//========= Copyright © 1996-2005, Valve Corporation, All rights reserved. ============//
//
// Purpose: 
//
// $NoKeywords: $
//
//=============================================================================//
// nav_pathfind.h
// Path-finding mechanisms using the Navigation Mesh
// Author: Michael S. Booth (mike@turtlerockstudios.com), January 2003

#ifndef _CS_NAV_PATHFIND_H_
#define _CS_NAV_PATHFIND_H_

#include "nav_pathfind.h"

//--------------------------------------------------------------------------------------------------------------
/**
 * Compute travel distance along shortest path from startPos to goalPos. 
 * Return -1 if can't reach endPos from goalPos.
 */
template< typename CostFunctor >
float NavAreaTravelDistance( const Vector &startPos, const Vector &goalPos, CostFunctor &costFunc )
{
	CNavArea *startArea = TheNavMesh->GetNearestNavArea( startPos );
	if (startArea == NULL)
	{
		return -1.0f;
	}

	// compute path between areas using given cost heuristic
	CNavArea *goalArea = NULL;
	if (NavAreaBuildPath( startArea, NULL, &goalPos, costFunc, &goalArea ) == false)
	{
		return -1.0f;
	}

	// compute distance along path
	if (goalArea->GetParent() == NULL)
	{
		// both points are in the same area - return euclidean distance
		return (goalPos - startPos).Length();
	}
	else
	{
		CNavArea *area;
		float distance;

		// goalPos is assumed to be inside goalArea (or very close to it) - skip to next area
		area = goalArea->GetParent();
		distance = (goalPos - area->GetCenter()).Length();

		for( ; area->GetParent(); area = area->GetParent() )
		{
			distance += (area->GetCenter() - area->GetParent()->GetCenter()).Length();
		}

		// add in distance to startPos
		distance += (startPos - area->GetCenter()).Length();

		return distance;
	}
}

#endif // _CS_NAV_PATHFIND_H_