bestgraphvertexpathfinderquery.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_BestGraphVertexPathFinderQuery_H
#define Navigation_BestGraphVertexPathFinderQuery_H

#include "gwnavruntime/queries/utils/basebestgraphvertexpathfinderquery.h"
#include "gwnavruntime/queries/utils/pathclampercontext.h"
#include "gwnavruntime/queries/utils/astartraversal.h"
#include "gwnavruntime/channel/channelarraycomputer.h"


namespace Kaim
{

class PathFinderQueryUtils;

enum OnGraphVertexVisitedResult
{
    OnGraphVertexVisited_IgnoreVertex_GoOn,
    OnGraphVertexVisited_IgnoreVertex_StopWithBestSoFar,
    OnGraphVertexVisited_StopOnThisVertex,
    OnGraphVertexVisited_VertexIsTheBestSoFar_GoOn,
    OnGraphVertexVisited_NeedToCheckRefinePathToThisVertex
};

enum OnPathToGraphVertexComputedResult
{
    OnPathToGraphVertexComputed_IgnoreVertex_GoOn,
    OnPathToGraphVertexComputed_IgnoreVertex_StopWithBestSoFar,
    OnPathToGraphVertexComputed_StopOnThisVertex,
    OnPathToGraphVertexComputed_VertexIsTheBestSoFar_GoOn,
};


template<class VertexFinderLogic>
class BestGraphVertexPathFinderQuery : public BaseBestGraphVertexPathFinderQuery
{
public:

    // ---------------------------------- Public Member Functions ----------------------------------

    BestGraphVertexPathFinderQuery();
    virtual ~BestGraphVertexPathFinderQuery();

    // ---------------------------------- Functions to set up the query ----------------------------------

    void BindToDatabase(Database* database);

    void Initialize(const Vec3f& startPos);

    // ---------------------------------- write accessors for query inputs ----------------------------------

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);

    void SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode);

    void SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr);

    // ---------------------------------- write accessors for query parameters ----------------------------------

    void SetFromOutsideNavMeshDistance(KyFloat32 fromOutsideNavMeshDistance);

    void SetPropagationRadius(KyFloat32 propagationRadius);

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);

    void SetComputeChannelMode(PathFinderQueryComputeChannelMode computeChannelMode);

    void SetChannelComputerConfig(const ChannelComputerConfig& channelComputerConfig);

    void SetNumberOfProcessedNodePerFrame(KyUInt32 numberOfProcessedNodePerFrame);

    // ---------------------------------- Query framework functions ----------------------------------

    virtual void Advance(WorkingMemory* workingMemory);

    virtual void ReleaseWorkingMemoryOnCancelDuringProcess(WorkingMemory* workingMemory = KY_NULL);

    // ---------------------------------- Accessors ----------------------------------
    BestGraphVertexPathFinderQueryResult   GetResult()          const;

    KyFloat32                GetFromOutsideNavMeshDistance()    const;
    KyFloat32                GetPropagationRadius()             const;
    const Vec3f&             GetStartPos()                      const;
    const NavTrianglePtr&    GetStartTrianglePtr()              const;
    const NavGraphEdgePtr&   GetStartNavGraphEdgePtr()          const;
    const NavGraphVertexPtr& GetStartNavGraphVertexPtr()        const;
    Path*                    GetPath()                          const;
    KyUInt32                 GetNumberOfProcessedNodePerFrame() const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

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


public: //Internal
    bool HasNavDataChanged();

protected:
    void SetFinish(WorkingMemory* workingMemory);
    KyResult ComputeStartGraphEdgeOrGraphVertexOrTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeStartTriangle(PathFinderQueryUtils& queryUtils);

    void SetResult(BestGraphVertexPathFinderQueryResult result);
    KyResult ComputeDestTriangle(PathFinderQueryUtils& queryUtils);
    KyResult InitDestinationNode();
    KyResult CheckNavDataChange(WorkingMemory* workingMemory);
    KyResult InitTraversalFromStartNode(PathFinderQueryUtils& queryUtils);
    KyResult InitializeContextAndStartNode(PathFinderQueryUtils& queryUtils);

protected:

    class TraversalCustomizer
    {
    public:
        typedef VertexFinderLogic TLogic;

        TraversalCustomizer() : m_traverseLogicUserData(KY_NULL) {}

        bool CanTraverse(const NavTriangleRawPtr& triangleRawPtr, KyFloat32* costMultiplier);
        bool CanTraverse(const NavGraphEdgeRawPtr& edgeRawPtr, KyFloat32* costMultiplier);

        bool CanEnterNavTag(const NavTag& exitNavTag, const NavTag& enterNavTag, const Vec3f& pos);
        KyFloat32 GetHeuristicFromNodePosition(const Vec3f& nodePosition);

//      KyFloat32 GetNavMeshEdgeCost(const Vec3f& start, const Vec3f& end, const NavTag& navTag);
        bool ShouldVisitNode(AStarTraversalContext* astarContext, AStarNodeIndex nodeIndex);
        bool IsNodeOutsidePropagationBounds(AStarTraversalContext* astarContext, AStarNodeIndex nodeIndex);
        bool ShouldOpenHalfEdgeNode(const NavHalfEdgeRawPtr& halfEdge, NavHalfEdgeRawPtr& pairHalfEdgeOfNewNode);
        bool ShouldOpenGraphVertexNode(const NavGraphVertexRawPtr& navGraphVertexRawPtr);
        bool ShouldOpenAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        bool ShouldOpenNavTriangleUnderAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        Vec3f ComputeNodePositionOnHalfEdge(AStarTraversalContext* aStarTraversalContext, const Vec3f& startPosOfEdge,
            const Vec3f& endPosOfEdge, AStarNodeIndex predecessorNodeIndex);
        KyResult OnNavTriangleExplored(AStarTraversalContext* aStarTraversalContext, const NavTriangleRawPtr& navTriangleRawPtr, AStarNodeIndex currentNodeIndex);
        KyResult OnNavGraphEdgeExplored(AStarTraversalContext* aStarTraversalContext, const NavGraphEdgeRawPtr& navGraphEdgeRawPtr, AStarNodeIndex currentNodeIndex);
        void* GetTraverseLogicUserData() const { return m_traverseLogicUserData; }

        // propagationBounds
        Vec3f m_startPos;
        KyFloat32 m_maxRadius;
        void* m_traverseLogicUserData;
    };

    AStarTraversal<TraversalCustomizer> m_traversal;
};

}

#include "gwnavruntime/queries/bestgraphvertexpathfinderquery.inl"

#endif //Navigation_BestGraphVertexPathFinderQuery_H