baseshortcuttrajectory.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_BaseShortcutTrajectory_H
#define Navigation_BaseShortcutTrajectory_H

#include "gwnavruntime/pathfollower/targetonpathcomputer.h"
#include "gwnavruntime/pathfollower/iavoidancecomputer.h"
#include "gwnavruntime/world/worldelement.h"


namespace Kaim
{

class VisualDebugServer;
class Bot;
class Trajectory;
class TargetOnPath;

enum ShortcutTrajectoryComputeMode
{
    ShortcutMode_MustUpdateTargetOnPath,  // classical shortcut needed
    ShortcutMode_UseCurrentTargetOnPath, // no need for classical shortcut to update the TargetOnPath, but it must be used
    ShortcutMode_SnapOnPath,             // snap on path
};

class BaseShortcutTrajectory : public RefCountBase<BaseShortcutTrajectory, MemStat_PathFollowing>
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)
    KY_CLASS_WITHOUT_COPY(BaseShortcutTrajectory)
public:
    // ---------------------------------- Public Member Functions ----------------------------------
    BaseShortcutTrajectory(Trajectory* trajectory)
        : m_trajectory(trajectory)
        , m_useTargetProvidedByUser(false)
        , m_target(0.0f, 0.0f, 0.0f)
        , m_lastUpdateIdx(0)
        , m_trajectoryComputeMode(ShortcutMode_MustUpdateTargetOnPath)
        , m_useMinimalTargetUpdate(false)
        , m_visualDebugBlobSent(false)
    {}

    virtual ~BaseShortcutTrajectory() = 0;
    
    void Compute(KyFloat32 simulationTimeInSeconds);
    void Clear(); // fully clear the trajectory and default its config
    void ClearTrajectory(); // only clear the current computed trajectory

    const Vec3f& GetTrajectoryTarget() const { return m_target; }

    void ForceTargetToTargetOnPath();
    void ForceTargetToPosition(const Vec3f& forcedTarget);
    
public: // internal
    Bot* GetBot() const;

    void SendVisualDebugBlob(VisualDebugServer& visualDebugServer, VisualDebugSendChangeEvent changeEvent);
    void RemoveAllVisualDebugBeforeTrajectoryChange(VisualDebugServer& visualDebugServer);

    void UpdateTarget(KyFloat32 simulationTimeInSeconds);
    void InitTargetOnPathIfNeeded();
    void UpdateTrajectoryComputeMode();
    ShortcutTrajectoryComputeMode GetComputeModeToApply() const;
    bool CanUseTargetOnPath() const;
    void ComputeStraightTrajectory(KyFloat32 simulationTimeInSeconds);
    void ComputeAvoidanceTrajectory(KyFloat32 simulationTimeInSeconds);
    void ComputeSnapOnPathTrajectory(KyFloat32 simulationTimeInSeconds);

    virtual KyResult ComputeTargetOnPath(KyFloat32 simulationTimeInSeconds) = 0;

    virtual bool IsShortcutTrajectoryAllowingToSkipPathFollowingThisFrame(KyFloat32& simulationTimeInSeconds) = 0;
    // Used in Trajectory::CanResetTrajectory to instantiate a TargetOnPathComputer and compute a TargetOnPath calling ComputeTargetOnPathOnNavMeshOnly
    // which disregards backward edge type, it only check forward edge type that must be on NavMesh and bot must have a valid triangle
    virtual KyResult ComputeTargetOnPathOnNavMeshOnly(TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, ComputeTargetOnPathSearchControl forwardSearchControl) const = 0;

public: // internal
    Trajectory*                      m_trajectory;
    ShortcutTrajectoryConfig         m_config;
    Ptr<IAvoidanceComputer>          m_avoidanceComputer;
    TargetOnPath                     m_targetOnPath;
    bool                             m_useTargetProvidedByUser;
    Vec3f                            m_target;
    KyUInt32                         m_lastUpdateIdx;
    ShortcutTrajectoryComputeMode    m_trajectoryComputeMode;
    bool m_useMinimalTargetUpdate; // when TargetOnPath is updated only when the bot reaches the TargetOnPath, or if it becomes necessary to update it e.g. when avoiding other entities.

    bool m_visualDebugBlobSent;
};


} // namespace Kaim


#endif // Navigation_Trajectory_H