import java.lang.Comparable;
import java.lang.Float;
import java.util.Vector;

public class Node implements Comparable {

  public Point location;
  public boolean walkable;

  // A* things
  public Node parent = null;
  public float f = 0.0f;
  public float g = 0.0f;
  public float h = 0.0f;
  public Vector neighbours = new Vector();

  public Node(Point location, boolean walkable) {
    this.location = location;
    this.walkable = walkable;
  }

  public void reset() {
    parent = null;
    f = g = h = 0.0f;
  }

  public int compareTo(Object o) {
    Node n = (Node)o;
    return new Float(f).compareTo(new Float(n.f));
  } 

  public void setF(Node finish) {
    setG();
    setH(finish);
    f = g + h;
  }

  public void setG() {
    g = parent.g + location.dist(parent.location);
  }

  // using crow-flies distances to estimate costs
  // manhattan is cheaper, but overestimating is bad?
  public void setH(Node finish) {
    h = location.dist(finish.location);
    //h = location.manhattan(finish.location);
  }

}