Waypoint

using UnityEngine;
using System.Collections;
using Priority_Queue;
using System.Collections.Generic;

public class Waypoint : PriorityQueueNode
{
    private Vector2 pt;
    public float x;
    public float y;
    public Waypoint next;
    public Waypoint prev;
    public float cost; // movement cost of this waypoint
    public float totalCost; // total movement cost to get to this waypoint from previous ones

    private List<Waypoint> Successors;

    // use this constructor if the waypoint has no previous or future (known) waypoints to go to yet
    public Waypoint(Vector2 point)
    {
        pt = point;
        x = point.x;
        y = point.y;
        next = null;
        prev = null;
        Successors = new List<Waypoint>();

        TileMath tm = TileMath.GetTileMath((int)x, (int)y);

        cost = tm.GetPathfindingHeuristic();
        totalCost = cost;


    }

    // use this constructor to record the waypoint as having a previous waypoint, next one, or both
    public Waypoint(Vector2 point, Waypoint child, Waypoint parent)
    {
        pt = point;
        x = point.x;
        y = point.y;
        next = child;
        prev = parent;
        Successors = new List<Waypoint>();

        TileMath tm = TileMath.GetTileMath((int)x, (int)y);

        cost = tm.GetPathfindingHeuristic();

        totalCost = cost;

        Waypoint temp = this.prev;

        while(temp != null)
        {
            TileMath currWP = TileMath.GetTileMath((int)temp.x, (int)temp.y);

            totalCost = totalCost + currWP.GetPathfindingHeuristic();

            temp = temp.prev;
        }
    }

    public Vector2 GetPoint()
    {
        return pt;
    }

    public List<Waypoint> GetSuccessors()
    {
        Successors.Clear();

        TileMath tm = TileMath.GetTileMath((int)x,(int)y);

        // check LEFT traversability, if it can be walked on, add it to the successor list
        TileMath left = tm.GetLeftNeighbor();
        if(left.GetIsHorizontallyTraversable())
        {
            Waypoint l = new Waypoint(new Vector2(left.GetX(), left.GetY()), null, this);
            Successors.Add(l);
        }

        // check RIGHT traversability, if it can be walked on, add it to the successor list
        TileMath right = tm.GetRightNeighbor();
        if(right.GetIsHorizontallyTraversable())
        {
            Waypoint r = new Waypoint(new Vector2(right.GetX(), right.GetY()), null, this);
            Successors.Add(r);
        }


        return Successors;
    }

}