--- The Grid class.
-- Implementation of the `grid` class.
-- The `grid` is a implicit graph which represents the 2D
-- world map layout on which the `pathfinder` object will run.
-- During a search, the `pathfinder` object needs to save some critical values. These values are cached within each `node`
-- object, and the whole set of nodes are tight inside the `grid` object itself.

if (...) then

	-- Dependencies
  local _PATH = (...):gsub('%.grid$','')

	-- Local references
  local Utils = require (_PATH .. '.core.utils')
  local Assert = require (_PATH .. '.core.assert')
  local Node = require (_PATH .. '.core.node')

	-- Local references
  local pairs = pairs
  local assert = assert
  local next = next
	local setmetatable = setmetatable
  local floor = math.floor
	local coroutine = coroutine

  -- Offsets for straights moves
  local straightOffsets = {
    {x = 1, y = 0, z = 0} --[[W]], {x = -1, y =  0, z =  0}, --[[E]]
    {x = 0, y = 1, z = 0} --[[S]], {x =  0, y = -1, z =  0}, --[[N]]
    {x = 0, y = 0, z = 1} --[[U]], {x =  0, y = -0, z = -1}, --[[D]]
  }

  -- Offsets for diagonal moves
  local diagonalOffsets = {
    {x = -1, y = -1} --[[NW]], {x = 1, y = -1}, --[[NE]]
    {x = -1, y =  1} --[[SW]], {x = 1, y =  1}, --[[SE]]
  }

	--- The `Grid` class.<br/>
	-- This class is callable.
	-- Therefore,_ <code>Grid(...)</code> _acts as a shortcut to_ <code>Grid:new(...)</code>.
	-- @type Grid
  local Grid = {}
  Grid.__index = Grid

  -- Specialized grids
  local PreProcessGrid = setmetatable({},Grid)
  local PostProcessGrid = setmetatable({},Grid)
  PreProcessGrid.__index = PreProcessGrid
  PostProcessGrid.__index = PostProcessGrid
  PreProcessGrid.__call = function (self,x,y,z)
    return self:getNodeAt(x,y,z)
  end
  PostProcessGrid.__call = function (self,x,y,z,create)
    if create then return self:getNodeAt(x,y,z) end
    return self._nodes[y] and self._nodes[y][x] and self._nodes[y][x][z]
  end

  --- Inits a new `grid`
  -- @class function
  -- @tparam table|string map A collision map - (2D array) with consecutive indices (starting at 0 or 1)
	-- or a `string` with line-break chars (<code>\n</code> or <code>\r</code>) as row delimiters.
  -- @tparam[opt] bool cacheNodeAtRuntime When __true__, returns an empty `grid` instance, so that
	-- later on, indexing a non-cached `node` will cause it to be created and cache within the `grid` on purpose (i.e, when needed).
	-- This is a __memory-safe__ option, in case your dealing with some tight memory constraints.
	-- Defaults to __false__ when omitted.
  -- @treturn grid a new `grid` instance
	-- @usage
	-- -- A simple 3x3 grid
	-- local myGrid = Grid:new({{0,0,0},{0,0,0},{0,0,0}})
	--
	-- -- A memory-safe 3x3 grid
	-- myGrid = Grid('000\n000\n000', true)
  function Grid:new(map, cacheNodeAtRuntime)
		if type(map) == 'string' then
			assert(Assert.isStrMap(map), 'Wrong argument #1. Not a valid string map')
			map = Utils.strToMap(map)
		end
    --assert(Assert.isMap(map),('Bad argument #1. Not a valid map'))
    assert(Assert.isBool(cacheNodeAtRuntime) or Assert.isNil(cacheNodeAtRuntime),
      ('Bad argument #2. Expected \'boolean\', got %s.'):format(type(cacheNodeAtRuntime)))
    if cacheNodeAtRuntime then
      return PostProcessGrid:new(map,walkable)
    end
    return PreProcessGrid:new(map,walkable)
  end

  --- Checks if `node` at [x,y] is __walkable__.
	-- Will check if `node` at location [x,y] both *exists* on the collision map and *is walkable*
  -- @class function
  -- @tparam int x the x-location of the node
  -- @tparam int y the y-location of the node
  -- @tparam[opt] string|int|func walkable the value for walkable locations in the collision map array (see @{Grid:new}).
	-- Defaults to __false__ when omitted.
  -- If this parameter is a function, it should be prototyped as __f(value)__ and return a `boolean`:
  -- __true__ when value matches a __walkable__ `node`, __false__ otherwise. If this parameter is not given
  -- while location [x,y] __is valid__, this actual function returns __true__.
  -- @tparam[optchain] int clearance the amount of clearance needed. Defaults to 1 (normal clearance) when not given.
  -- @treturn bool __true__ if `node` exists and is __walkable__, __false__ otherwise
	-- @usage
	-- -- Always true
	-- print(myGrid:isWalkableAt(2,3))
	--
	-- -- True if node at [2,3] collision map value is 0
	-- print(myGrid:isWalkableAt(2,3,0))
	--
	-- -- True if node at [2,3] collision map value is 0 and has a clearance higher or equal to 2
	-- print(myGrid:isWalkableAt(2,3,0,2))
	--
  function Grid:isWalkableAt(x, y, z, walkable, clearance)
    local nodeValue = self._map[y] and self._map[y][x] and self._map[y][x][z]
    if nodeValue then
      if not walkable then return true end
    else
			return false
    end
		local hasEnoughClearance = not clearance and true or false
		if not hasEnoughClearance then
			if not self._isAnnotated[walkable] then return false end
			local node = self:getNodeAt(x,y,z)
			local nodeClearance = node:getClearance(walkable)
			hasEnoughClearance = (nodeClearance >= clearance)
		end
    if self._eval then
			return walkable(nodeValue) and hasEnoughClearance
		end
    return ((nodeValue == walkable) and hasEnoughClearance)
  end

  --- Returns the `grid` width.
  -- @class function
  -- @treturn int the `grid` width
	-- @usage print(myGrid:getWidth())
  function Grid:getWidth()
    return self._width
  end

  --- Returns the `grid` height.
  -- @class function
  -- @treturn int the `grid` height
	-- @usage print(myGrid:getHeight())
  function Grid:getHeight()
     return self._height
  end

  --- Returns the collision map.
  -- @class function
  -- @treturn map the collision map (see @{Grid:new})
	-- @usage local map = myGrid:getMap()
  function Grid:getMap()
    return self._map
  end

  --- Returns the set of nodes.
  -- @class function
  -- @treturn {{node,...},...} an array of nodes
	-- @usage local nodes = myGrid:getNodes()
  function Grid:getNodes()
    return self._nodes
  end

  --- Returns the `grid` bounds. Returned values corresponds to the upper-left
	-- and lower-right coordinates (in tile units) of the actual `grid` instance.
  -- @class function
  -- @treturn int the upper-left corner x-coordinate
  -- @treturn int the upper-left corner y-coordinate
  -- @treturn int the lower-right corner x-coordinate
  -- @treturn int the lower-right corner y-coordinate
	-- @usage local left_x, left_y, right_x, right_y = myGrid:getBounds()
	function Grid:getBounds()
		return self._min_x, self._min_y, self._min_z, self._max_x, self._max_y, self._max_z
	end

  --- Returns neighbours. The returned value is an array of __walkable__ nodes neighbouring a given `node`.
  -- @class function
  -- @tparam node node a given `node`
  -- @tparam[opt] string|int|func walkable the value for walkable locations in the collision map array (see @{Grid:new}).
	-- Defaults to __false__ when omitted.
  -- @tparam[optchain] bool allowDiagonal when __true__, allows adjacent nodes are included (8-neighbours).
	-- Defaults to __false__ when omitted.
  -- @tparam[optchain] bool tunnel When __true__, allows the `pathfinder` to tunnel through walls when heading diagonally.
  -- @tparam[optchain] int clearance When given, will prune for the neighbours set all nodes having a clearance value lower than the passed-in value
	-- Defaults to __false__ when omitted.
  -- @treturn {node,...} an array of nodes neighbouring a given node
	-- @usage
	-- local aNode = myGrid:getNodeAt(5,6)
	-- local neighbours = myGrid:getNeighbours(aNode, 0, true)
  function Grid:getNeighbours(node, walkable, allowDiagonal, tunnel, clearance)
		local neighbours = {}
    for i = 1,#straightOffsets do
      local n = self:getNodeAt(
        node._x + straightOffsets[i].x,
        node._y + straightOffsets[i].y,
        node._z + straightOffsets[i].z
      )
      if n and self:isWalkableAt(n._x, n._y, n._z, walkable, clearance) then
        neighbours[#neighbours+1] = n
      end
    end

    if not allowDiagonal then return neighbours end

		tunnel = not not tunnel
    for i = 1,#diagonalOffsets do
      local n = self:getNodeAt(
        node._x + diagonalOffsets[i].x,
        node._y + diagonalOffsets[i].y
      )
      if n and self:isWalkableAt(n._x, n._y, walkable, clearance) then
				if tunnel then
					neighbours[#neighbours+1] = n
				else
					local skipThisNode = false
					local n1 = self:getNodeAt(node._x+diagonalOffsets[i].x, node._y)
					local n2 = self:getNodeAt(node._x, node._y+diagonalOffsets[i].y)
					if ((n1 and n2) and not self:isWalkableAt(n1._x, n1._y, walkable, clearance) and not self:isWalkableAt(n2._x, n2._y, walkable, clearance)) then
						skipThisNode = true
					end
					if not skipThisNode then neighbours[#neighbours+1] = n end
				end
      end
    end

    return neighbours
  end

  --- Grid iterator. Iterates on every single node
  -- in the `grid`. Passing __lx, ly, ex, ey__ arguments will iterate
  -- only on nodes inside the bounding-rectangle delimited by those given coordinates.
  -- @class function
  -- @tparam[opt] int lx the leftmost x-coordinate of the rectangle. Default to the `grid` leftmost x-coordinate (see @{Grid:getBounds}).
  -- @tparam[optchain] int ly the topmost y-coordinate of the rectangle. Default to the `grid` topmost y-coordinate (see @{Grid:getBounds}).
  -- @tparam[optchain] int ex the rightmost x-coordinate of the rectangle. Default to the `grid` rightmost x-coordinate (see @{Grid:getBounds}).
  -- @tparam[optchain] int ey the bottom-most y-coordinate of the rectangle. Default to the `grid` bottom-most y-coordinate (see @{Grid:getBounds}).
  -- @treturn node a `node` on the collision map, upon each iteration step
  -- @treturn int the iteration count
	-- @usage
	-- for node, count in myGrid:iter() do
	--   print(node:getX(), node:getY(), count)
	-- end
  function Grid:iter(lx,ly,lz,ex,ey,ez)
    local min_x = lx or self._min_x
    local min_y = ly or self._min_y
    local min_z = lz or self._min_z
    local max_x = ex or self._max_x
    local max_y = ey or self._max_y
    local max_z = ez or self._max_z

    local x, y, z
    z = min_z
    return function()
      x = not x and min_x or x+1
      if x > max_x then
        x = min_x
        y = y+1
      end
      y = not y and min_y or y+1
      if y > max_y then
        y = min_y
        z = z+1
      end
      if z > max_z then
        z = nil
      end
      return self._nodes[y] and self._nodes[y][x] and self._nodes[y][x][z] or self:getNodeAt(x,y,z)
    end
  end

	--- Grid iterator. Iterates on each node along the outline (border) of a squared area
	-- centered on the given node.
	-- @tparam node node a given `node`
	-- @tparam[opt] int radius the area radius (half-length). Defaults to __1__ when not given.
	-- @treturn node a `node` at each iteration step
	-- @usage
	-- for node in myGrid:around(node, 2) do
	--   ...
	-- end
	function Grid:around(node, radius)
		local x, y, z = node._x, node._y, node._z
		radius = radius or 1
		local _around = Utils.around()
		local _nodes = {}
		repeat
			local state, x, y, z = coroutine.resume(_around,x,y,z,radius)
			local nodeAt = state and self:getNodeAt(x, y, z)
			if nodeAt then _nodes[#_nodes+1] = nodeAt end
		until (not state)
		local _i = 0
		return function()
			_i = _i+1
			return _nodes[_i]
		end
	end

  --- Each transformation. Calls the given function on each `node` in the `grid`,
	-- passing the `node` as the first argument to function __f__.
  -- @class function
  -- @tparam func f a function prototyped as __f(node,...)__
  -- @tparam[opt] vararg ... args to be passed to function __f__
	-- @treturn grid self (the calling `grid` itself, can be chained)
	-- @usage
	-- local function printNode(node)
	--   print(node:getX(), node:getY())
	-- end
	-- myGrid:each(printNode)
  function Grid:each(f,...)
    for node in self:iter() do f(node,...) end
		return self
  end

  --- Each (in range) transformation. Calls a function on each `node` in the range of a rectangle of cells,
	-- passing the `node` as the first argument to function __f__.
  -- @class function
  -- @tparam int lx the leftmost x-coordinate coordinate of the rectangle
  -- @tparam int ly the topmost y-coordinate of the rectangle
  -- @tparam int ex the rightmost x-coordinate of the rectangle
  -- @tparam int ey the bottom-most y-coordinate of the rectangle
  -- @tparam func f a function prototyped as __f(node,...)__
  -- @tparam[opt] vararg ... args to be passed to function __f__
	-- @treturn grid self (the calling `grid` itself, can be chained)
	-- @usage
	-- local function printNode(node)
	--   print(node:getX(), node:getY())
	-- end
	-- myGrid:eachRange(1,1,8,8,printNode)
  function Grid:eachRange(lx,ly,ex,ey,f,...)
    for node in self:iter(lx,ly,ex,ey) do f(node,...) end
		return self
  end

  --- Map transformation.
	-- Calls function __f(node,...)__ on each `node` in a given range, passing the `node` as the first arg to function __f__ and replaces
	-- it with the returned value. Therefore, the function should return a `node`.
  -- @class function
  -- @tparam func f a function prototyped as __f(node,...)__
  -- @tparam[opt] vararg ... args to be passed to function __f__
	-- @treturn grid self (the calling `grid` itself, can be chained)
	-- @usage
	-- local function nothing(node)
	--   return node
	-- end
	-- myGrid:imap(nothing)
  function Grid:imap(f,...)
    for node in self:iter() do
      node = f(node,...)
    end
		return self
  end

  --- Map in range transformation.
	-- Calls function __f(node,...)__ on each `node` in a rectangle range, passing the `node` as the first argument to the function and replaces
	-- it with the returned value. Therefore, the function should return a `node`.
	-- @class function
  -- @tparam int lx the leftmost x-coordinate coordinate of the rectangle
  -- @tparam int ly the topmost y-coordinate of the rectangle
  -- @tparam int ex the rightmost x-coordinate of the rectangle
  -- @tparam int ey the bottom-most y-coordinate of the rectangle
  -- @tparam func f a function prototyped as __f(node,...)__
  -- @tparam[opt] vararg ... args to be passed to function __f__
	-- @treturn grid self (the calling `grid` itself, can be chained)
	-- @usage
	-- local function nothing(node)
	--   return node
	-- end
	-- myGrid:imap(1,1,6,6,nothing)
  function Grid:imapRange(lx,ly,ex,ey,f,...)
    for node in self:iter(lx,ly,ex,ey) do
      node = f(node,...)
    end
		return self
  end

  -- Specialized grids
  -- Inits a preprocessed grid
  function PreProcessGrid:new(map)
    local newGrid = {}
    newGrid._map = map
    newGrid._nodes, newGrid._min_x, newGrid._max_x, newGrid._min_y, newGrid._max_y, newGrid._min_z, newGrid._max_z = Utils.arrayToNodes(newGrid._map)
    newGrid._width = (newGrid._max_x-newGrid._min_x)+1
    newGrid._height = (newGrid._max_y-newGrid._min_y)+1
    newGrid._length = (newGrid._max_z-newGrid._min_z)+1
		newGrid._isAnnotated = {}
    return setmetatable(newGrid,PreProcessGrid)
  end

  -- Inits a postprocessed grid
  function PostProcessGrid:new(map)
    local newGrid = {}
    newGrid._map = map
    newGrid._nodes = {}
    newGrid._min_x, newGrid._max_x, newGrid._min_y, newGrid._max_y = Utils.getArrayBounds(newGrid._map)
    newGrid._width = (newGrid._max_x-newGrid._min_x)+1
    newGrid._height = (newGrid._max_y-newGrid._min_y)+1
		newGrid._isAnnotated = {}		
    return setmetatable(newGrid,PostProcessGrid)
  end

  --- Returns the `node` at location [x,y].
  -- @class function
  -- @name Grid:getNodeAt
  -- @tparam int x the x-coordinate coordinate
  -- @tparam int y the y-coordinate coordinate
  -- @treturn node a `node`
	-- @usage local aNode = myGrid:getNodeAt(2,2)

  -- Gets the node at location <x,y> on a preprocessed grid
  function PreProcessGrid:getNodeAt(x,y,z)
    return self._nodes[y] and self._nodes[y][x] and self._nodes[y][x][z] or nil
  end

  -- Gets the node at location <x,y> on a postprocessed grid
  function PostProcessGrid:getNodeAt(x,y,z)
    if not x or not y or not z then return end
    if Utils.outOfRange(x,self._min_x,self._max_x) then return end
    if Utils.outOfRange(y,self._min_y,self._max_y) then return end
    if Utils.outOfRange(z,self._min_z,self._max_z) then return end
    if not self._nodes[y] then self._nodes[y] = {} end
    if not self._nodes[y][x] then self._nodes[y][x] = {} end
    if not self._nodes[y][x][z] then self._nodes[y][x][z] = Node:new(x,y,z) end
    return self._nodes[y][x][z]
  end

  return setmetatable(Grid,{
    __call = function(self,...)
      return self:new(...)
    end
  })

end