basediskexpansionquery.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_BaseDiskExpansionQuery_H
#define Navigation_BaseDiskExpansionQuery_H

#include "gwnavruntime/querysystem/iquery.h"
#include "gwnavruntime/queries/utils/queryutils.h"
#include "gwnavruntime/navmesh/worldintegerpos.h"
#include "gwnavruntime/navmesh/identifiers/navhalfedgeptr.h"
#include "gwnavruntime/queries/utils/navmeshtraversalcommon.h"


namespace Kaim
{

enum DiskExpansionQueryResult
{
    DISKEXPANSION_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    DISKEXPANSION_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    DISKEXPANSION_DONE_CENTER_OUTSIDE,                     
    DISKEXPANSION_DONE_CENTER_NAVTAG_FORBIDDEN,            
    DISKEXPANSION_DONE_CANNOT_EXPAND,                      
    DISKEXPANSION_DONE_LACK_OF_WORKING_MEMORY,             
    DISKEXPANSION_DONE_UNKNOWN_ERROR,                      

    DISKEXPANSION_DONE_DISK_FIT,                           
    DISKEXPANSION_DONE_COLLISION_FOUND                     
};

class BaseDiskExpansionQuery : public IAtomicQuery
{
public:
    static  QueryType GetStaticType() { return TypeDiskExpansion; }
    virtual QueryType GetType() const { return TypeDiskExpansion; }
    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 ----------------------------------

    DiskExpansionQueryResult GetResult()                  const;
    const Vec3f&             GetCenterPos()               const;
    const NavTrianglePtr&    GetCenterTrianglePtr()       const;
    KyFloat32                GetRadiusMax()               const;
    KyFloat32                GetResultRadius()            const;
    const Vec3f&             GetCollisionPos()            const;
    const NavHalfEdgePtr&    GetCollisionNavHalfEdgePtr() const;
    KyFloat32                GetSafetyDist()              const;
    DynamicOutputMode        GetDynamicOutputMode()       const;
    QueryDynamicOutput*      GetQueryDynamicOutput()      const;
    const WorldIntegerPos&   GetCenterIntegerPos()        const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

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

    void BindToDatabase(Database* database);
    void Initialize(const Vec3f& center, KyFloat32 radiusMax);

    void SetCenterTrianglePtr(const NavTrianglePtr& centerTrianglePtr);
    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);
    void SetSafetyDist(KyFloat32 safetyDist);
    void SetDynamicOutputMode(DynamicOutputMode savingMode);
    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput);
    void SetCenterIntegerPos(const WorldIntegerPos& centerIntegerPos);
    void SetResult(DiskExpansionQueryResult result);

    DiskExpansionQueryResult ConvertTraversalResultToDiskExpansionResult(TraversalResult traversalRC);
protected:
    WorldIntegerPos m_centerIntegerPos;

    Vec3f m_centerPos3f; 

    NavTrianglePtr m_centerTrianglePtr;

    KyFloat32 m_radiusMax;

    KyFloat32 m_safetyDist;

    PositionSpatializationRange m_positionSpatializationRange;

    Vec3f m_collisionPos3f;

    NavHalfEdgePtr m_collisionHalfEdgePtr;

    KyFloat32 m_resultRadius;

    DiskExpansionQueryResult m_result; 

    DynamicOutputMode m_dynamicOutputMode; 

    Ptr<QueryDynamicOutput> m_queryDynamicOutput;
};

}

#include "gwnavruntime/queries/utils/basediskexpansionquery.inl"

#endif //Navigation_DiskCollisionQuery_H