Node.h

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#pragma once
 
#include "Action.h"
#include "WorldState.h"
 
namespace Divide {
 
namespace goap {
    struct Node {
        static I32 last_id_; // a static that lets us assign incrementing, unique IDs to nodes
 
        WorldState ws_;      // The state of the world at this node.
        I32 id_;             // the unique ID of this node
        I32 parent_id_;      // the ID of this node's immediate predecessor
        I32 g_;              // The A* cost from 'start' to 'here'
        I32 h_;              // The estimated remaining cost to 'goal' form 'here'
        const Action* action_;     // The action that got us here (for replay purposes)
 
        Node() noexcept;
        Node(const WorldState& state, I32 g, I32 h, I32 parent_id, const Action* action);
 
        // F -- which is simply G+H -- is autocalculated
        inline I32 f() const noexcept { return g_ + h_; }
 
//        /**
//         Less-than operator, needed for keeping Nodes sorted.
//         @param other the other node to compare against
//         @return true if this node is less than the other (using F)
//         */
//        bool operator<(const Node& other);
 
        [[nodiscard]] string toString( ) const;
 
    };
 
    bool operator<(const Node& lhs, const Node& rhs) noexcept;
} //namespace goap
} //namespace Divide