coneintersector.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_ConeIntersector_H
#define Navigation_ConeIntersector_H

#include "gwnavruntime/database/database.h"
#include "gwnavruntime/navmesh/intersections.h"
#include "gwnavruntime/navmesh/closestpoint.h"
#include "gwnavruntime/queries/utils/basediskcangoquery.h"
#include "gwnavruntime/queries/utils/basediskcastquery.h"


namespace Kaim
{

/*
class ConeIntersector
*/
class ConeIntersector
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Query)

public:
    ConeIntersector(const Vec3f& startCenter, const Vec3f& endCenter, KyFloat32 halfWidth, KyFloat32 integerPrecision)
        : m_integerPrecision(integerPrecision)
        , m_startCenter(startCenter)
        , m_endCenter(endCenter)
        , m_halfWidth(halfWidth)
    {
        m_normalizedDir2d = m_endCenter.Get2d() - m_startCenter.Get2d();
        m_length = m_normalizedDir2d.Normalize();

        const Vec2f leftDir = m_normalizedDir2d.PerpCCW();
        const Vec2f leftVec = m_halfWidth * leftDir;
        m_endLeft = m_endCenter + leftVec;
        m_endRight = m_endCenter - leftVec;
    }

    ConeIntersector(const Vec3f& startPos, const Vec2f& normalizedDir2d, KyFloat32 length, KyFloat32 halfWidth, KyFloat32 integerPrecision)
        : m_integerPrecision(integerPrecision)
        , m_startCenter(startPos)
        , m_normalizedDir2d(normalizedDir2d)
        , m_length(length)
        , m_halfWidth(halfWidth)
    {
        m_endCenter = m_startCenter + (m_normalizedDir2d * m_length);

        const Vec2f leftDir = m_normalizedDir2d.PerpCCW();
        const Vec2f leftVec = m_halfWidth * leftDir;
        m_endLeft = m_endCenter + leftVec;
        m_endRight = m_endCenter - leftVec;
    }

    bool DoesIntersectEdge(const CoordPos64& startEdgeCoordPos, const CoordPos64& endEdgeCoordPos)
    {
        const Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
        const Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

        return Intersections::SegmentVsTriangle2d(startEdgePos, endEdgePos, m_startCenter, m_endLeft, m_endRight);
    }

    void ComputeCollisionPosOnEdge(const CoordPos64& startEdgeCoordPos, const CoordPos64& endEdgeCoordPos, Vec3f& collisionPos, KyFloat32& squareDistToCollisionPos)
    {
        const Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
        const Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

        ClosestPoint::OnSegmentVsConeCast2d(startEdgePos, endEdgePos, m_startCenter, m_normalizedDir2d, m_length, m_halfWidth, collisionPos, squareDistToCollisionPos);
    }

    void ComputeTriangleCost(const CoordPos64& v0CoordPos, const CoordPos64& v1CoordPos, const CoordPos64& v2CoordPos, KyFloat32& cost)
    {
        const Vec3f v0(v0CoordPos.x * m_integerPrecision, v0CoordPos.y * m_integerPrecision, 0.f);
        const Vec3f v1(v1CoordPos.x * m_integerPrecision, v1CoordPos.y * m_integerPrecision, 0.f);
        const Vec3f v2(v2CoordPos.x * m_integerPrecision, v2CoordPos.y * m_integerPrecision, 0.f);

        Vec3f unused;
        ClosestPoint::OnTriangleVsConeCast2d(v0, v1, v2, m_startCenter,m_normalizedDir2d, m_length,  m_halfWidth, unused, cost);
    }

private:
    KyFloat32 m_integerPrecision;

    Vec3f m_startCenter;
    Vec3f m_endCenter;
    Vec3f m_endLeft;
    Vec3f m_endRight;

    Vec2f m_normalizedDir2d;
    KyFloat32 m_length;
    KyFloat32 m_halfWidth;

    OrientedBox2d m_orientedBox2d;
};


}


#endif //Navigation_ConeIntersector_H