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/*145a的第一个寻路代码*/
"use strict";
class PathNode {
    constructor(position, father, g, h) {
        this.position = position;
        this.father = father;
        this.g = g;
        this.h = h;
    }
    get f() {
        return this.g + this.h;
    }
    copy(node) {
        this.position = node.position;
        this.father = node.father;
        this.g = node.g;
        this.h = node.h;
    }
    clone() {
        return new PathNode(this.position, this.father, this.g, this.h);
    }
}
async function aStar(startPos, endPos, bounds = new GameBounds3(new GameVector3(0, 0, 0), new GameVector3(256, 喵, 256))) {
    startPos.x = Math.round(startPos.x);
    startPos.y = Math.round(startPos.y);
    startPos.z = Math.round(startPos.z);
    //console.log("开始寻路", startPos, endPos);
    const open = [new PathNode(startPos, null, 0, 0)];
    const path = [];
    const close = [];
    while (true) {
        if (close.length >= 10 ** 4) return null;
        if (open.length === 0 || open[0].position.distance(endPos) < 1) {
            //console.log("退出寻路循环", close.length);
            break;
        }
        //if (close.length % 10000 === 0) console.log("寻路中，剩余",open.length);
        //voxels.setVoxel(open[0].position.x, open[0].position.y, open[0].position.z, "yellow_light");
        //console.log(open[0].position, "g", open[0].g, "h", open[0].h, "f", open[0].f)
        //world.say(open.length)
        if (close.length % 100 === 0) await sleep(1);
        //voxels.setVoxel(open[0].position.x, open[0].position.y, open[0].position.z, "glass");
        close.push(open[0].position);
        let nextList = [
            new GameVector3(1, 0, 0),
            new GameVector3(-1, 0, 0),
            new GameVector3(0, 1, 0),
            new GameVector3(0, -1, 0),
            new GameVector3(0, 0, 1),
            new GameVector3(0, 0, -1)
        ].map(v =>
            open[0].position.add(v)
        ).filter(next =>
            voxels.getVoxel(next.x, next.y, next.z) === 0
            && !close.some(v => next.exactEquals(v))
        ).map(v =>
            new PathNode(v, open[0], open[0].g + 1, v.distance(endPos))
        );
        for (const node of nextList) {
            const samePosNode = open.find((n) => n.position.exactEquals(node.position));
            if (samePosNode) {
                if (samePosNode.f > nextList.f || (samePosNode.f === nextList.f && samePosNode.h > nextList.h)) {
                    console.log(copy)
                    samePosNode.copy(node);
                }
            } else {
                open.push(node);
            }
        }
        open.shift();
        open.sort((a, b) => a.f===b.f?a.f - b.f:a.h - b.h);
    }
    if (!open[0]) {
        //console.log("没有可用道路");
        return null;
    } else {
        let currentNode = open[0];
        while (!currentNode.position.equals(startPos)) {
            currentNode = currentNode.father;
            path.unshift(currentNode.position);
        }
    }
    //path.forEach(v => {voxels.setVoxel(v.x, v.y, v.z, "green")})
    //console.log("寻路完成", path.length);
    return path;
}
voxels.findPath = aStar;
/*
void async function () {
    let nodes = await aStar(new GameVector3(90,30,59), new GameVector3(133,3,239))
    nodes.forEach(v => { voxels.setVoxel(v.x, v.y, v.z, "green_light") })
}()
*/

//请勿删除最后一行