circlearcspline.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_CircleArcSpline_H
#define Navigation_CircleArcSpline_H

#include "gwnavruntime/pathfollower/circlearcsplinesection.h"
#include "gwnavruntime/containers/kyarray.h"


namespace Kaim
{


enum SplineCutMode
{
    CutSplineAtArcStart,
    CutSplineAtArcEnd,
    CutSplineAtArcInnerPosition
};

class CircleArcSpline
{
public:
    CircleArcSpline() {}

    void Clear();
    bool IsEmpty() const;
    KyUInt32 GetSectionCount() const;

    const CircleArcSplineSection& GetSection(KyUInt32 index) const;

    const Vec3f& GetStartPosition() const;

    const Vec3f& GetEndPosition() const;

    KyUInt32 GetLastSectionIndex() const;

    const CircleArcSplineSection& GetLastSection() const;

    Vec2f ComputeStartTangent() const;

    Vec2f ComputeEndTangent() const;


    void Display(const CircleArcSplineSectionDisplayConfig& displayConfig, ScopedDisplayList& displayList_arc, ScopedDisplayList& displayList_extremities,
        ScopedDisplayList& displayList_sectionIdx, ScopedDisplayList& displayList_radius) const;


public: // internal

    // Cuts tail and head to keep just the spline portion between provided positions.
    KyResult KeepSplineBetween(
        const Vec3f& newStartPosition, KyUInt32 newStartArcIndex, SplineCutMode startCutMode, KyUInt32 newStartSectionIdx,
        const Vec3f& newEndPosition, KyUInt32 newEndArcIndex, SplineCutMode endCutMode, KyUInt32 newEndSectionIdx);

    void Append(const KyArray<CircleArcSplineSection>& sections);
    void Reset(const KyArray<CircleArcSplineSection>& sections);
    void PushBack(const CircleArcSplineSection& sections);

    const KyArray<CircleArcSplineSection>& GetSectionArray() const { return m_sections; }

private:
    KyResult CutTailAt(const Vec3f& position, KyUInt32 arcIndex, SplineCutMode cutMode, KyUInt32 sectionIdx);
    KyResult CutHeadAt(const Vec3f& position, KyUInt32 arcIndex, SplineCutMode cutMode, KyUInt32 sectionIdx);

public: // internal
    KyArray<CircleArcSplineSection> m_sections;
};

KY_INLINE void CircleArcSpline::Clear()                                                 { m_sections.Clear(); };
KY_INLINE void CircleArcSpline::Reset(const KyArray<CircleArcSplineSection>& sections)  { m_sections = sections; }

KY_INLINE bool                          CircleArcSpline::IsEmpty()                  const { return m_sections.IsEmpty(); }
KY_INLINE KyUInt32                      CircleArcSpline::GetSectionCount()          const { return m_sections.GetCount(); }
KY_INLINE const CircleArcSplineSection& CircleArcSpline::GetSection(KyUInt32 index) const { KY_ASSERT(IsEmpty() == false); return m_sections[index]; }
KY_INLINE const Vec3f&                  CircleArcSpline::GetStartPosition()         const { KY_ASSERT(IsEmpty() == false); return m_sections[0].GetStartPosition(); }
KY_INLINE const Vec3f&                  CircleArcSpline::GetEndPosition()           const { KY_ASSERT(IsEmpty() == false); return m_sections[GetLastSectionIndex()].GetEndPosition(); }
KY_INLINE KyUInt32                      CircleArcSpline::GetLastSectionIndex()      const { KY_ASSERT(IsEmpty() == false); return (m_sections.GetCount() - 1); }
KY_INLINE const CircleArcSplineSection& CircleArcSpline::GetLastSection()           const { KY_ASSERT(IsEmpty() == false); return m_sections[GetLastSectionIndex()]; }
KY_INLINE Vec2f                         CircleArcSpline::ComputeStartTangent()      const { KY_ASSERT(IsEmpty() == false); return m_sections[0].ComputeTangent(GetStartPosition()); }
KY_INLINE Vec2f                         CircleArcSpline::ComputeEndTangent()        const { KY_ASSERT(IsEmpty() == false); return m_sections[GetLastSectionIndex()].ComputeTangent(GetEndPosition()); }

}

#endif // Navigation_CircleArcSpline_H