Tutorial_VisualGeometry.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/basesystemenv.h"

#include "LabEngine/base/kaimlogimplementation.h"
#include "LabEngine/base/kaimfileopener.h"
#include "LabEngine/utils/labengineutils.h"

#include "gwnavruntime/world/world.h"
#include "gwnavruntime/world/bot.h"
#include "gwnavruntime/navdata/navdata.h"
#include "gwnavruntime/visualsystem/visualprimitives.h"

// This tutorial shows how to recover triangles that represent the NavData loaded in a Database.

//RUN_THIS_FILE

namespace
{

// Use BaseSystemEnv to initialize Kaim::BaseSystem in this tutorial.
// For more information on initializing the BaseSystem, see Tutorial_BaseSystem.cpp. 
#define TEST_ENV_CLASS BaseSystemEnv
  TEST_ENV {}


// Simple class that shows how to collect an array of Triangles representing a the NavData loaded in a Database.
class NavDataVisualGeometryBuilder : public Kaim::IVisualGeometry
{

public:
    virtual void DoBegin(const Kaim::VisualGeometrySetupConfig& /*setupConfig*/) { m_triangles.Clear();            }
    virtual void DoPushTriangle(const Kaim::VisualTriangle& triangle)            { m_triangles.PushBack(triangle); }
    virtual void DoPushLine(const Kaim::VisualLine& /*visualLine*/) {}
    virtual void DoPushText(const Kaim::VisualText& /*visualText*/) {}
    virtual void DoEnd() {}

    KyUInt32 GetTriangleCount() const { return m_triangles.GetCount(); }

private:
    Kaim::KyArray<Kaim::VisualTriangle> m_triangles;
};

TUTORIAL // Add NavData with immediate mode (might be slow but convenient).
{
    // Create a world and a database.
    Kaim::Ptr<Kaim::World> world = *KY_NEW Kaim::World;
    Kaim::Database* database = world->GetDatabase(0);
    Kaim::Ptr<Kaim::NavData> navData = *KY_NEW Kaim::NavData(database);
    
    Kaim::Ptr<NavDataVisualGeometryBuilder> geometry = *KY_NEW NavDataVisualGeometryBuilder;
    database->SetVisualGeometry(geometry);

    LabEngine::KaimFileOpener fileOpener; // NOTE: the SDK comes with a default file opener: Kaim::DefaultFileOpener.
    if (Kaim::Result::Fail(navData->Load(env.GetAbsoluteInputFileName("GeneratedNavData/plan/plan.NavData").c_str(), &fileOpener)))
        return;

    navData->Init(database);
    navData->AddToDatabaseImmediate(); // To be certain the NavData is added.

    // After calling this function (provided the NavData was successfully added),
    // geometry should contain all the triangles of the NavData.
    database->BuildVisualGeometry();

    TestLog() << "There are " << geometry->GetTriangleCount() << " triangles\n";
}

TUTORIAL // Add NavData with async mode (might be slow but convenient).
{
    // Create a world and a database.
    Kaim::Ptr<Kaim::World> world = *KY_NEW Kaim::World;
    Kaim::Database* database = world->GetDatabase(0);
    Kaim::Ptr<Kaim::NavData> navData = *KY_NEW Kaim::NavData(database);

    Kaim::Ptr<NavDataVisualGeometryBuilder> geometry = *KY_NEW NavDataVisualGeometryBuilder;
    database->SetVisualGeometry(geometry);

    LabEngine::KaimFileOpener fileOpener; // NOTE: the SDK comes with a default file opener: Kaim::DefaultFileOpener.
    if (Kaim::Result::Fail(navData->Load(env.GetAbsoluteInputFileName("GeneratedNavData/plan/plan.NavData").c_str(), &fileOpener)))
        return;

    navData->Init(database);
    navData->AddToDatabaseAsync();

    while (database->HasChangedLastFrame() == false) // We need to wait till NavData has loaded.
    {
        world->Update();
    }

    // After calling this function (provided the NavData was successfully added),
    // geometry should contain all the triangles of the NavData.
    database->BuildVisualGeometry();

    TestLog() << "There are " << geometry->GetTriangleCount() << " triangles\n";
}

}