#include "maths/MathUtil.h"
#include "ps/CLogger.h"
#include "simulation2/system/ParamNode.h"
#include "graphics/Terrain.h"
#include "Grid.h"
#include "PathGoal.h"

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Classes
struct	Waypoint

struct	WaypointPath
	Returned path. More...

struct	PathCost
	Represents the cost of a path consisting of horizontal/vertical and diagonal movements over a uniform-cost grid. More...

class	PathfinderPassability

Namespaces
	Pathfinding

Macros
#define	IS_PASSABLE(item, classmask) (((item) & (classmask)) == 0)

#define	PASS_CLASS_MASK_FROM_INDEX(id) ((pass_class_t)(1u << id))

#define	SPECIAL_PASS_CLASS PASS_CLASS_MASK_FROM_INDEX((PASS_CLASS_BITS-1))

Typedefs
typedef u16	pass_class_t

typedef u16	NavcellData

Functions
void	Pathfinding::NearestNavcell (entity_pos_t x, entity_pos_t z, u16 &i, u16 &j, u16 w, u16 h)
	Compute the navcell indexes on the grid nearest to a given point w, h are the grid dimensions, i.e. More...

void	Pathfinding::TileCenter (u16 i, u16 j, entity_pos_t &x, entity_pos_t &z)
	Returns the position of the center of the given tile. More...

void	Pathfinding::NavcellCenter (u16 i, u16 j, entity_pos_t &x, entity_pos_t &z)

bool	Pathfinding::CheckLineMovement (entity_pos_t x0, entity_pos_t z0, entity_pos_t x1, entity_pos_t z1, pass_class_t passClass, const Grid< NavcellData > &grid)

Variables
static const int	PASS_CLASS_BITS = 16

const int	Pathfinding::NAVCELLS_PER_TILE = 4
	The long-range pathfinder operates primarily over a navigation grid (a uniform-cost 2D passability grid, with horizontal/vertical (not diagonal) connectivity). More...

const fixed	Pathfinding::NAVCELL_SIZE = fixed::FromInt((int)TERRAIN_TILE_SIZE) / Pathfinding::NAVCELLS_PER_TILE
	Size of a navcell in metres ( = TERRAIN_TILE_SIZE / NAVCELLS_PER_TILE) More...

const int	Pathfinding::NAVCELL_SIZE_INT = 1

const int	Pathfinding::NAVCELL_SIZE_LOG2 = 0

const entity_pos_t	Pathfinding::GOAL_DELTA = NAVCELL_SIZE/8
	For extending the goal outwards/inwards a little bit NOTE: keep next to the definition of NAVCELL_SIZE to avoid init order problems between translation units. More...

const entity_pos_t	Pathfinding::CLEARANCE_EXTENSION_RADIUS = fixed::FromInt(1)
	To make sure the long-range pathfinder is more strict than the short-range one, we need to slightly over-rasterize. More...