Airplane.h

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//
//  Airplane.h
//  hog2 glut
//
//  Created by Nathan Sturtevant on 5/4/16.
//  Copyright © 2016 University of Denver. All rights reserved.
//
 
#ifndef Airplane_h
#define Airplane_h
 
#include <vector>
#include <cassert>
#include "SearchEnvironment.h"
 
// turn type:
// 45, 90, 0, shift
// speed:
// faster, slower
// height:
// up / down
 
const uint8_t k45 = 1;
const uint8_t k90 = 2;
const uint8_t kShift = 3;
 
struct airplaneAction {
public:
        airplaneAction(int8_t t=0, int8_t s=0, int8_t h=0)
        :turn(t), speed(s), height(h) {}
        int8_t turn;
        int8_t speed;
        int8_t height;
};
 
// state
struct airplaneState {
public:
        airplaneState() { x = y = heading = 0; speed = 1; height = 20; }
        uint8_t x;
        uint8_t y;
        uint8_t height;
        int speed : 2;
        int heading : 6;
};
 
bool operator==(const airplaneState &s1, const airplaneState &s2);
 
//class GoalTester {
//public:
//      virtual ~GoalTester() {}
//      virtual bool goalTest(const airplaneState &i1) const = 0;
//};
 
class AirplaneEnvironment : public SearchEnvironment<airplaneState, airplaneAction>
{
public:
        AirplaneEnvironment();
        void GetSuccessors(const airplaneState &nodeID, std::vector<airplaneState> &neighbors) const;
        void GetActions(const airplaneState &nodeID, std::vector<airplaneAction> &actions) const;
        virtual void ApplyAction(airplaneState &s, airplaneAction dir) const;
        virtual void UndoAction(airplaneState &s, airplaneAction dir) const;
        virtual void GetNextState(const airplaneState &currents, airplaneAction dir, airplaneState &news) const;
        
        virtual OccupancyInterface<airplaneState,airplaneAction> *GetOccupancyInfo() { return 0; }
        virtual bool InvertAction(airplaneAction &a) const { return false; }
        
        virtual double HCost(const airplaneState &node1, const airplaneState &node2) const;
        virtual double HCost(const airplaneState &)  const { assert(false); return 0; }
        virtual double GCost(const airplaneState &node1, const airplaneState &node2) const;
        virtual double GCost(const airplaneState &node1, const airplaneAction &act) const;
        
//      void SetGoalTest(GoalTester *t) {test = t;}
        bool GoalTest(const airplaneState &node, const airplaneState &goal) const;
        bool GoalTest(const airplaneState &) const { assert(false); return false; }
        uint64_t GetStateHash(const airplaneState &node) const;
        uint64_t GetActionHash(airplaneAction act) const;
        virtual void OpenGLDraw() const;
        virtual void OpenGLDraw(const airplaneState &l) const;
        virtual void OpenGLDraw(const airplaneState& oldState, const airplaneState &newState, float perc) const;
        virtual void OpenGLDraw(const airplaneState &, const airplaneAction &) const;
        void GLDrawLine(const airplaneState &a, const airplaneState &b) const;
        recVec GetCoordinate(int x, int y, int z) const;
private:
        void SetGround(int x, int y, uint8_t val);
        uint8_t GetGround(int x, int y) const;
        bool Valid(int x, int y);
        recVec &GetNormal(int x, int y);
        recVec GetNormal(int x, int y) const;
        void RecurseGround(int x1, int y1, int x2, int y2);
        const int width = 80;
        const int length = 80;
        const int height = 20;
        std::vector<uint8_t> ground;
        std::vector<recVec> groundNormals;
        void DoNormal(recVec pa, recVec pb) const;
        mutable std::vector<airplaneAction> internalActions;
};
 
#endif /* Airplane_h */