bestgraphvertexpathfinderquerydisplaylistbuilder.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_BestGraphVertexPathFinderQuery_DisplayListBuilder_H
#define Navigation_BestGraphVertexPathFinderQuery_DisplayListBuilder_H

#include "gwnavruntime/visualsystem/displaylist.h"
#include "gwnavruntime/queries/blobs/bestgraphvertexpathfinderqueryblob.h"
#include "gwnavruntime/queries/blobs/astarquerydisplaylistbuilder.h"
#include "gwnavruntime/path/pathblob.h"
#include "gwnavruntime/kernel/SF_Math.h"

namespace Kaim
{

class BestGraphVertexPathFinderQueryDisplayListBuilder : public IDisplayListBuilder
{
public:
    static void BuildPropagationCylinder(ScopedDisplayList* displayList, const Vec3f& center, KyFloat32 radius)
    {
        VisualShapeColor shapeColor;
        shapeColor.m_lineColor = VisualColor::Black;
        shapeColor.m_triangleColor = VisualColor::DimGray;

        const KyFloat32 heigth = 200.f;
        const Vec3f P = center - heigth * 0.5f * Vec3f::UnitZ();

        const KyUInt32 subdivisionCount = 14;
        const KyFloat32 angleStep = ((float)(KY_MATH_PI) * 2.0f) / subdivisionCount;
        const KyFloat32 cosAngleStep = Cosf(angleStep);
        const KyFloat32 sinAngleStep = Sinf(angleStep);
        const KyFloat32 cosAngleHalfStep = Cosf(angleStep*0.5f);
        const KyFloat32 sinAngleHalfStep = Sinf(angleStep*0.5f);
        const Vec3f heightVector(0.0f, 0.0f, heigth);

        Vec2f curStepDir(1.0f, 0.0f);
        Vec3f v0 = P + radius * curStepDir;
        for(KyUInt32 i = 0; i < subdivisionCount; i++)
        {

            const KyFloat32 formerDirX = curStepDir.x;

            Vec2f planeDir;
            planeDir.x = cosAngleHalfStep * formerDirX - sinAngleHalfStep * curStepDir.y;
            planeDir.y = sinAngleHalfStep * formerDirX + cosAngleHalfStep * curStepDir.y;

            curStepDir.x = cosAngleStep * formerDirX - sinAngleStep * curStepDir.y;
            curStepDir.y = sinAngleStep * formerDirX + cosAngleStep * curStepDir.y;


            const Vec3f v1 = P + radius * curStepDir;

            displayList->PushQuad(v0, v1, v1 + heightVector, v0 + heightVector, shapeColor);

            if (i%2 == 0)
            {
                AStarQueryDisplayListBuilder::BuildVerticalForbiddenWallLogo(
                    displayList, v0, v1, v1 + heightVector, v0 + heightVector, planeDir.PerpCCW());
            }

            v0 = v1;
        }
    }

private:
    virtual void DoBuild(ScopedDisplayList* displayList, char* blob, KyUInt32 /*deepBlobSize*/)
    {
        const BestGraphVertexPathFinderQueryBlob* bestGraphVertexPathFinderQueryBlob = (BestGraphVertexPathFinderQueryBlob*) blob;
        
        BestGraphVertexPathFinderQueryOutputBlob* bestGraphVertexPathFinderQueryOutputBlob = bestGraphVertexPathFinderQueryBlob->m_queryOutput.Ptr();
        if (bestGraphVertexPathFinderQueryOutputBlob != NULL)
        {
            Vec3f offsetVector = Vec3f::UnitZ();
            VisualColor textColor = VisualColor::Red;
            switch((BestGraphVertexPathFinderQueryResult)bestGraphVertexPathFinderQueryOutputBlob->m_result)
            {
                case BESTGRAPHVERTEX_NOT_INITIALIZED:
                    break;

                case BESTGRAPHVERTEX_NOT_PROCESSED:
                case BESTGRAPHVERTEX_PROCESSING_TRAVERSAL:
                case BESTGRAPHVERTEX_PROCESSING_TRAVERSAL_DONE:
                case BESTGRAPHVERTEX_PROCESSING_REFINING_INIT:
                case BESTGRAPHVERTEX_PROCESSING_REFINING:
                case BESTGRAPHVERTEX_PROCESSING_PATHCLAMPING_INIT:
                case BESTGRAPHVERTEX_PROCESSING_PATHCLAMPING:
                case BESTGRAPHVERTEX_PROCESSING_PATHBUILDING:
                case BESTGRAPHVERTEX_PROCESSING_CHANNEL_INIT:
                case BESTGRAPHVERTEX_PROCESSING_CHANNEL_COMPUTE:
                    break;

                case BESTGRAPHVERTEX_DONE_START_OUTSIDE:
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Start outside!");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_START_NAVTAG_FORBIDDEN:
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Start NavTag forbidden!");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_PATH_NOT_FOUND:
                    {
                        BuildPropagationCylinder(displayList, bestGraphVertexPathFinderQueryBlob->m_startPos3f,
                            bestGraphVertexPathFinderQueryBlob->m_propagationRadius);
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Path not found !");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_NAVDATA_CHANGED:
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "NavData changed!");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_ERROR_LACK_OF_WORKING_MEMORY:
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Lack of working memory!");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_COMPUTATION_ERROR :
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Computation Error");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_CHANNELCONFIG_ERROR :
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Channel Config Error");
                        break;
                    }

                case BESTGRAPHVERTEX_DONE_CHANNELCOMPUTATION_ERROR :
                    {
                        displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Channel Computation Error");
                        break;
                    }
                case BESTGRAPHVERTEX_DONE_PATH_FOUND:
                    {
                        PathDisplayListBuilder pathDisplayListBuilder;
                        pathDisplayListBuilder.DisplayPath(displayList, &bestGraphVertexPathFinderQueryOutputBlob->m_pathBlob);
                    }
                    break;

                case BESTGRAPHVERTEX_DONE_COMPUTATION_CANCELED:
                    displayList->PushText(bestGraphVertexPathFinderQueryBlob->m_startPos3f + offsetVector, textColor, "Query Canceled");
                    break;
            }
        }
    }
};

}

#endif