_Path);
 
  plPathStateGenerator<PathStateType>* m_pStateGenerator;
 
  plHashTable<plInt64, PathStateType> m_PathStates;
 
  plDeque<plInt64> m_StateQueue;
 
  plInt64 m_iCurNodeIndex;
  PathStateType m_CurState;
};
 
 
 
#include <Utilities/PathFinding/Implementation/GraphSearch_inl.h>