channelarraycomputer.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_ChannelArrayComputer_H
#define Navigation_ChannelArrayComputer_H

#include "gwnavruntime/channel/channelarraycomputerstats.h"
#include "gwnavruntime/channel/diagonalstripcomputer.h"
#include "gwnavruntime/channel/stringpuller.h"
#include "gwnavruntime/channel/gatearraycomputer.h"
#include "gwnavruntime/channel/bubblearraybuilder.h"
#include "gwnavruntime/channel/channelsectionptr.h"
#include "gwnavruntime/channel/channelarray.h"
#include "gwnavruntime/navmesh/intersections.h"

#include "gwnavruntime/queries/utils/pathfinderqueryutils.h"


namespace Kaim
{

enum ChannelArrayComputerResult
{
    ChannelArrayResult_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    ChannelArrayResult_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    ChannelArrayResult_StartNewPathSection,
    ChannelArrayResult_ComputingChannel_DiagonalStrip_Init,
    ChannelArrayResult_ComputingChannel_DiagonalStrip,
    ChannelArrayResult_ComputingChannel_StringPull_Init,
    ChannelArrayResult_ComputingChannel_StringPull,
    ChannelArrayResult_ComputingChannel_GateArray_Init,
    ChannelArrayResult_ComputingChannel_GateArray,
    ChannelArrayResult_ComputingChannel_PreChannelPolyline,
    ChannelArrayResult_ComputingChannel_PostChannelPolyline,
    ChannelArrayResult_ComputingAggregatedPath,
    ChannelArrayResult_ComputingChannelWidth,

    ChannelArrayResult_Error_InvalidRawPath,
    ChannelArrayResult_Error_ChannelComputation_DiagonalStrip,
    ChannelArrayResult_Error_ChannelComputation_StringPull,
    ChannelArrayResult_Error_ChannelComputation_GateArray,
    ChannelArrayResult_Error_ChannelComputation_PreChannelPolyline,
    ChannelArrayResult_Error_ChannelComputation_PostChannelPolyline,
    ChannelArrayResult_Error_PathAggregation,
    ChannelArrayResult_Error_ChannelWidthComputation,

    ChannelArrayResult_Done
};

class ChannelArrayComputer
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_QueryWorkingMem)

public:
    ChannelArrayComputer();
    ~ChannelArrayComputer();

    void SetChannelComputerConfig(const ChannelComputerConfig& channelComputerConfig) { m_channelComputerConfig = channelComputerConfig; }

    void* GetTraverseLogicUserData() const { return m_traverseLogicUserData; }
    void SetTraverseLogicUserData(void* traverseLogicUserData) { m_traverseLogicUserData = traverseLogicUserData; }


    void Init(Path* rawPath, PathClamperFlagMask pathClamperFlagMask);
    void Clear();

    template<class TraverseLogic>
    void Advance(WorkingMemory* workingMemory);
    bool IsFinished() const { return m_result >= ChannelArrayResult_Error_InvalidRawPath; }
    ChannelArrayComputerResult GetResult() const { return m_result; }

    template<class TraverseLogic>
    KyResult FullCompute(WorkingMemory* workingMemory, Path* rawPath, PathClamperFlagMask pathClamperFlagMask, Ptr<Path>& pathWithChannels);

private:
    template<class TLogic>
    KyResult ComputePreChannelPolyline(WorkingMemory* workingMemory, Channel* channel);
    template<class TLogic>
    KyResult ComputePostChannelPolyline(WorkingMemory* workingMemory, Channel* channel);
    template<class TLogic>
    KyResult ComputeChannelPolylineSection(Database* database, WorkingMemory* workingMemory, 
        const Vec3f& gatePathPos, const Vec3f& gateStartPos, const Vec3f& gateEndPos, KyArray<Vec2f>& polyline);

    template<class TLogic>
    KyResult CreateAggregatedPath(WorkingMemory* workingMemory);

    template<class TLogic>
    KyResult CreateChannelPath(Database* database, WorkingMemory* workingMemory, const Channel& channel, Ptr<Path>& channelPath);

    void UpdateChannelSectionFromPath(const Path* channelPath, KyUInt32 channelIdx, Ptr<Channel>& channel);

    KyResult FillAggregatedPathWithChannelPath(const Path* ChannelPath, KyUInt32& currentAggregatedPathEdgeIndex,
        KyInt32 clearanceDistanceInt, KyInt32 cellSizeInCoord);

    KyResult FillAggregatedPathWithRawPathSection(KyUInt32 firstEdgeIndex, KyUInt32 lastEdgeIndex, KyUInt32& currentAggregatedPathEdgeIndex);
    void EnlargeCellBoxFromPolyline(const KyArray<Vec2f>& polyline, CellBox& cellBox);

    KyResult SplitChannelOnCollapsedSections(const Channel* originalChannel, KyUInt32 originalChannelStartPathNodeIdx, ChannelArray* finalChannelArray);

    bool GetNextEdgeOnNavMesh(const KyUInt32 currentEdgeIdx, KyUInt32& nextOnNavMeshEdgeIdx);
    bool GetNextEdgeNotOnNavMesh(const KyUInt32 currentEdgeIdx, KyUInt32& nextOnNavMeshEdgeIdx);

    void FindEndNodeIdxOfNavMeshSection();
    void FindEndNodeIdxOfNonNavMeshSection();

    void SetPathNodeToPathWithChannels(const Path* path, KyUInt32 pathNodeIndex, KyUInt32 aggregatedPathNodeIndex);
    void SetPathEdgeToPathWithChannels(const Path* path, KyUInt32 pathEdgeIndex, KyUInt32 aggregatedPathEdgeIndex);


public:
    ChannelComputerConfig m_channelComputerConfig;
    void* m_traverseLogicUserData;
    PathClamperFlagMask m_pathClamperFlagMask;

    KyArray<KyUInt32> m_navGraphSectionBoundaryIndices;
    KyUInt32 m_currentSectionStartNodeIdx;
    KyUInt32 m_currentSectionEndNodeIdx;

    Ptr<Path> m_rawPath;
    Ptr<ChannelArray> m_channelArray;
    Ptr<Path> m_pathWithChannels;

    ChannelArrayComputerResult m_result;

    Ptr<Channel> m_channelUnderConstruction;

    DiagonalStrip m_diagonalStrip;
    BubbleArray m_bubbleArray;
    StringPulledBubbleList m_stringPulledBubbleList;

    DiagonalStripComputer m_diagonalStripComputer;
    StringPuller m_stringPuller;
    GateArrayComputer m_gateArrayComputer;

    bool m_advancedVisualDebuggingEnabled;
    ChannelArrayComputerStats m_stats;

};

} // namespace Kaim


#include "gwnavruntime/channel/channelarraycomputer.inl"


#endif // Navigation_ChannelArrayComputer_H