circlearcsplinesection.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_CircleArcSplineSection_H
#define Navigation_CircleArcSplineSection_H


#include "gwnavruntime/math/vec3f.h"
#include "gwnavruntime/channel/bubble.h"


namespace Kaim
{

class CircleArcSplineSectionBlob;
class CircleArcSplineSectionDisplayConfig;


class CircleArcSplineSection
{
    static const KyFloat32 SmallLengthThreshold;

public:
    CircleArcSplineSection()
        : m_startSectionIdx(KyUInt32MAXVAL)
        , m_endSectionIdx(KyUInt32MAXVAL)
        , m_length2d(0.0f)
    {}

    CircleArcSplineSection(const Bubble& bubble, const Vec3f& startPosition, KyUInt32 startSectionIdx, const Vec3f& endPosition, KyUInt32 endSectionIdx,
        const Vec2f& startTangent = Vec2f::Zero(), const Vec2f& endTangent = Vec2f::Zero());

    CircleArcSplineSection(const Vec3f& startPosition, KyUInt32 startSectionIdx, const Vec3f& endPosition, KyUInt32 endSectionIdx, const Vec2f& dir2d = Vec2f::Zero());


    void InitFromBlob(const CircleArcSplineSectionBlob* blob);

    void Reset();

    const Bubble&     GetBubble()            const { return m_bubble; }
    const Vec3f&      GetStartPosition()     const { return m_startPosition; }
    const Vec3f&      GetEndPosition()       const { return m_endPosition; }
    KyUInt32          GetStartSectionIdx()   const { return m_startSectionIdx; }
    KyUInt32          GetEndSectionIdx()     const { return m_endSectionIdx; }
    KyFloat32         GetLength2d()          const { return m_length2d; }
    const Vec2f&      GetStartTangent()      const { return m_startTangent; }
    const Vec2f&      GetEndTangent()        const { return m_endTangent; }

    const Vec3f&      GetCenter()            const { return m_bubble.GetCenter(); }
    KyFloat32         GetRadius()            const { return m_bubble.GetRadius(); }
    RotationDirection GetRotationDirection() const { return m_bubble.GetRotationDirection(); }

    bool IsInitialized() const { return (m_length2d > 0.0f); }
    bool IsASegment()    const { return (GetRadius() == KyFloat32MAXVAL); }
    bool IsCurve()       const { return (GetRadius() != KyFloat32MAXVAL); }
    bool IsSmall()       const { return (m_length2d < SmallLengthThreshold); }

    void SetStartPosition(const Vec3f& startPosition, KyUInt32 startSectionIdx, const Vec2f& startTangent);

    void SetEndPosition(const Vec3f& endPosition, KyUInt32 endSectionIdx, const Vec2f& endTangent);

    Vec2f ComputeTangent(const Vec3f& position) const;

    void MoveTo(Vec3f& position, KyFloat32 distanceFromStart, Vec2f* tangent = KY_NULL) const;


public: // Internal
    // The following functions directly or indirectly call GetAngleRad, that uses
    // the time-consuming Acosf function. They are intended to be used with care.

    // Computes the angle between start position and the provided position seen
    // from the bubble center.
    // \pre This method asserts the CircleArcSplineSection is not a segment. Take care to check
    // this before calling this method.
    KyFloat32 ComputeAngleFromStart(const Vec3f& position) const;

    // Computes the 2d distance along the arc between start position and the
    // provided position.
    // When the arc is a segment, this distance can be negative (the position
    // lays before the start).
    // When the arc is curve, this distance is always positive or null.
    KyFloat32 ComputeDistance2dFromStart(const Vec3f& position) const;

    // Computes the 2d distance along the arc between the provided position and
    // end position.
    // This distance can be negative (when the position lays after the end).
    KyFloat32 ComputeDistance2dToEnd(const Vec3f& position) const;

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

private:
    void ComputeStartTangent();
    void ComputeEndTangent();
    void ComputeProperties();


private:
    // Primary members, actually defining the CircleArcSplineSection.
    Bubble m_bubble;

    Vec3f m_startPosition;
    Vec3f m_endPosition;

    Vec2f m_startTangent;
    Vec2f m_endTangent;

    KyUInt32 m_startSectionIdx;
    KyUInt32 m_endSectionIdx;

    // Secondary members: useful values computed from the primary members.
    KyFloat32 m_length2d;
};

KY_INLINE CircleArcSplineSection::CircleArcSplineSection(const Bubble& bubble, const Vec3f& startPosition, KyUInt32 startSectionIdx, const Vec3f& endPosition, KyUInt32 endSectionIdx, const Vec2f& startTangent, const Vec2f& endTangent)
: m_bubble(bubble)
, m_startPosition(startPosition)
, m_endPosition(endPosition)
, m_startTangent(startTangent)
, m_endTangent(endTangent)
, m_startSectionIdx(startSectionIdx)
, m_endSectionIdx(endSectionIdx)
{
    if (m_startTangent == Vec2f::Zero())
        ComputeStartTangent();

    if (m_endTangent == Vec2f::Zero())
        ComputeEndTangent();

    ComputeProperties();
}

KY_INLINE CircleArcSplineSection::CircleArcSplineSection(const Vec3f& startPosition, KyUInt32 startSectionIdx, const Vec3f& endPosition, KyUInt32 endSectionIdx, const Vec2f& dir2d)
: m_bubble(startPosition, KyFloat32MAXVAL, UndefinedRotationDirection, UndefinedBubbleType)
, m_startPosition(startPosition)
, m_endPosition(endPosition)
, m_startTangent(dir2d)
, m_endTangent(dir2d)
, m_startSectionIdx(startSectionIdx)
, m_endSectionIdx(endSectionIdx)
{
    if (m_startTangent == Vec2f::Zero())
    {
        ComputeStartTangent();
        m_endTangent = m_startTangent;
    }

    ComputeProperties();
}

} // namespace Kaim

#endif // Navigation_CircleArcSplineSection_H