avoidancecomputer.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: LAPA - secondary contact: NOBODY
#ifndef Navigation_AvoidanceComputer_H
#define Navigation_AvoidanceComputer_H

#include "gwnavruntime/pathfollower/iavoidancecomputer.h"
#include "gwnavruntime/pathfollower/iavoidancefilter.h"
#include "gwnavruntime/pathfollower/avoidanceworkspace.h"
#include "gwnavruntime/queries/spatializedpointcollectorinaabbquery.h"
#include "gwnavruntime/pathfollower/avoidancesolver.h"
#include "gwnavruntime/pathfollower/avoidanceworkspacedisplay.h"
#include "gwnavruntime/world/botconfig.h"


namespace Kaim
{

class SpatializedCylinder;
class SpatializedPoint;
class AvoidanceComputer;
class Bot;


class AvoidanceComputerCollectorFilter
{
public:
    // ---------------------------------- Public Member Functions ----------------------------------

    AvoidanceComputerCollectorFilter()
        : m_bot(KY_NULL)
        , m_avoidanceComputer(KY_NULL)
    {}

    bool ShouldCollectSpatializedPoint(SpatializedPoint* spatializedPoint);

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

    Bot* m_bot;
    AvoidanceComputer* m_avoidanceComputer;
};


class AvoidanceComputer : public IAvoidanceComputer
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)
    KY_CLASS_WITHOUT_COPY(AvoidanceComputer)

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

    AvoidanceComputer();

    void SetAvoidanceSolver(Ptr<IAvoidanceSolver> avoidanceSolver) { m_avoidanceSolver = avoidanceSolver; }
    void SetAvoidanceFilter(Ptr<IAvoidanceFilter> avoidanceFilter) { m_avoidanceFilter = avoidanceFilter; }
    
    virtual AvoidanceResult Compute(Bot& bot, KyFloat32 simulationTimeInSeconds, KyFloat32 desiredSpeed, const Vec2f& movingDirection, Vec2f& avoidanceVelocity, Vec2f& outputFrontDirection, bool& collide);

protected:
    friend class AvoidanceComputerCollectorFilter;

    void CollectSpatializedPoints(Bot& bot);
    void SetupAvoidanceWorkspace(const Bot& bot, KyFloat32 desiredSpeed, const Vec2f& desiredMovingDirection);
    void FillAvoidanceWorkspace(const Bot& bot);

    AvoidanceResult SolveAvoidanceWorkspace(Bot& bot, KyFloat32 simulationTimeInSeconds, KyFloat32 desiredSpeed, const Vec2f& movingDirection, Vec2f& outputAvoidanceVelocity, Vec2f& outputFrontDirection, bool& collide);
    
    void UpdateForcePassage(Bot& bot, KyFloat32 simulationTimeInSeconds, const Vec2f& desiredVelocity, 
        AvoidanceSolverConfig& solverConfig, AvoidanceResult& solverResult, Vec2f& avoidanceVelocity, bool collide);

    bool DoesCollectionQueryNeedToBeUpdated(const Bot& bot);
    const SpatializedCylinder* GetSpatializedCylinderFromSpatializedPoint(SpatializedPoint* spatializedPoint);
    AvoidanceWorkspaceAddColliderResult AddColliderToVOWorkspace(const Bot& bot, const AvoidanceConfig& avoidanceConfig, AvoidanceWorkspace& avoidanceWorkspace, const SpatializedCylinder& colliderCylinder, const KyFloat32 databaseRadiusPrecision);

    void SetupSolverConfig(AvoidanceSolverConfig&, const Bot&);

    AvoidanceResult ComputeAvoidanceVelocity( Bot& bot, KyFloat32 simulationTimeInSeconds, KyFloat32 desiredSpeed, const Vec2f& desiredMovingDirection, Vec2f& avoidanceVelocity, Vec2f& outputFrontDirection, bool& collide);

public: // internal
    // Used specifically by the ShortcutTrajectory in order to skip, cf. World::SetNumberOfFramesForShortcutTrajectoryPeriodicUpdate()
    virtual bool IsComputationRequiredThisFrame(Bot* bot, KyFloat32 simulationTimeInSeconds);

protected:
    Ptr<IAvoidanceSolver> m_avoidanceSolver; // If let to KY_NULL, AvoidanceComputer will instantiate a AvoidanceSolver with the world default TraverseLogic 
    SpatializedPointCollectorInAABBQuery<AvoidanceComputerCollectorFilter> m_collectQuery; // Put this in a Ptr<> if you want to push it in a queryQueue
    Ptr<IAvoidanceFilter> m_avoidanceFilter;
};


} // namespace Kaim

#endif // Navigation_AvoidanceComputer_H