astarquery.h

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/*
* 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.
*/


// Primary contact: JUBA - secondary contact: NOBODY
#ifndef Navigation_AstarQuery_H
#define Navigation_AstarQuery_H

#include "gwnavruntime/queries/utils/baseastarquery.h"
#include "gwnavruntime/queries/utils/astartraversal.h"
#include "gwnavruntime/queries/utils/astartraversalcontext.h"
#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/path/path.h"
#include "gwnavruntime/channel/channelarraycomputer.h"


namespace Kaim
{



template<class TraverseLogic>
class AStarQuery : public BaseAStarQuery
{
public:

    // ---------------------------------- Public Member Functions ----------------------------------

    AStarQuery();
    virtual ~AStarQuery();

    // ---------------------------------- Functions to set up the query ----------------------------------

    void BindToDatabase(Database* database);

    void Initialize(const Vec3f& startPos, const Vec3f& destPos);

    // ---------------------------------- write accessors for query inputs ----------------------------------

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);

    void SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode);

    void SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr);

    void SetDestTrianglePtr(const NavTrianglePtr& destTrianglePtr);

    void SetDestNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode);

    void SetDestNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr);

    // ---------------------------------- write accessors for query parameters ----------------------------------

    void SetPropagationBoxExtent(KyFloat32 propagationBoxExtent);

    void SetTryCanGoMode(AStarQueryTryCanGoMode tryCanGoMode);

    void SetFromOutsideNavMeshDistance(KyFloat32 fromOutsideNavMeshDistance);
    
    void SetToOutsideNavMeshDistance(KyFloat32 toOutsideNavMeshDistance);

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);

    void SetComputeChannelMode(PathFinderQueryComputeChannelMode computeChannelMode);

    void SetChannelComputerConfig(const ChannelComputerConfig& channelComputerConfig);

    void SetAbstractGraphTraversalMode(PathFinderAbstractGraphTraversalMode abstractGraphTraversalMode);

    void SetNumberOfProcessedNodePerFrame(KyUInt32 numberOfProcessedNodePerFrame);

    // ---------------------------------- Query framework functions ----------------------------------

    virtual void Advance(WorkingMemory* workingMemory);

    virtual void ReleaseWorkingMemoryOnCancelDuringProcess(WorkingMemory* workingMemory = KY_NULL);

    // ---------------------------------- Accessors ----------------------------------
    AStarQueryResult           GetResult()                        const;
    AStarQueryTryCanGoMode     GetTryCanGoMode()                  const;
    KyFloat32                  GetFromOutsideNavMeshDistance()    const;
    KyFloat32                  GetToOutsideNavMeshDistance()      const;
    KyFloat32                  GetPropagationBoxExtent()          const;
    const Vec3f&               GetStartPos()                      const;
    const Vec3f&               GetDestPos()                       const;
    const NavTrianglePtr&      GetStartTrianglePtr()              const;
    const NavGraphEdgePtr&     GetStartNavGraphEdgePtr()          const;
    const NavGraphVertexPtr&   GetStartNavGraphVertexPtr()        const;
    const NavTrianglePtr&      GetDestTrianglePtr()               const;
    const NavGraphEdgePtr&     GetDestNavGraphEdgePtr()           const;
    const NavGraphVertexPtr&   GetDestNavGraphVertexPtr()         const;
    Path*                      GetPath()                          const;
    KyUInt32                   GetNumberOfProcessedNodePerFrame() const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

    void ComputePathRefinerConfigInternals();
    const PathRefinerConfig& GetPathRefinerConfig() const;

public: //Internal
    bool HasNavDataChanged();

protected:
    void SetFinish(WorkingMemory* workingMemory);
    KyResult ComputeStartGraphEdgeOrGraphVertexOrTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeStartTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeDestTriangleIfNeeded(PathFinderQueryUtils& queryUtils);
    KyResult InitializeContextAndStartNode(PathFinderQueryUtils& queryUtils);
    KyResult InitDestinationNode();
    KyResult InitDestinationNodeFromDestNavGraphEdge();
    KyResult InitDestinationNodeFromDestNavGraphVertex();
    KyResult InitDestinationNodeFromDestNavTriangle();
    KyResult InitTraversalFromStartNode(PathFinderQueryUtils& queryUtils);
    void InitPropagationBounds();

    KyResult CheckNavDataChangeFromAstarContext(WorkingMemory* workingMemory);
    KyResult CheckNavDataChange(WorkingMemory* workingMemory);
    bool HasExplorationReachedDestNode();

    bool ShouldReturnAfterTryingCanGo(WorkingMemory* workingMemory);

    KyUInt32 CountAbstractGraphNodes(WorkingMemory* workingMemory, AStarNodeIndex& concreteDestinationNodeIdx);
    void BuildAbstractPath(WorkingMemory* workingMemory, AStarNodeIndex& concreteDestAStarNodeIndex);

protected:
    class TraversalCustomizer
    {
    public:
        typedef TraverseLogic TLogic;

        TraversalCustomizer();


        bool CanTraverse(const NavTriangleRawPtr& triangleRawPtr, KyFloat32* costMultiplier);
        bool CanTraverse(const NavGraphEdgeRawPtr& edgeRawPtr, KyFloat32* costMultiplier);
        bool CanEnterNavTag(const NavTag& exitNavTag, const NavTag& enterNavTag, const Vec3f& pos);
        KyFloat32 GetHeuristicFromNodePosition(const Vec3f& nodePosition);

        void* GetTraverseLogicUserData() const { return m_traverseLogicUserData; }
        bool ShouldVisitNode(AStarTraversalContext* aStarTraversalContext, AStarNodeIndex nodeIndex);
        bool IsNodeOutsidePropagationBounds(AStarTraversalContext* aStarTraversalContext, AStarNodeIndex nodeIndex);
        bool ShouldOpenHalfEdgeNode(const NavHalfEdgeRawPtr& halfEdge, NavHalfEdgeRawPtr& pairHalfEdgeOfNewNode);
        bool ShouldOpenGraphVertexNode(const NavGraphVertexRawPtr& navGraphVertexRawPtr);
        bool ShouldOpenAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        bool ShouldOpenNavTriangleUnderAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        Vec3f ComputeNodePositionOnHalfEdge(AStarTraversalContext* aStarTraversalContext, const Vec3f& startPosOfEdge, const Vec3f& endPosOfEdge, AStarNodeIndex predecessorNodeIndex);
        KyResult OnNavTriangleExplored(AStarTraversalContext* aStarTraversalContext, const NavTriangleRawPtr& navTriangleRawPtr, AStarNodeIndex currentNodeIndex);
        KyResult OnNavGraphEdgeExplored(AStarTraversalContext* aStarTraversalContext, const NavGraphEdgeRawPtr& navGraphEdgeRawPtr, AStarNodeIndex currentNodeIndex);

        OrientedBox2d m_propagationBox;
        AStarQuery<TraverseLogic>* m_astarQuery;
        NavTriangleRawPtr m_destTriangleRawPtr;
        NavGraphEdgeRawPtr m_destNavGraphEdgeRawPtr[2];
        void* m_traverseLogicUserData;
    };

    AStarTraversal<TraversalCustomizer> m_traversal;
};

}

#include "gwnavruntime/queries/astarquery.inl"

#endif //Navigation_AstarQuery_H