Tutorial_Obstacles.cpp

/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/

#include "common/oneworldenv.h"

#include "gwnavruntime/world/boxobstacle.h"

#include "LabEngine/base/kaimfileopener.h"
#include "gwnavruntime/base/fileopener.h"



//RUN_THIS_FILE

namespace
{

#define TEST_ENV_CLASS OneWorldEnv
TEST_ENV {}

// This tutorial illustrates how to create, update, and remove Cylinder and Box obstacles.

TUTORIAL // Create and update CylinderObstacle
{
    KT_LOG_TITLE_BEGIN("TUTORIAL - Create and update CylinderObstacle");
    CHECK(env.LoadAndAddNavData("GeneratedNavData/plan/plan.NavData") != KY_NULL);
    env.StartVisualDebugUsingLocalFile("CylinderObstacle.VisualDebug"); // Load this file in the NavigationLab to view the result of this tutorial
    Kaim::World* navWorld = env.GetWorld();

    Kaim::Ptr<Kaim::CylinderObstacle> cylinderObstacle = *KY_NEW Kaim::CylinderObstacle;
    Kaim::CylinderObstacleInitConfig cylinderObstacleInitConfig;
    cylinderObstacleInitConfig.m_world = env.GetWorld(); // Kaim::World is mandatory
    cylinderObstacleInitConfig.m_startPosition = Kaim::Vec3f(1.f, 0.f, 0.f);
    cylinderObstacleInitConfig.m_height = 2.f;
    cylinderObstacleInitConfig.m_radius = 1.f;
    cylinderObstacle->Init(cylinderObstacleInitConfig);

    for (KyUInt32 gameFrame = 0; gameFrame < 10; ++gameFrame)
    {
        // Obstacles can be added or removed during the course of a game;
        // they are only updated when they have effectively changed.
        switch (gameFrame)
        {
        case 0:
            cylinderObstacle->AddToWorld(); // add your obstacle to the world
        case 1:
        case 2:
        case 3:
        case 7:
            {
                // Consider that the obstacle moves during these frames.
                cylinderObstacle->SetPosition(cylinderObstacle->GetPosition() + cylinderObstacle->GetVelocity());
                cylinderObstacle->SetVelocity(Kaim::Vec3f::UnitX());
                break;
            }
        case 4:
            cylinderObstacle->RemoveFromWorld(); // Remove the obstacle from the world.
            break;
        case 6:
            cylinderObstacle->AddToWorld(); // (Re)Add the obstacle to the world.
            break;
        case 8:
            {
                cylinderObstacle->SetPosition(cylinderObstacle->GetPosition());
                cylinderObstacle->SetVelocity(Kaim::Vec3f::Zero());
                break;
            }
        default:
            break;
        }


        navWorld->Update();
    }

    cylinderObstacle = KY_NULL;

    env.CleanUpWorld();
}

TUTORIAL // Create and Update BoxObstacle
{
    KT_LOG_TITLE_BEGIN("TUTORIAL - Create and Update BoxObstacle");
    CHECK(env.LoadAndAddNavData("GeneratedNavData/plan/plan.NavData") != KY_NULL);
    env.StartVisualDebugUsingLocalFile("BoxObstacle.VisualDebug"); // Load this file in the NavigationLav to watch the result of this tutorial
    Kaim::World* navWorld = env.GetWorld();

    // Create and initialize the BoxObstacle.
    Kaim::Ptr<Kaim::BoxObstacle> boxObstacle = *KY_NEW Kaim::BoxObstacle;
    Kaim::BoxObstacleInitConfig boxObstacleInitConfig;
    boxObstacleInitConfig.m_world = env.GetWorld(); // Kaim::World is mandatory
    boxObstacleInitConfig.m_startPosition = Kaim::Vec3f(1.f, 0.f, 0.f);
    boxObstacleInitConfig.m_rotationMode = Kaim::BoxObstacleRotation_Free; // the expected rotation model
    boxObstacleInitConfig.m_localHalfExtents = Kaim::Vec3f(1.f, 1.f, 1.f); // this example is a box of one cubic meter
    boxObstacle->Init(boxObstacleInitConfig);
    
    boxObstacle->AddToWorld(); // add your obstacle to the world
    
    for (KyUInt32 gameFrame = 0; gameFrame < 10; ++gameFrame)
    {
        // BoxObstacles are similar to CylinderObstacle in terms of removal from and addition to the world;
        // the BoxObstacle update config is, however, different from the CylinderObstacle update config:
        // a Kaim::Transofrm gives the position and orientation of the Kaim::BoxObstacle, and
        // linear and angular velocities must be update as well.
        const Kaim::Vec3f boxCenterRelativePosition = boxObstacle->GetTransform().GetRootVector(boxObstacle->GetLocalCenter());
        Kaim::Vec3f boxCenterOnNavMesh = boxObstacle->GetTransform().m_translation + boxCenterRelativePosition;
        boxCenterOnNavMesh += Kaim::Vec3f::UnitX();
        Kaim::Transform transform;
        transform.m_translation = boxCenterOnNavMesh;
        boxObstacle->SetTransform(transform);
        boxObstacle->SetLinearVelocity(Kaim::Vec3f::UnitX());
        boxObstacle->SetAngularVelocity(Kaim::Vec3f::Zero());

        navWorld->Update();
    }

    boxObstacle = KY_NULL;

    env.CleanUpWorld();
}


TUTORIAL // Create and Update BoxObstacle in a Y-up client world
{
    KT_LOG_TITLE_BEGIN("TUTORIAL - Create and Update BoxObstacle");
    CHECK(env.LoadAndAddNavData("GeneratedNavData/village_with_building_100m_yUP/village_with_building_100m_yUP.NavData") != KY_NULL);
    env.StartVisualDebugUsingLocalFile("BoxObstacle_Yup.VisualDebug"); // Load this file in the NavigationLav to watch the result of this tutorial
    Kaim::World* navWorld = env.GetWorld();

    // Setup a CoordSystem to ease the game world <=> Navigation world conversions
    Kaim::CoordSystem coordSystem;
    KyFloat32 oneMeterInClientUnits = 100.0f; 
    Kaim::CoordSystem::ClientAxis clientAxisForX = Kaim::CLIENT_X;
    Kaim::CoordSystem::ClientAxis clientAxisForY = Kaim::CLIENT_MINUS_Z;
    Kaim::CoordSystem::ClientAxis clientAxisForZ = Kaim::CLIENT_Y;
    coordSystem.Setup(oneMeterInClientUnits, clientAxisForX, clientAxisForY, clientAxisForZ);

    // Define box parameters in client coordinate system
    Kaim::Vec3f boxClientHalfExtents(200.0f, 50.0f, 100.0f);
    Kaim::Vec3f boxClientAngularVelocity(0.0f, Kaim::KY_PI, 0.0f);
    Kaim::Transform boxClientTransform;
    boxClientTransform.m_rotationMatrix.SetRotation(Kaim::Vec3f(1.0f, 0.0f, 0.0f), Kaim::KY_PI / 3.0f); // initial rotation is 60 degrees counterclockwise around Navigation X axis (client X too)
    boxClientTransform.m_translation.Set(3000.0f, -50.0f, 3000.0f); // 1 meter is client 100 units

    // Create and initialize the BoxObstacle.
    Kaim::Ptr<Kaim::BoxObstacle> boxObstacle = *KY_NEW Kaim::BoxObstacle;
    Kaim::BoxObstacleInitConfig boxObstacleInitConfig;
    boxObstacleInitConfig.m_world = env.GetWorld(); // Kaim::World is mandatory
    boxObstacleInitConfig.m_rotationMode = Kaim::BoxObstacleRotation_Yaw;
    coordSystem.ClientToNavigation_Pos(boxClientTransform.m_translation, boxObstacleInitConfig.m_startPosition);
    coordSystem.ClientToNavigation_Extents(boxClientHalfExtents, boxObstacleInitConfig.m_localHalfExtents);
    boxObstacle->Init(boxObstacleInitConfig);

    boxObstacle->AddToWorld(); // add your obstacle to the world

    // This matrix express the frame rotation to apply to the box in client coordinate system.
    // This is a yaw-only rotation (i.e. around client Y axis) with a angular speed of Pi / 4 rad per second
    // at 60 frame per seconds.
    const Kaim::Matrix3x3f clientRotationMatrix(Kaim::Vec3f(0.0f, 1.0f, 0.0f), 0.004f * Kaim::KY_PI);

    for (KyUInt32 gameFrame = 0; gameFrame < 100; ++gameFrame)
    {
        // Update client box. This should be done by your physics or equivalent component
        // in your own simulation.
        boxClientTransform.m_rotationMatrix = clientRotationMatrix * boxClientTransform.m_rotationMatrix;

        // Update Navigation box accordingly
        Kaim::Transform transform;
        Kaim::Vec3f angularVelocity;
        coordSystem.ClientToNavigation_Transform(boxClientTransform, transform);
        coordSystem.ClientToNavigation_AngularVelocity(boxClientAngularVelocity, angularVelocity);
        boxObstacle->SetTransform(transform);
        boxObstacle->SetAngularVelocity(angularVelocity);

        navWorld->Update();
    }

    boxObstacle = KY_NULL;

    env.CleanUpWorld();
}


}