avoidanceconfig.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_AvoidanceConfig_H
#define Navigation_AvoidanceConfig_H


#include "gwnavruntime/base/memory.h"
#include "gwnavruntime/kernel/SF_Math.h"


namespace Kaim
{

class AvoidanceCapConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    AvoidanceCapConfig() { SetDefaults(); }
    void SetDefaults();
    bool operator==(const AvoidanceCapConfig& other) const;
    bool operator!=(const AvoidanceCapConfig& other) const { return !operator==(other); }

public:
    bool m_capAvoidanceAngleChange;

    bool m_capAvoidanceSpeedChange;

    KyFloat32 m_maxAngularVelocityChange;

    KyFloat32 m_maxLinearSpeedChange;
};


class AvoidanceContactSolverConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    AvoidanceContactSolverConfig() { SetDefaults(); }
    void SetDefaults();
    bool operator==(const AvoidanceContactSolverConfig& other) const;
    bool operator!=(const AvoidanceContactSolverConfig& other) const { return !operator==(other); }

public:

    bool m_enableSoftContactSolver;

    bool m_enableBypassContactOverTime;

    KyFloat32 m_contactBypassingTimeLimit;

    KyFloat32 m_contactBypassingRatio;
};


class AvoidanceUtilityFunctionConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    AvoidanceUtilityFunctionConfig() { SetDefaults(); }
    void SetDefaults();
    bool operator==(const AvoidanceUtilityFunctionConfig& other) const;
    bool operator!=(const AvoidanceUtilityFunctionConfig& other) const { return !operator==(other); }

public:
    KyFloat32 m_avoidanceAngleSpan;

    KyUInt32  m_avoidanceSampleCount;

    KyFloat32 m_avoidanceInfluence;

    KyFloat32 m_desiredVelocityInfluence;

    KyFloat32 m_previousVelocityInfluence;
};

class AvoidanceConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    AvoidanceConfig() { SetDefaults(); }
    void SetDefaults();

    bool operator==(const AvoidanceConfig& other) const;
    bool operator!=(const AvoidanceConfig& other) const { return !operator==(other); }

public:

    // -------- Avoidance Capabilities ---------

    bool m_enableSlowingDown;

    
    bool m_enableStop;

    KyFloat32 m_stopCollisionTime;

    KyFloat32 m_stopWaitTime;


    bool m_enableForcePassage;

    KyFloat32 m_waitPassageTimeLimit;

    KyFloat32 m_forcePassageTimeLimit;


    // -------- Avoidance output computation config ---------

    KyFloat32 m_minimalTimeToCollision;

    KyFloat32 m_safetyDistance;

    AvoidanceUtilityFunctionConfig m_utilityFunctionConfig;

    AvoidanceCapConfig m_capConfig;

    AvoidanceContactSolverConfig m_contactSolverConfig;
};


KY_INLINE void AvoidanceCapConfig::SetDefaults()
{
    m_capAvoidanceAngleChange    = true;
    m_capAvoidanceSpeedChange    = false;
    m_maxAngularVelocityChange   = 360.0f;
    m_maxLinearSpeedChange       = 8.0f;
}

KY_INLINE bool AvoidanceCapConfig::operator==(const AvoidanceCapConfig& other) const
{
    return m_capAvoidanceAngleChange  == other.m_capAvoidanceAngleChange
        && m_capAvoidanceSpeedChange  == other.m_capAvoidanceSpeedChange
        && m_maxAngularVelocityChange == other.m_maxAngularVelocityChange
        && m_maxLinearSpeedChange     == other.m_maxLinearSpeedChange;

}

KY_INLINE void AvoidanceUtilityFunctionConfig::SetDefaults()
{
    m_avoidanceAngleSpan        = 90.0f;
    m_avoidanceSampleCount      = 20;

    m_avoidanceInfluence        = 0.8f;
    m_desiredVelocityInfluence  = 0.15f;
    m_previousVelocityInfluence = 0.05f;
}

KY_INLINE bool AvoidanceUtilityFunctionConfig::operator==(const AvoidanceUtilityFunctionConfig& other) const
{
    return m_avoidanceAngleSpan        == other.m_avoidanceAngleSpan
        && m_avoidanceSampleCount      == other.m_avoidanceSampleCount
        && m_avoidanceInfluence        == other.m_avoidanceInfluence
        && m_desiredVelocityInfluence  == other.m_desiredVelocityInfluence
        && m_previousVelocityInfluence == other.m_previousVelocityInfluence;        
}


KY_INLINE void AvoidanceContactSolverConfig::SetDefaults()
{
    m_enableSoftContactSolver = false;
    m_enableBypassContactOverTime = false;
    m_contactBypassingTimeLimit = 1.0f;
    m_contactBypassingRatio = 0.9f;
}
KY_INLINE bool AvoidanceContactSolverConfig::operator==(const AvoidanceContactSolverConfig& other) const
{
    return m_enableSoftContactSolver     == other.m_enableSoftContactSolver
        && m_enableBypassContactOverTime == other.m_enableBypassContactOverTime
        && m_contactBypassingTimeLimit   == other.m_contactBypassingTimeLimit
        && m_contactBypassingRatio       == other.m_contactBypassingRatio;
}


KY_INLINE void AvoidanceConfig::SetDefaults()
{
    m_enableSlowingDown  = false;

    m_enableStop         = true;
    m_stopCollisionTime  = 0.25f;
    m_stopWaitTime       = 0.2f;

    m_enableForcePassage    = true;
    m_waitPassageTimeLimit  = 1.f;
    m_forcePassageTimeLimit = 0.5f;

    m_minimalTimeToCollision = 3.0f;
    m_safetyDistance         = 0.1f;
    m_utilityFunctionConfig.SetDefaults();
    m_capConfig.SetDefaults();
    m_contactSolverConfig.SetDefaults();
}
KY_INLINE bool AvoidanceConfig::operator==(const AvoidanceConfig& other) const
{
    return m_enableSlowingDown       == other.m_enableSlowingDown

        && m_enableStop              == other.m_enableStop
        && m_stopCollisionTime       == other.m_stopCollisionTime
        && m_stopWaitTime            == other.m_stopWaitTime

        && m_enableForcePassage      == other.m_enableForcePassage
        && m_waitPassageTimeLimit    == other.m_waitPassageTimeLimit
        && m_forcePassageTimeLimit   == other.m_forcePassageTimeLimit

        && m_minimalTimeToCollision  == other.m_minimalTimeToCollision
        && m_safetyDistance          == other.m_safetyDistance
        && m_utilityFunctionConfig   == other.m_utilityFunctionConfig
        && m_capConfig               == other.m_capConfig
        && m_contactSolverConfig     == other.m_contactSolverConfig;
}

} // namespace Kaim

#endif // Navigation_AvoidanceComputerConfig_H