class="kw">package com.hypixel.hytale.server.npc.navigation;

class="kw">import java.util.Arrays;
class="kw">import javax.annotation.Nonnull;
class="kw">import javax.annotation.Nullable;
class="kw">import org.joml.Vector3d;

class="kw">public class AStarNode class="kw">implements IWaypoint {
   class="kw">public class="kw">static class="kw">final AStarNode ENTRY_NODE_TAG = new AStarNode(0);
   @Nonnull
   class="kw">protected class="kw">final Vector3d position = new Vector3d();
   class="kw">protected float travelCost;
   class="kw">protected float estimateToGoal;
   class="kw">protected float totalCost;
   @Nullable
   class="kw">protected AStarNode predecessor = null;
   class="kw">protected int predecessorDirection = -1;
   @Nonnull
   class="kw">protected class="kw">final AStarNode[] successors;
   @Nonnull
   class="kw">protected class="kw">final float[] stepCost;
   class="kw">protected AStarNode nextPathNode;
   class="kw">protected int length;
   class="kw">protected long positionIndex;
   class="kw">protected boolean open;

   class="kw">public AStarNode(int var1) {
      this.successors = new AStarNode[var1];
      this.stepCost = new float[var1];
   }

   class="kw">public long getPositionIndex() {
      class="kw">return this.positionIndex;
   }

   @Nonnull
   class="kw">public AStarNode[] getSuccessors() {
      class="kw">return this.successors;
   }

   class="kw">public AStarNode getSuccessor(int var1) {
      class="kw">return this.successors[var1];
   }

   class="kw">public void setSuccessor(int var1, @Nonnull AStarNode var2, int var3, float var4) {
      this.successors[var1] = var2;
      this.stepCost[var1] = var4;
      var2.successors[var3] = ENTRY_NODE_TAG;
   }

   @Nullable
   class="kw">public AStarNode getPredecessor() {
      class="kw">return this.predecessor;
   }

   class="kw">public AStarNode getNextPathNode() {
      class="kw">return this.nextPathNode;
   }

   class="kw">public void setNextNode(AStarNode var1, int var2) {
      this.nextPathNode = var1;
      this.length = var2;
   }

   class="kw">public float getTravelCost() {
      class="kw">return this.travelCost;
   }

   class="kw">public float getEstimateToGoal() {
      class="kw">return this.estimateToGoal;
   }

   class="kw">public float getTotalCost() {
      class="kw">return this.totalCost;
   }

   class="kw">public int getPredecessorDirection() {
      class="kw">return this.predecessorDirection;
   }

   class="kw">public void close() {
      this.open = false;
   }

   class="kw">public boolean isOpen() {
      class="kw">return this.open;
   }

   class="kw">public boolean isInvalid() {
      class="kw">return this.length < 0;
   }

   @Override
   class="kw">public int getLength() {
      class="kw">return this.length;
   }

   class="kw">public AStarNode next() {
      class="kw">return this.nextPathNode;
   }

   @Nonnull
   @Override
   class="kw">public Vector3d getPosition() {
      class="kw">return this.position;
   }

   @Nullable
   class="kw">public AStarNode advance(int var1) {
      AStarNode var2 = this;

      while (var1-- > 0 && var2 != null) {
         var2 = var2.nextPathNode;
      }

      class="kw">return var2;
   }

   @Nonnull
   class="kw">public AStarNode initAsStartNode(@Nonnull Vector3d var1, long var2, float var4, float var5) {
      this.position.set(var1);
      this.positionIndex = var2;
      this.open = true;
      this.estimateToGoal = var5;
      this.travelCost = var4;
      this.totalCost = this.travelCost + this.estimateToGoal;
      this.predecessor = null;
      this.predecessorDirection = -1;
      Arrays.fill(this.successors, null);
      Arrays.fill(this.stepCost, 0.0F);
      this.length = 1;
      class="kw">return this;
   }

   @Nonnull
   class="kw">public AStarNode initWithPredecessor(@Nonnull AStarNode var1, int var2, @Nonnull Vector3d var3, long var4, int var6, float var7, float var8) {
      this.position.set(var3);
      this.positionIndex = var4;
      this.open = true;
      this.estimateToGoal = var8;
      this.travelCost = var7;
      this.totalCost = this.travelCost + this.estimateToGoal;
      this.length = var1.length + 1;
      Arrays.fill(this.successors, null);
      Arrays.fill(this.stepCost, 0.0F);
      var1.setSuccessor(var2, this, var6, var7 - var1.travelCost);
      this.predecessor = var1;
      this.predecessorDirection = var2;
      class="kw">return this;
   }

   @Nonnull
   class="kw">public AStarNode initAsInvalid(@Nonnull Vector3d var1, long var2) {
      this.position.set(var1);
      this.positionIndex = var2;
      this.open = false;
      this.estimateToGoal = Float.MAX_VALUE;
      this.travelCost = Float.MAX_VALUE;
      this.totalCost = Float.MAX_VALUE;
      this.predecessor = null;
      this.predecessorDirection = -1;
      Arrays.fill(this.successors, null);
      Arrays.fill(this.stepCost, 0.0F);
      this.length = -1;
      class="kw">return this;
   }

   class="kw">public void adjustOptimalPath(AStarNode var1, float var2, int var3) {
      this.predecessor = var1;
      this.predecessorDirection = var3;
      this.travelCost += var2;
      this.totalCost = this.travelCost + this.estimateToGoal;
      this.length = this.predecessor.length + 1;

      for (int var4 = 0; var4 < this.successors.length; var4++) {
         AStarNode var5 = this.successors[var4];
         if (var5 != null && !ENTRY_NODE_TAG.equals(var5)) {
            float var6 = this.travelCost + this.stepCost[var4] - var5.travelCost;
            if (var6 < 0.0F) {
               var5.adjustOptimalPath(this, var6, var4);
            }
         }
      }
   }

   @Nonnull
   @Override
   class="kw">public String toString() {
      class="kw">return "AStarNode{position="
         + this.position
         + ", travelCost="
         + this.travelCost
         + ", estimateToGoal="
         + this.estimateToGoal
         + ", totalCost="
         + this.totalCost
         + ", predecessorDirection="
         + this.predecessorDirection
         + ", stepCost="
         + Arrays.toString(this.stepCost)
         + ", length="
         + this.length
         + ", positionIndex="
         + this.positionIndex
         + ", open="
         + this.open
         + "}";
   }
}