basebestgraphvertexpathfinderquery.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_BaseBestGraphVertexPathFinderQuery_H
#define Navigation_BaseBestGraphVertexPathFinderQuery_H

#include "gwnavruntime/queries/utils/traversalparams.h"
#include "gwnavruntime/queries/utils/pathrefinerconfig.h"
#include "gwnavruntime/queries/utils/pathfinderqueryutils.h"
#include "gwnavruntime/queries/ipathfinderquery.h"


namespace Kaim
{

enum BestGraphVertexPathFinderQueryResult
{
    BESTGRAPHVERTEX_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    BESTGRAPHVERTEX_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    BESTGRAPHVERTEX_PROCESSING_TRAVERSAL,                    
    BESTGRAPHVERTEX_PROCESSING_TRAVERSAL_DONE,               
    BESTGRAPHVERTEX_PROCESSING_REFINING_INIT,                
    BESTGRAPHVERTEX_PROCESSING_REFINING,                     
    BESTGRAPHVERTEX_PROCESSING_PATHCLAMPING_INIT,            
    BESTGRAPHVERTEX_PROCESSING_PATHCLAMPING,                 
    BESTGRAPHVERTEX_PROCESSING_PATHBUILDING,                 
    BESTGRAPHVERTEX_PROCESSING_CHANNEL_INIT,                 
    BESTGRAPHVERTEX_PROCESSING_CHANNEL_COMPUTE,              

    BESTGRAPHVERTEX_DONE_START_OUTSIDE,                      
    BESTGRAPHVERTEX_DONE_START_NAVTAG_FORBIDDEN,             
    BESTGRAPHVERTEX_DONE_PATH_NOT_FOUND,                     
    BESTGRAPHVERTEX_DONE_NAVDATA_CHANGED,                    
    BESTGRAPHVERTEX_DONE_ERROR_LACK_OF_WORKING_MEMORY,       
    BESTGRAPHVERTEX_DONE_COMPUTATION_ERROR,                  
    BESTGRAPHVERTEX_DONE_CHANNELCONFIG_ERROR,                
    BESTGRAPHVERTEX_DONE_CHANNELCOMPUTATION_ERROR,           
    BESTGRAPHVERTEX_DONE_COMPUTATION_CANCELED,               

    BESTGRAPHVERTEX_DONE_PATH_FOUND,                         
};

class BaseBestGraphVertexPathFinderQuery : public IPathFinderQuery
{
public:
    static  QueryType        GetStaticType() { return TypeBestGraphVertexPathFinderQuery; }
    virtual QueryType        GetType() const { return TypeBestGraphVertexPathFinderQuery; }
    virtual void             BuildQueryBlob(BaseBlobHandler* blobHandler);
    virtual void             InitFromQueryBlob(World* world, void* blob);
    virtual Ptr<BaseBlobHandler> CreateQueryBlobHandler() { return CreateStaticQueryBlobHandler(); }
    static Ptr<BaseBlobHandler>  CreateStaticQueryBlobHandler();

    // ---------------------------------- Main API functions ----------------------------------

    virtual void             GetPathFinderTextResult(String&)        const;
    virtual void             DisplayPropagationBounds(ScopedDisplayList& displayList) const;
    virtual PathFinderResult GetPathFinderResult()                   const;
    virtual const Vec3f*     GetDestination()                        const;

    BestGraphVertexPathFinderQueryResult GetResult() const;
    KyFloat32                  GetPropagationRadius()             const;
    KyFloat32                  GetFromOutsideNavMeshDistance()    const;
    KyFloat32                  GetToOutsideNavMeshDistance()      const;
    const Vec3f&               GetStartPos()                      const;
    const NavTrianglePtr&      GetStartTrianglePtr()              const;
    const NavGraphEdgePtr&     GetStartNavGraphEdgePtr()          const;
    const NavGraphVertexPtr&   GetStartNavGraphVertexPtr()        const;
    const NavTrianglePtr&      GetDestTrianglePtr()               const;
    Path*                      GetPath()                          const;
    ChannelArray*              GetChannelArray()                  const;
    KyUInt32                   GetNumberOfProcessedNodePerFrame() const;

    const PositionSpatializationRange&   GetPositionSpatializationRange() const;

    void ComputePathRefinerConfigInternals();
    const PathRefinerConfig& GetPathRefinerConfig() const;

    void SetPathClamperFlagMask(PathClamperFlagMask pathClamperFlagMask); // Call this method after BindToDatabase()

public: // Internal
    // public because can be used by the Bot basic path finding helper functions
    void BindToDatabase(Database* database);
    void Initialize(const Vec3f& startPos);
    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);
    void SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode);
    void SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr);

protected :
    BaseBestGraphVertexPathFinderQuery();
    virtual ~BaseBestGraphVertexPathFinderQuery() {}

    void SetComputeChannelMode(PathFinderQueryComputeChannelMode computeChannelMode);
    void SetChannelComputerConfig(const ChannelComputerConfig& channelComputerConfig);
    void SetPropagationRadius(KyFloat32 propagationRadius);
    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);
    void SetFromOutsideNavMeshDistance(KyFloat32 fromOutsideNavMeshDistance);
    void SetToOutsideNavMeshDistance(KyFloat32 toOutsideNavMeshDistance);
    void SetNumberOfProcessedNodePerFrame(KyUInt32 numberOfProcessedNodePerFrame);
    void SetResult(BestGraphVertexPathFinderQueryResult result);

protected :
    NavTrianglePtr m_startTrianglePtr;

    NavGraphEdgePtr m_startNavGraphEdgePtr;

    NavGraphEdgeDirection m_navGraphEdgePathfindMode;

    NavGraphVertexPtr m_startNavGraphVertexPtr;

    Vec3f m_startInsidePos3f; 

    TraversalParameters m_traversalParams;
    PathRefinerConfig m_pathRefinerConfig;
    PathClamperFlagMask m_pathClamperFlagMask;

    NavGraphVertexRawPtr m_currentVertex;
    AStarNodeIndex m_currentVertexNodeIdx;

    NavGraphVertexRawPtr m_bestVertex; // the best Vertex found so far.
    AStarNodeIndex m_bestVertexNodeIdx;
    Ptr<Path> m_rememberBestPathSoFar;

    KyFloat32 m_propagationRadius;  // the propagation is limited to a 2d circle centered in startPos and with m_propagationRadius as radius

    BestGraphVertexPathFinderQueryResult m_result; 
};

KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetResult(BestGraphVertexPathFinderQueryResult result)        { m_result = result;                       }
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr)   { m_startTrianglePtr = startTrianglePtr;   }
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetPropagationRadius(KyFloat32 propagationRadius)             { m_propagationRadius = propagationRadius; }
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetComputeChannelMode(PathFinderQueryComputeChannelMode mode) { m_computeChannelMode = mode;             }
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetChannelComputerConfig(const ChannelComputerConfig& config) { m_channelComputerConfig = config;        }

KY_INLINE BestGraphVertexPathFinderQueryResult BaseBestGraphVertexPathFinderQuery::GetResult()            const { return m_result;            }
KY_INLINE const NavTrianglePtr&                BaseBestGraphVertexPathFinderQuery::GetStartTrianglePtr()  const { return m_startTrianglePtr;  }
KY_INLINE Path*                                BaseBestGraphVertexPathFinderQuery::GetPath()              const { return m_path;              }
KY_INLINE const Vec3f*                         BaseBestGraphVertexPathFinderQuery::GetDestination()       const { return KY_NULL;             }
KY_INLINE KyFloat32                            BaseBestGraphVertexPathFinderQuery::GetPropagationRadius() const { return m_propagationRadius; }

KY_INLINE KyFloat32    BaseBestGraphVertexPathFinderQuery::GetFromOutsideNavMeshDistance()    const { return m_traversalParams.GetFromOutsideNavMeshDistance();    }
KY_INLINE KyFloat32    BaseBestGraphVertexPathFinderQuery::GetToOutsideNavMeshDistance()      const { return m_traversalParams.GetToOutsideNavMeshDistance();      }
KY_INLINE KyUInt32     BaseBestGraphVertexPathFinderQuery::GetNumberOfProcessedNodePerFrame() const { return m_traversalParams.GetNumberOfProcessedNodePerFrame(); }
KY_INLINE const Vec3f& BaseBestGraphVertexPathFinderQuery::GetStartPos()                      const { return IPathFinderQuery::GetStartPos();                      }

KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetFromOutsideNavMeshDistance(KyFloat32 fromOutsideNavMeshDistance)
{
    m_traversalParams.SetFromOutsideNavMeshDistance(fromOutsideNavMeshDistance);
}
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetToOutsideNavMeshDistance(KyFloat32 toOutsideNavMeshDistance)
{
    m_traversalParams.SetToOutsideNavMeshDistance(toOutsideNavMeshDistance);
}
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetNumberOfProcessedNodePerFrame(KyUInt32 numberOfProcessedNodePerFrame)
{
    m_traversalParams.SetNumberOfProcessedNodePerFrame(numberOfProcessedNodePerFrame);
}
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange)
{
    m_traversalParams.SetPositionSpatializationRange(positionSpatializationRange);
}
KY_INLINE const PositionSpatializationRange& BaseBestGraphVertexPathFinderQuery::GetPositionSpatializationRange() const { return m_traversalParams.GetPositionSpatializationRange(); }

KY_INLINE void BaseBestGraphVertexPathFinderQuery::ComputePathRefinerConfigInternals()              { m_pathRefinerConfig.ComputeInternals();}
KY_INLINE const PathRefinerConfig& BaseBestGraphVertexPathFinderQuery::GetPathRefinerConfig() const { return m_pathRefinerConfig;}
KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetPathClamperFlagMask(PathClamperFlagMask pathClamperFlagMask) { m_pathClamperFlagMask = pathClamperFlagMask; }

KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode)
{ 
    m_startNavGraphEdgePtr     = startNavGraphEdgePtr; 
    m_navGraphEdgePathfindMode = navGraphEdgePathfindMode;
    KY_LOG_WARNING_IF(m_startTrianglePtr.IsValid(), ("You are setting a start NavGraphEdgePtr whereas a start NavTrianglePtr was set too."));
    KY_LOG_WARNING_IF(m_startNavGraphVertexPtr.IsValid(), ("You are setting a start NavGraphEdgePtr whereas a start NavGraphVertexPtr was set too."));
    m_startTrianglePtr.Invalidate();
    m_startNavGraphVertexPtr.Invalidate();
}

KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr)
{
    m_startNavGraphVertexPtr = startNavGraphVertexPtr; 
    KY_LOG_WARNING_IF(m_startTrianglePtr.IsValid(), ("You are setting a start NavGraphVertexPtr whereas a start NavTrianglePtr was set too."));
    KY_LOG_WARNING_IF(m_startNavGraphEdgePtr.IsValid(), ("You are setting a start NavGraphVertexPtr whereas a start NavGraphEdgePtr was set too."));
    m_startTrianglePtr.Invalidate();
    m_startNavGraphEdgePtr.Invalidate();
}
}

#endif // Navigation_BaseBestGraphVertexPathFinderQuery_H