#ifndef GRIDNODE_H
#define GRIDNODE_H

#include "GridNodeBBox.h"
#include "GridPoint.h"

/** forward decl. */
template<typename> class Grid;


/**
 * INTERNAL DATASTRUCTURE
 * this data-structure is internally used by the Grid
 * to store additional information for each node besides
 * the user's requested data-structure
 */
struct GridNode {

private:

	/** grant full access to the grid */
	template<typename> friend class Grid;

	/** INTERNAL: node's index array-index */
	int _idx;

	/** INTERNAL: store neighbors (via index) */
	int _neighbors[10];

	/** INTERNAL: number of neighbors */
	uint8_t _numNeighbors;

	/** semantic annotation for this node */
	uint8_t _type;






public:

	static const uint8_t TYPE_FLOOR = 0;
	static const uint8_t TYPE_STAIR = 1;
	static const uint8_t TYPE_ELEVATOR = 2;
	static const uint8_t TYPE_DOOR = 3;

public:

	/** ctor */
	GridNode() : _idx(-1), _neighbors(), _numNeighbors(0), _type(0) {;}


	/** get the node's index within its grid */
	int getIdx() const {return _idx;}

	/** get the number of neighbors for this node */
	int getNumNeighbors() const {return _numNeighbors;}

	/** reached neighbor limit? */
	bool fullyConnected() const {return _numNeighbors >= 10;}

	/** is this node connected to the given index? */
	bool hasNeighbor(const int idx) const {
		for (int i = 0; i < _numNeighbors; ++i) {
			if (_neighbors[i] == idx) {return true;}
		}
		return false;
	}

	/** get the node's semantic type */
	uint8_t getType() const {return _type;}

	/** set the node's semantic type */
	void setType(const uint8_t type) {this->_type = type;}

//	/** get the n-th neighbor for this node */
//	template <int gridSize_cm, typename T> inline T& getNeighbor(const int nth, const Grid<gridSize_cm, T>& grid) const {
//		return grid.getNeighbor(_idx, nth);
//	}

};

#endif // GRIDNODE_H