/**
 * 
 * @author faruk can ->  @farukcan.net
 *
 * @import Vec2.js  ->  farukcan.net/examples/Vec2.js
 * @import Heap.js  ->  farukcan.net/examples/Heap.js
 * @import Jquery  ->  cdn
 * @import dat.gui ->	cdn
 * 
 * @classes Grid,Node,Astar
 * @functions  main
 */

$(main);

// @class Grid
function Grid(size) {
	this.nodes = []
	this.size = size;
	this.start;this.startNode;this.target;this.targetNode;
	
	this.create = function(){
		this.nodes = [];
		for (var i = 0; i < size.x; i++) {
			this.nodes[i] = [];
			for (var j = 0; j < size.y; j++) 
				this.nodes[i][j] = new Node(i, j);
		}
	}
	
	this.create();

}

// @prototype Grid
Grid.prototype = {
	get : function(v) {
		if(this.nodes[v.x] && this.nodes[v.x][v.y])
			return this.nodes[v.x][v.y];
		return false;
	},
	setStart : function(v) {
		this.start = v;
		this.startNode = this.get(v);
	},
	setTarget : function(v) {
		this.target = v;
		this.targetNode = this.get(v);
	}
}

// @class Node
function Node(i, j) {
	this.loc = new Vec2(i, j);
	this.gCost = 0;
	this.hCost = 0;
	this.fCost = function(){return this.gCost+this.hCost};
	this.open = false;
	this.closed = false;
	this.blocked = false;
	this.onPath = false;
	this.parent;
}

// @class Astart
function Astar(grid) {
	this.grid = grid;
	
	this.gFunc = function(v) {
		return this.grid.start.d(v);
	}

	this.hFunc = function(v) {
		return this.grid.target.d(v);
	}

	this.getNeighbors = function(x, y) {
		var neighbors = [];

		neighbors.add = function(e) {
			// kontrol et gerçeekten komşumu diye
			if(!e) return;
			if(e.blocked) return;
			neighbors.push(e);
		}
		neighbors.add(this.grid.get(new Vec2(x, y - 1)));
		neighbors.add(this.grid.get(new Vec2(x - 1, y)));
		neighbors.add(this.grid.get(new Vec2(x + 1, y)));
		neighbors.add(this.grid.get(new Vec2(x, y + 1)));

		if (conf.allowDiagonal) {
			neighbors.add(this.grid.get(new Vec2(x - 1, y - 1)));
			neighbors.add(this.grid.get(new Vec2(x + 1, y - 1)));
			neighbors.add(this.grid.get(new Vec2(x + 1, y + 1)));
			neighbors.add(this.grid.get(new Vec2(x - 1, y + 1)));
		}
		
		delete neighbors.add;
		
		return neighbors;
	}

	this.find = function() {
		var OPEN = new Heap(function(a,b){
			return a.fCost() - b.fCost();
		});
		
		OPEN.add(this.grid.startNode);

		while (OPEN.length != 0) {

			// current open içindeki en küçük f costta sahip noddür
			var currentNode = OPEN.get();
			
			if( typeof currentNode == "undefined") return false;
					console.log(currentNode.loc,this.grid.target)

			// current == target ise while döngüsünden çık ve createPath'ı çalıştır.
			if(currentNode.loc.d(this.grid.target)==0 ){
				this.createPath(this.grid.startNode,this.grid.targetNode);
				return true;
			}
			
			// currenti open'dan çıkar closed'e ekle
			currentNode.open = false;
			currentNode.closed = true;


			
			currentNode.gCost = this.gFunc(currentNode.loc);

			var neighbors = this.getNeighbors(currentNode.loc.x,currentNode.loc.y);
			// foreach komşu için
			var _this = this;
			neighbors.forEach(function(neighbor){
				// komşu kapalıysa, bunu geç
				if(neighbor.closed) return;
				
				// komşuya gidiş = current.gcost + komşuya mesafe
				var toNeighbor  = currentNode.gCost + currentNode.loc.d(neighbor.loc);
				
				neighbor.gCost = _this.gFunc(neighbor.loc);

				// eğer komşu open içinde değilse veya komşuya gidiş, komşunun gcost'dan düşük ise
				
				if(!neighbor.open || toNeighbor<neighbor.gCost){
					// komşunun gcost = komşuya gidiş
					neighbor.gCost = toNeighbor;
					
					// komşunun hcost = komuşunun hedefe mesafesi
					neighbor.hCost = _this.hFunc(neighbor.loc);

					// komşunun parrent = current;
					
					neighbor.parent = currentNode;

					// eğer komşu open içinde değilse open'a ekle
					if(!neighbor.open){
						OPEN.add(neighbor);
						neighbor.open = true;
					}
					
				}


			})


		}
		return false;

	}

	this.createPath = function(startNode, endNode) {

		var path = [];
		currentNode = endNode;

		while(currentNode.loc.d(startNode.loc)!=0){
			path.push(currentNode);
			currentNode.onPath = true;
			currentNode = currentNode.parent;
		}
		path.reverse();
		console.log(path);
		return path;
	}

}

// @func Map
function main() {
	conf = {
		sizex : 20,
		sizey : 20,
		allowDiagonal: false,
		FIND: function() {
			A.find();
		},
		RELOAD: function() {
			clearInterval(updateval);
			create();
		}
	}

	
	var gui = new dat.GUI();
	gui.add(conf, 'allowDiagonal');
	gui.add(conf, 'sizex',5,100);
	gui.add(conf, 'sizey',5,100);
	gui.add(conf, 'RELOAD');
	gui.add(conf, 'FIND');
	
	create();

}

function create(){
		
	size = new Vec2(conf.sizex, conf.sizey);

	grid = new Grid(size);
	
	grid.createTable();
	updateval = setInterval(function(){
		grid.updateTable();
	},10);

	grid.setStart(new Vec2(conf.sizex-2,conf.sizey-2));
	grid.setTarget(new Vec2(2,2));
	
	startSELECTED = false;
	targetSELECTED = false;
	



	A = new Astar(grid);
	
}


Grid.prototype.createTable = function(){
	var tablo = "";
	for (var j = 0; j < this.size.y; j++) {
		tablo += "<tr>";
		for (var i = 0; i < this.size.x; i++) {
			tablo += ("<td id='" + i + "x" + j + "' class='node'></td>");
		}
		tablo += "</tr>";
	}
	$("#tablo").html(tablo);
	
	for (var i = 0; i < this.size.x; i++) 
			for (var j = 0; j < this.size.y; j++) {
						var _this = this
						$("#"+i + "x" + j).click(function(){
								if(!startSELECTED){
										startSELECTED=true;
										grid.setStart(new Vec2(this.id.split("x")[0], this.id.split("x")[1]));
								}else if(!targetSELECTED){
										targetSELECTED=true;
										grid.setTarget(new Vec2(parseInt(this.id.split("x")[0]), parseInt(this.id.split("x")[1])));

								}else{
										_this.nodes[this.id.split("x")[0]][this.id.split("x")[1]].blocked= true;

								}
						});
			}
}
Grid.prototype.updateTable = function(){
	
		for (var i = 0; i < this.size.x; i++) 
			for (var j = 0; j < this.size.y; j++) {
					$("#"+i + "x" + j).css("background-color","#009999");
				if(this.target.d(this.nodes[i][j].loc)==0)
					$("#"+i + "x" + j).css("background-color","red");
				else if(this.start.d(this.nodes[i][j].loc)==0)
					$("#"+i + "x" + j).css("background-color","blue");
				else{
					if(this.nodes[i][j].onPath)
						$("#"+i + "x" + j).css("background-color","grey");
					else if(this.nodes[i][j].open)
						$("#"+i + "x" + j).css("background-color","green");
					else if(this.nodes[i][j].closed)
						$("#"+i + "x" + j).css("background-color","orange");
					else if(this.nodes[i][j].blocked)
						$("#"+i + "x" + j).css("background-color","black");
						
					
				}
				
				if(this.nodes[i][j].gCost != 0 && this.nodes[i][j].gCost != 0){
					var html = Math.floor(this.nodes[i][j].gCost);
					html+="+"+Math.floor(this.nodes[i][j].hCost);
					html+="</br>"+Math.floor(this.nodes[i][j].fCost());
					$("#"+i + "x" + j).html(html);
				}

			}
}