botconfig.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_BotConfig_H
#define Navigation_BotConfig_H

#include "gwnavruntime/base/memory.h"
#include "gwnavruntime/kernel/SF_RefCount.h"
#include "gwnavruntime/channel/channelcomputerconfig.h"
#include "gwnavruntime/pathfollower/pathprogressconfig.h"
#include "gwnavruntime/pathfollower/collidercollectorconfig.h"
#include "gwnavruntime/pathfollower/shortcuttrajectoryconfig.h"
#include "gwnavruntime/pathfollower/splinetrajectoryconfig.h"
#include "gwnavruntime/pathfollower/radiusprofile.h"
#include "gwnavruntime/pathfollower/avoidanceconfig.h"
#include "gwnavruntime/world/pathfinderconfig.h"


namespace Kaim
{

enum TrajectoryMode
{
    TrajectoryMode_Shortcut = 0,
    TrajectoryMode_Spline  = 1
};

enum TrajectoryFailureMode
{
    TrajectoryFailureMode_Safe   = 0,
    TrajectoryFailureMode_Unsafe = 1
};

class BotConfig: public RefCountBase<BotConfig, MemStat_Bot>
{
public:
    BotConfig() { SetDefaults(); }

    void SetDefaults();

public:
    // ------------ Deprecated functions ----------
    // Please access m_trajectoryMode directly

    KY_DEPRECATED(void SetTrajectoryMode(TrajectoryMode trajectoryMode)) { m_trajectoryMode = trajectoryMode; }
    KY_DEPRECATED(TrajectoryMode GetTrajectoryMode() const) { return m_trajectoryMode; }

public:
    // ------------------- Shape Config -------------------

    KyFloat32 m_radius;

    KyFloat32 m_height;

    // ------------------- Trajectory Mode -------------------

    TrajectoryMode m_trajectoryMode;

    // ------------------- PathFind Config -------------------

    PathFinderConfig m_pathFinderConfig;

    ChannelComputerConfig m_channelComputerConfig;

    // ------------------- Path Progress Config -------------------

    PathProgressConfig m_pathProgressConfig;

    // ------------------- Trajectory Config -------------------

    KyFloat32 m_maxDesiredLinearSpeed;

    TrajectoryFailureMode m_trajectoryFailureMode;

    ShortcutTrajectoryConfig m_shortcutTrajectoryConfig;

    SplineTrajectoryConfig m_splineTrajectoryConfig;

    // ------------------- Advanced Trajectory Config -------------------

    KyFloat32 m_trajectoryMinimalMoveDistance;

    // ------------------- Trajectory Avoidance Config -------------------

    bool m_enableAvoidance;

    ColliderCollectorConfig m_colliderCollectorConfig; 

    AvoidanceConfig m_avoidanceConfig;
};


KY_INLINE void BotConfig::SetDefaults()
{
    m_radius = 0.0f;
    m_height = 0.0f;

    m_trajectoryMode = TrajectoryMode_Shortcut;

    m_pathFinderConfig.SetDefaults();

    m_pathProgressConfig.SetDefaults();

    m_maxDesiredLinearSpeed = 5.0f;
    m_trajectoryFailureMode = TrajectoryFailureMode_Safe;
    m_shortcutTrajectoryConfig.SetDefaults();
    m_splineTrajectoryConfig.SetDefaults();
    m_trajectoryMinimalMoveDistance = 0.01f;

    m_enableAvoidance = false;
    m_colliderCollectorConfig.SetDefaults();
    m_avoidanceConfig.SetDefaults();
}

} // namespace Kaim

#endif