basepathprogresscomputer.h

Go to the documentation of this file.

/*
* 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: GUAL
#ifndef Navigation_BasePathProgressComputer_H
#define Navigation_BasePathProgressComputer_H

#include "gwnavruntime/world/progressonpathstatus.h"
#include "gwnavruntime/base/memory.h"
#include "gwnavruntime/kernel/SF_RefCount.h"


namespace Kaim
{

class Bot;
class IPathEventListObserver;
class IPositionOnPathValidator;
class PathEvent;
class PositionOnLivePath;

class BasePathProgressComputer: public RefCountBase<BasePathProgressComputer, MemStat_PathFollowing>
{
    KY_CLASS_WITHOUT_COPY(BasePathProgressComputer)

public:
    // ---------------------------------- Public Member Functions ----------------------------------
    BasePathProgressComputer();
    virtual ~BasePathProgressComputer();

    void SetPathEventListObserver(const Ptr<IPathEventListObserver>& m_pathEventListObserver);
    Ptr<IPathEventListObserver> GetPathEventListObserver() { return m_pathEventListObserver; }

    void SetPositionOnPathCheckPointValidator(const Ptr<IPositionOnPathValidator>& positionOnPathCheckPointValidator);
    Ptr<IPositionOnPathValidator> GetPositionOnPathCheckPointValidator() { return m_positionOnPathCheckPointValidator; }

    void CleanPathEventListOnNewPath(Bot* bot);


    // ---------------------------------- Pure Virtual Functions ----------------------------------
    virtual void Update(Bot* bot, KyFloat32 simulationTimeInSeconds) = 0;

protected:
    void ComputeProgressOnPath(Bot* bot);
    bool MustEventBeValidated(Bot* bot, const PathEvent& pathEvent);
    void FindUpperLimitOnPath(Bot* bot, PositionOnLivePath& positionOnPath);
    void StopProgressAtUpperLimitOnPath(Bot* bot, const PositionOnLivePath& upperLimitOnPath);
    bool CanProgressAfterEvent(Bot* bot); // called by ComputeProgressOnPath
    void UpdateProgressOnPathStatus(Bot* bot); // called by ComputeProgressOnPath
    void MoveForwardAfterCrossedBisectorPlanes(Bot* bot, const PositionOnLivePath& upperLimitOnPath); // called by ComputeProgressOnPath, should not be called if at upperBound or lastPathNode
    void SnapProgressToNodeOrEvent(Bot* bot);

    void ComputePositionInChannel(Bot* bot);

protected:
    Ptr<IPathEventListObserver>   m_pathEventListObserver;
    Ptr<IPositionOnPathValidator> m_positionOnPathCheckPointValidator;
};


} // namespace Kaim

#endif // Navigation_IPathFollower_H