var t = require;
var e = module;
var i = exports;
Object.defineProperty(i, "__esModule", {value: !0}),
    (i.default = class {
        constructor(t) {
            (this.COST_STRAIGHT = 10),
                (this.COST_DIAGONAL = 14),
                (this.maxStep = 1e3),
                (this._round = [
                    [0, -1],
                    [1, -1],
                    [1, 0],
                    [1, 1],
                    [0, 1],
                    [-1, 1],
                    [-1, 0],
                    [-1, -1]
                ]),
                (this.handle = -1),
                (this.optimize = !0),
                (this._roadNodes = t);
        }
        seekPath(t, e) {
            if (
                ((this._startNode = t),
                (this._currentNode = t),
                (this._targetNode = e),
                !this._startNode || !this._targetNode)
            )
                return [];
            if (1 == this._targetNode.value) return [];
            (this._openlist = []), (this._closelist = []);
            for (var i = 0; ; ) {
                if (i > this.maxStep) return [];
                if ((i++, this.searchRoundNodes(this._currentNode), 0 == this._openlist.length)) return [];
                if (
                    (this._openlist.sort(this.sortNode),
                    (this._currentNode = this._openlist.shift()),
                    this._currentNode == this._targetNode)
                )
                    return this.getPath();
                this._closelist.push(this._currentNode);
            }
            return [];
        }
        seekPath2(t, e) {
            if (
                ((this._startNode = t),
                (this._currentNode = t),
                (this._targetNode = e),
                !this._startNode || !this._targetNode)
            )
                return [];
            (this._openlist = []), (this._closelist = []);
            for (var i = 0, s = null; ; ) {
                if (i > this.maxStep) return this.seekPath(t, s);
                if ((i++, this.searchRoundNodes(this._currentNode), 0 == this._openlist.length))
                    return this.seekPath(t, s);
                if (
                    (this._openlist.sort(this.sortNode),
                    (this._currentNode = this._openlist.shift()),
                    (null == s || this._currentNode.h < s.h) && (s = this._currentNode),
                    this._currentNode == this._targetNode)
                )
                    return this.getPath();
                this._closelist.push(this._currentNode);
            }
            return this.seekPath(t, s);
        }
        sortNode(t, e) {
            return t.f < e.f ? -1 : t.f > e.f ? 1 : 0;
        }
        getPath() {
            for (var t = [], e = this._targetNode; e != this._startNode; ) t.unshift(e), (e = e.parent);
            if ((t.unshift(this._startNode), !this.optimize)) return t;
            for (var i = 1; i < t.length - 1; i++) {
                var s = t[i - 1],
                    o = t[i],
                    a = t[i + 1],
                    n = o.cx == s.cx && o.cx == a.cx,
                    r = o.cy == s.cy && o.cy == a.cy,
                    o = ((o.cx - s.cx) / (o.cy - s.cy)) * ((a.cx - o.cx) / (a.cy - o.cy)) == 1;
                (n || r || o) && (t.splice(i, 1), i--);
            }
            return t;
        }
        testSeekPathStep(t, e, i, s, o = 100) {
            var a;
            (this._startNode = t),
                (this._currentNode = t),
                (this._targetNode = e),
                1 != this._targetNode.value &&
                    ((this._openlist = []),
                    (this._closelist = []),
                    (a = 0),
                    clearInterval(this.handle),
                    (this.handle = setInterval(() => {
                        a > this.maxStep
                            ? clearInterval(this.handle)
                            : (a++,
                              this.searchRoundNodes(this._currentNode),
                              0 != this._openlist.length
                                  ? (this._openlist.sort(this.sortNode),
                                    (this._currentNode = this._openlist.shift()),
                                    this._currentNode == this._targetNode
                                        ? (clearInterval(this.handle),
                                          i.apply(s, [
                                              this._startNode,
                                              this._targetNode,
                                              this._currentNode,
                                              this._openlist,
                                              this._closelist,
                                              this.getPath()
                                          ]))
                                        : (this._closelist.push(this._currentNode),
                                          i.apply(s, [
                                              this._startNode,
                                              this._targetNode,
                                              this._currentNode,
                                              this._openlist,
                                              this._closelist,
                                              null
                                          ])))
                                  : clearInterval(this.handle));
                    }, o)));
        }
        searchRoundNodes(t) {
            for (var e = 0; e < this._round.length; e++) {
                var i = t.cx + this._round[e][0],
                    s = t.cy + this._round[e][1],
                    s = this._roadNodes[i + "_" + s];
                null == s ||
                    s == this._startNode ||
                    1 == s.value ||
                    this.isInCloseList(s) ||
                    this.inInCorner(s) ||
                    this.setNodeF(s);
            }
        }
        setNodeF(t) {
            var e =
                t.cx == this._currentNode.cx || t.cy == this._currentNode.cy
                    ? this._currentNode.g + this.COST_STRAIGHT
                    : this._currentNode.g + this.COST_DIAGONAL;
            if (this.isInOpenList(t)) {
                if (!(e < t.g)) return;
                t.g = e;
            } else (t.g = e), this._openlist.push(t);
            (t.parent = this._currentNode),
                (t.h =
                    (Math.abs(this._targetNode.cx - t.cx) + Math.abs(this._targetNode.cy - t.cy)) * this.COST_STRAIGHT),
                (t.f = t.g + t.h);
        }
        isInOpenList(t) {
            return -1 != this._openlist.indexOf(t);
        }
        isInCloseList(t) {
            return -1 != this._closelist.indexOf(t);
        }
        inInCorner(t) {
            if (t.cx == this._currentNode.cx || t.cy == this._currentNode.cy) return !1;
            var e = this._roadNodes[this._currentNode.cx + "_" + t.cy],
                t = this._roadNodes[t.cx + "_" + this._currentNode.cy];
            return null == e || 0 != e.value || null == t || 0 != t.value;
        }
        dispose() {
            (this._roadNodes = null), (this._round = null);
        }
    });