using System;

namespace Algorithms.Search.AStar
{
    /// <summary>
    ///     Contains Positional and other information about a single node.
    /// </summary>
    public class Node : IComparable<Node>, IEquatable<Node>
    {
        public Node(VecN position, bool traversable, double traverseMultiplier)
        {
            Traversable = traversable;
            Position = position;
            TraversalCostMultiplier = traverseMultiplier;
        }

        /// <summary>
        ///     Gets the Total cost of the Node.
        ///     The Current Costs + the estimated costs.
        /// </summary>
        public double TotalCost => EstimatedCost + CurrentCost;

        /// <summary>
        ///     Gets or sets the Distance between this node and the target node.
        /// </summary>
        public double EstimatedCost { get; set; }

        /// <summary>
        ///     Gets a value indicating whether how costly it is to traverse over this node.
        /// </summary>
        public double TraversalCostMultiplier { get; }

        /// <summary>
        ///     Gets or sets a value indicating whether to go from the start node to this node.
        /// </summary>
        public double CurrentCost { get; set; }

        /// <summary>
        ///     Gets or sets the state of the Node
        ///     Can be Unconsidered(Default), Open and Closed.
        /// </summary>
        public NodeState State { get; set; }

        /// <summary>
        ///     Gets a value indicating whether the node is traversable.
        /// </summary>
        public bool Traversable { get; }

        /// <summary>
        ///     Gets or sets a list of all connected nodes.
        /// </summary>
        public Node[] ConnectedNodes { get; set; } = new Node[0];

        /// <summary>
        ///     Gets or sets he "previous" node that was processed before this node.
        /// </summary>
        public Node? Parent { get; set; }

        /// <summary>
        ///     Gets the positional information of the node.
        /// </summary>
        public VecN Position { get; }

        /// <summary>
        ///     Compares the Nodes based on their total costs.
        ///     Total Costs: A* Pathfinding.
        ///     Current: Djikstra Pathfinding.
        ///     Estimated: Greedy Pathfinding.
        /// </summary>
        /// <param name="other">The other node.</param>
        /// <returns>A comparison between the costs.</returns>
        public int CompareTo(Node? other) => TotalCost.CompareTo(other?.TotalCost ?? 0);

        public bool Equals(Node? other) => CompareTo(other) == 0;

        public static bool operator ==(Node left, Node right) => left?.Equals(right) != false;

        public static bool operator >(Node left, Node right) => left.CompareTo(right) > 0;

        public static bool operator <(Node left, Node right) => left.CompareTo(right) < 0;

        public static bool operator !=(Node left, Node right) => !(left == right);

        public static bool operator <=(Node left, Node right) => left.CompareTo(right) <= 0;

        public static bool operator >=(Node left, Node right) => left.CompareTo(right) >= 0;

        public override bool Equals(object? obj) => obj is Node other && Equals(other);

        public override int GetHashCode() =>
            Position.GetHashCode()
            + Traversable.GetHashCode()
            + TraversalCostMultiplier.GetHashCode();

        /// <summary>
        ///     Returns the distance to the other node.
        /// </summary>
        /// <param name="other">The other node.</param>
        /// <returns>Distance between this and other.</returns>
        public double DistanceTo(Node other) => Math.Sqrt(Position.SqrDistance(other.Position));
    }
}
