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 = 10),
                (this.maxStep = 1e3),
                (this._round1 = [
                    [0, -1],
                    [1, -1],
                    [1, 0],
                    [0, 1],
                    [-1, 0],
                    [-1, -1]
                ]),
                (this._round2 = [
                    [0, -1],
                    [1, 0],
                    [1, 1],
                    [0, 1],
                    [-1, 1],
                    [-1, 0]
                ]),
                (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 console.log("目标不可达到："), [];
            (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 console.log("没找到目标计算步骤为：", i), this.seekPath(t, s);
                if ((i++, this.searchRoundNodes(this._currentNode), 0 == this._openlist.length))
                    return console.log("没找到目标计算步骤为：", i), 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 console.log("找到目标计算步骤为：", i), 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 = !1,
                    r = null;
                (n = (r =
                    2 == Math.abs(a.cx - s.cx) && s.cy == a.cy
                        ? o.cx % 2 == 0
                            ? o.cy == s.cy
                                ? this._roadNodes[o.cx + "_" + (o.cy + 1)]
                                : this._roadNodes[o.cx + "_" + (o.cy - 1)]
                            : o.cy == s.cy
                            ? this._roadNodes[o.cx + "_" + (o.cy - 1)]
                            : this._roadNodes[o.cx + "_" + (o.cy + 1)]
                        : r)
                    ? 1 != r.value
                    : n) && (t.splice(i, 1), i--);
            }
            for (i = 1; i < t.length - 1; i++) {
                (s = t[i - 1]), (o = t[i]), (a = t[i + 1]);
                var l = o.cx == s.cx && o.cx == a.cx,
                    h = o.cy == s.cy && o.cy == a.cy && s.cx % 2 == o.cx % 2 && o.cx % 2 == a.cx % 2,
                    c =
                        s.cy - Math.floor(s.cx / 2) == o.cy - Math.floor(o.cx / 2) &&
                        o.cy - Math.floor(o.cx / 2) == a.cy - Math.floor(a.cx / 2),
                    d =
                        s.cy + Math.ceil(s.cx / 2) == o.cy + Math.ceil(o.cx / 2) &&
                        o.cy + Math.ceil(o.cx / 2) == a.cy + Math.ceil(a.cx / 2);
                (l || h || c || d) && (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
                                ? (console.log("没找到目标计算步骤为：", a), void clearInterval(this.handle))
                                : (a++,
                                  this.searchRoundNodes(this._currentNode),
                                  0 == this._openlist.length
                                      ? (console.log("没找到目标计算步骤为：", a), void clearInterval(this.handle))
                                      : (this._openlist.sort(this.sortNode),
                                        (this._currentNode = this._openlist.shift()),
                                        void (this._currentNode == this._targetNode
                                            ? (console.log("找到目标计算步骤为：", a),
                                              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
                                              ]))))),
                        o
                    )));
        }
        searchRoundNodes(t) {
            for (var e = t.cx % 2 == 0 ? this._round1 : this._round2, i = 0; i < e.length; i++) {
                var s = t.cx + e[i][0],
                    o = t.cy + e[i][1],
                    o = this._roadNodes[s + "_" + o];
                null == o || o == this._startNode || 1 == o.value || this.isInCloseList(o) || this.setNodeF(o);
            }
        }
        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._round1 = null), (this._round2 = null);
        }
    });