avoidanceworkspace.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_AvoidanceWorkspace_H
#define Navigation_AvoidanceWorkspace_H

#include "gwnavruntime/pathfollower/avoidancecollider.h"
#include "gwnavruntime/containers/kyarray.h"
#include "gwnavruntime/visualsystem/displaylist.h"
#include "gwnavruntime/pathfollower/avoidanceconfig.h"

namespace Kaim
{
class Bot;

// We want theses arrays to work on contiguous memory, never to release it
typedef KyArrayPOD<AvoidanceCollider, MemStat_PathFollowing, Kaim::ArrayConstPolicy<0, 16, true> > ColliderArray;

enum AvoidanceWorkspaceAddColliderResult
{
    AvoidanceWorkspace_ColliderAdded = 0, 
    AvoidanceWorkspace_ColliderIgnored 
};


class AvoidanceWorkspace
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)

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

    AvoidanceWorkspace()
        : m_doSendVisualDebugBlob(true)
        , m_visualDebugAltitude(0.f)
    {}

    void Reset(const AvoidanceCollider& rootCollider, KyFloat32 visualDebugAltitude = 0.f);

    AvoidanceWorkspaceAddColliderResult AddCollider(const AvoidanceConfig& config, AvoidanceCollider& collider);

    KyFloat32 ComputeAvoidanceScore(const Vec2f& candidateVelocity, const KyFloat32 safetyDistance, const KyFloat32 timeHorizon, KyFloat32& collisionTime, KyInt32& colliderIndex ) const;

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

    AvoidanceCollider m_rootCollider;

    ColliderArray m_colliders;

    ColliderArray m_ignoredColliders;


public: //internal

    // when true and debugging a Bot in VisualDebugLOD_Maximal, activate the sending of
    // a display list representing the avoidance workspace
    bool m_doSendVisualDebugBlob;
    KyFloat32 m_visualDebugAltitude;
};

} // namespace Kaim

#endif // Navigation_AvoidanceWorkspace_H