// javascript-astar
// http://github.com/bgrins/javascript-astar
// Freely distributable under the MIT License.
// Includes Binary Heap (with modifications) from Marijn Haverbeke.
// http://eloquentjavascript.net/appendix2.html


var GraphNodeType = {
    OPEN: 0,
    WALL: 1
};

// Creates a Graph class used in the astar search algorithm.
function Graph(grid) {
    var nodes = [];

    var row, rowLength, len = grid.length;
    console.log("Length:" + len);
    for (var x = 0; x < len; ++x) {
        row = grid[x];
        rowLength = row.length;
        nodes[x] = new Array(rowLength);
        for (var y = 0; y < rowLength; ++y) {
            nodes[x][y] = new GraphNode(x, y, row[y]);
        }
    }

    this.input = grid;
    this.nodes = nodes;
}

Graph.prototype.toString = function() {
    var graphString = "\n";
    var nodes = this.nodes;
    var rowDebug, row, y, l;
    for (var x = 0, len = nodes.length; x < len; x++) {
        rowDebug = "";
        row = nodes[x];
        for (y = 0, l = row.length; y < l; y++) {
            rowDebug += row[y].type + " ";
        }
        graphString = graphString + rowDebug + "\n";
    }
    return graphString;
};

function GraphNode(x,y,type) {
    this.data = { };
    this.x = x;
    this.y = y;
    this.pos = {
        x: x,
        y: y
    };
    this.type = type;
}

GraphNode.prototype.toString = function() {
    return "[" + this.x + " " + this.y + "]";
};

GraphNode.prototype.isWall = function() {
    return this.type == GraphNodeType.WALL;
};


function BinaryHeap(scoreFunction){
    this.content = [];
    this.scoreFunction = scoreFunction;
}

BinaryHeap.prototype = {
    push: function(element) {
        // Add the new element to the end of the array.
        this.content.push(element);

        // Allow it to sink down.
        this.sinkDown(this.content.length - 1);
    },
    pop: function() {
        // Store the first element so we can return it later.
        var result = this.content[0];
        // Get the element at the end of the array.
        var end = this.content.pop();
        // If there are any elements left, put the end element at the
        // start, and let it bubble up.
        if (this.content.length > 0) {
             this.content[0] = end;
             this.bubbleUp(0);
        }
        return result;
    },
    remove: function(node) {
        var i = this.content.indexOf(node);

        // When it is found, the process seen in 'pop' is repeated
        // to fill up the hole.
        var end = this.content.pop();

        if (i !== this.content.length - 1) {
            this.content[i] = end;

            if (this.scoreFunction(end) < this.scoreFunction(node)) {
                this.sinkDown(i);
            }
            else {
                this.bubbleUp(i);
            }
        }
    },
    size: function() {
        return this.content.length;
    },
    rescoreElement: function(node) {
        this.sinkDown(this.content.indexOf(node));
    },
    sinkDown: function(n) {
        // Fetch the element that has to be sunk.
        var element = this.content[n];

        // When at 0, an element can not sink any further.
        while (n > 0) {

            // Compute the parent element's index, and fetch it.
            var parentN = ((n + 1) >> 1) - 1,
                parent = this.content[parentN];
            // Swap the elements if the parent is greater.
            if (this.scoreFunction(element) < this.scoreFunction(parent)) {
                this.content[parentN] = element;
                this.content[n] = parent;
                // Update 'n' to continue at the new position.
                n = parentN;
            }

            // Found a parent that is less, no need to sink any further.
            else {
                break;
            }
        }
    },
    bubbleUp: function(n) {
        // Look up the target element and its score.
        var length = this.content.length,
            element = this.content[n],
            elemScore = this.scoreFunction(element);

        while(true) {
            // Compute the indices of the child elements.
            var child2N = (n + 1) << 1, child1N = child2N - 1;
            // This is used to store the new position of the element,
            // if any.
            var swap = null;
            // If the first child exists (is inside the array)...
            if (child1N < length) {
            // Look it up and compute its score.
            var child1 = this.content[child1N],
                child1Score = this.scoreFunction(child1);

            // If the score is less than our element's, we need to swap.
            if (child1Score < elemScore)
                swap = child1N;
            }

            // Do the same checks for the other child.
            if (child2N < length) {
                var child2 = this.content[child2N],
                    child2Score = this.scoreFunction(child2);
                if (child2Score < (swap === null ? elemScore : child1Score)) {
                    swap = child2N;
                }
            }

            // If the element needs to be moved, swap it, and continue.
            if (swap !== null) {
                this.content[n] = this.content[swap];
                this.content[swap] = element;
                n = swap;
            }

            // Otherwise, we are done.
            else {
                break;
            }
        }
    }
};