avoidancecollider.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: MUBI - secondary contact: LAPA

#ifndef Navigation_AvoidanceCollider_H
#define Navigation_AvoidanceCollider_H

#include "gwnavruntime/math/vec2f.h"

namespace Kaim
{

class AvoidanceCollider
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)

public:
    // ---------------------------------- Public Member Functions ----------------------------------

    AvoidanceCollider()
        : m_position     (Vec2f(0.0f, 0.0f))
        , m_velocity     (Vec2f(0.0f, 0.0f))
        , m_radius       (0.5f)
        , m_ignored      (false)
        , m_pushOnContact(false)
        , m_isBot        (false)
    {}

    KyFloat32 ComputeSquaredMinimumTimeToCollision(const AvoidanceCollider& collider) const;
    KyFloat32 ComputeAvoidanceScoreForDirection   (const Kaim::AvoidanceCollider& obstacleCollider, const Kaim::Vec2f candidateVelocity, const KyFloat32 timeHorizonInSeconds, const KyFloat32 safetyDistance, KyFloat32& collisionTime) const;

    // ---------------------------------- Public Data Members ----------------------------------

    Vec2f     m_position;
    Vec2f     m_velocity;
    KyFloat32 m_radius;
    bool      m_ignored;
    bool      m_pushOnContact; 
    bool      m_isBot;
};

inline void SwapEndianness(Endianness::Target e, AvoidanceCollider& self)
{
    SwapEndianness(e, self.m_position);
    SwapEndianness(e, self.m_velocity);
    SwapEndianness(e, self.m_radius);
}


class AvoidanceScoreForDirectionComputer
{
public:
    void Compute(const Kaim::AvoidanceCollider& rootCollider, const Kaim::AvoidanceCollider& obstacleCollider, const Kaim::Vec2f candidateVelocity, const KyFloat32 timeHorizonInSeconds, const KyFloat32 safetyDistance);

public:

    // --- result ----

    KyFloat32 m_avoidanceScore;
    KyFloat32 m_collisionTime;

    // --- intermediate computation ---

    KyFloat32 m_BHxV;
    KyFloat32 m_AHxV;
    Kaim::Vec2f m_Vr;

    KyFloat32 m_toiScore;
    KyFloat32 m_crossingScore;
};


} // namespace Kaim

#endif // Navigation_AvoidanceCollider_H