astartypes.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_AStarTypes_H
#define Navigation_AStarTypes_H


#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavruntime/navmesh/traverselogic.h"
#include "gwnavruntime/navmesh/identifiers/navhalfedgeptr.h"
#include "gwnavruntime/navmesh/worldintegerpos.h"

#include "gwnavruntime/navgraph/identifiers/navgraphvertexrawptr.h"
#include "gwnavruntime/abstractgraph/identifiers/abstractgraphnoderawptr.h"
#include "gwnavruntime/querysystem/workingmemcontainers/workingmembinaryheap.h"

namespace Kaim
{

typedef KyUInt32 AStarNodeIndex;
static const AStarNodeIndex AStarNodeIndex_Invalid = KyUInt32MAXVAL;
static const AStarNodeIndex AStarNodeIndex_StartNode = 0;
static const AStarNodeIndex  AStarNodeIndex_DestNode = 1;

typedef KyUInt8 PathNodeType;
static const PathNodeType NodeType_Invalid = KyUInt8MAXVAL;
static const PathNodeType NodeType_NavMeshEdge             = 0;
static const PathNodeType NodeType_NavGraphVertex          = 1;
static const PathNodeType NodeType_AbstractGraphNode       = 2;
static const PathNodeType NodeType_FreePositionOnNavMesh   = 3;
static const PathNodeType NodeType_FreePositionOnGraphEdge = 4;

class NodeTypeAndRawPtrDataIdx
{
public:
    NodeTypeAndRawPtrDataIdx() : m_data(KyUInt32MAXVAL) {}
    NodeTypeAndRawPtrDataIdx(PathNodeType aStarNodeType, KyUInt32 indexOfRawPtrData) : 
    m_data((indexOfRawPtrData & 0x1FFFFFFF) | (aStarNodeType << 29))
    {
        KY_ASSERT((aStarNodeType & 0xFFFFFFF8) == 0);
    }

    PathNodeType GetNodeType() const   { return (PathNodeType)(m_data >> 29); }
    KyUInt32 GetIdxOfRawPtrData() const { return m_data & 0x1FFFFFFF; }
    void SetNodeType(PathNodeType nodeType) { m_data = (m_data & 0x1FFFFFFF) | (nodeType << 29); }

    void SetIdxOfRawPtrData(KyUInt32 indexOfRawPtrData) { m_data = (indexOfRawPtrData & 0x1FFFFFFF) | (GetNodeType() << 29); }
private:
    KyUInt32 m_data; // 32 bits : 3 bit for type (see AstarNodeType), 29 bits for Idx
};

class AStarNode
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    AStarNode() :
        m_costFromStart(KyFloat32MAXVAL),
        m_estimatedCostToDest(0.f),
        m_costMultiplierFromPredecessor(1.f),
        m_indexOfPredecessor(AStarNodeIndex_Invalid),
        m_indexInBinaryHeap(IndexInBinHeap_UnSet)
        {}

    AStarNode(AStarNodeIndex indexOfPredecessor, const Vec3f& pos, PathNodeType aStarNodeType, KyUInt32 indexOfRawPtrData) :
        m_nodePosition(pos),
        m_costFromStart(KyFloat32MAXVAL),
        m_estimatedCostToDest(0.f),
        m_costMultiplierFromPredecessor(1.f),
        m_nodeTypeAndRawPtrDataIdx(aStarNodeType, indexOfRawPtrData),
        m_indexOfPredecessor(indexOfPredecessor),
        m_indexInBinaryHeap(IndexInBinHeap_UnSet)
        {}

    AStarNodeIndex GetIndexOfPredecessor() const { return m_indexOfPredecessor; }
    void SetIndexOfPredecessor(AStarNodeIndex indexOfPredecessor) { m_indexOfPredecessor = indexOfPredecessor; }
    
    PathNodeType GetNodeType()   const { return m_nodeTypeAndRawPtrDataIdx.GetNodeType(); }
    KyUInt32 GetIdxOfRawPtrData() const { return m_nodeTypeAndRawPtrDataIdx.GetIdxOfRawPtrData(); }

    void SetNodeType(PathNodeType nodeType) { m_nodeTypeAndRawPtrDataIdx.SetNodeType(nodeType); }
    void SetIdxOfRawPtrData(KyUInt32 indexOfRawPtrData) { m_nodeTypeAndRawPtrDataIdx.SetIdxOfRawPtrData(indexOfRawPtrData); }

public:
    Vec3f m_nodePosition;
    KyFloat32 m_costFromStart;
    KyFloat32 m_estimatedCostToDest;
    KyFloat32 m_costMultiplierFromPredecessor;
    NodeTypeAndRawPtrDataIdx m_nodeTypeAndRawPtrDataIdx; // 32 bits
    AStarNodeIndex m_indexOfPredecessor; // 32bits
    IndexInBinHeap m_indexInBinaryHeap; // 16bits

};

class NavTag;


}


#endif //Navigation_AStarTypes_H