database.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: JUBA - secondary contact: LAPA

#ifndef Navigation_Database_H
#define Navigation_Database_H

#include "gwnavruntime/world/worldelement.h"
#include "gwnavruntime/database/databasegenmetrics.h"
#include "gwnavruntime/database/databasegeometrybuildingmanager.h"
#include "gwnavruntime/database/idatabasechangebroadcaster.h"
#include "gwnavruntime/database/querystatistics.h"
#include "gwnavruntime/containers/collection.h"
#include "gwnavruntime/blob/baseblobhandler.h"
#include "gwnavruntime/database/positionspatializationrange.h"
#include "gwnavruntime/kernel/SF_Std.h"
#include "gwnavruntime/querysystem/iquery.h"


namespace Kaim
{

class AbstractGraphCellGrid;
class NavMeshGenParameters;
class NavMeshElementManager;
class NavGraphManager;
class ITriangleCostMap;
class WorkingMemory;
class ActiveData;
class NavCellGrid;
class NavData;
class Bot;


enum RayCanGoMarginMode
{
    NoMargin = 0,            
    DiagonalStripMargin,     
    ChannelMargin,           
    PathMargin,              
    IdealTrajectoryMargin,   
    MinimalTrajectoryMargin, 
    MoveOnNavMeshMargin,     

    RayCanGoMarginModeCount // internal
};


class Database : public WorldElement
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_WorldFwk)
    KY_CLASS_WITHOUT_COPY(Database)

public:
    static  WorldElementType GetStaticType()       { return TypeDatabase; }
    virtual WorldElementType GetType()       const { return TypeDatabase; }
    virtual const char*      GetTypeName()   const { return "Database";   }

    // ---------------------------------- Public Member Functions ----------------------------------

    KyUInt32 GetDatabaseIndex() const;

    const DatabaseGenMetrics& GetDatabaseGenMetrics() const;

    DatabasePositionSpatializationRange&       GetDatabasePositionSpatializationRange();
    const DatabasePositionSpatializationRange& GetDatabasePositionSpatializationRange() const;
    const PositionSpatializationRange&         GetPositionSpatializationRange()         const;

    bool IsClear() const;

    bool IsCompatibleWith(const NavData& navData) const;

    void RemoveAllNavData();
    KyUInt32 GetAliveNavDataCount() const;

    void RemoveAllBots();
    KyUInt32 GetBotsCount() const;
    Bot* GetBot(KyUInt32 index) const;

    //  to access this explicitly except for modifying the memory size limit of this WorkingMemory.
    WorkingMemory* GetWorkingMemory() const;

    const CellBox& GetLastUpdateCellBox() const;

    bool HasChangedLastFrame() const;

public: // internal
    Database(World* world, KyUInt32 databaseIndex);
    virtual ~Database();

    void Clear(); 

    virtual void DoSendVisualDebug(VisualDebugServer& visualDebugServer, VisualDebugSendChangeEvent changeEvent); 


    PerformQueryStatistics* GetPerformQueryStatistics();

    void SetEventBroadcaster(IDatabaseChangeBroadcaster* eventBroadCaster);
    void UpdateImmediate();

    // ---------------------------------- Internally used by the NavigationLab for Database Visual Representation ----------------------------------

    void SetVisualGeometryFactory(Ptr<IVisualGeometryFactory> factory);

    void SetVisualGeometry(Ptr<IVisualGeometry> geometry);

    void BuildVisualGeometry(bool forceRebuildAll = false);

    // by this object for rendering. By default, navMesh, navGraph and abstractGraph are built. It can be changed
    void BuildVisualGeometry(Ptr<IVisualGeometry> geometry, const DatabaseVisualGeometryBuilderConfig& config = DatabaseVisualGeometryBuilderConfig());

    DatabaseGeometryBuildingManager& GetDatabaseGeometryBuildingManager();

    IVisualGeometry* GetVisualGeometry() const;

    // ---------------------------------- Called by various components, World, Queries ----------------------------------

    ActiveData* GetActiveData() const;

    bool IsThereNavDataToBeAddedOrRemoved() const; // call by World::Update
    bool IsDatabaseUpdatingNavData() const; // call by World::Update

    void UpdateWithDynamicNavFloors(const CellBox& enlargeUpdateCellBox);

    void RecomputeAllTriangleCostMapInBox(const CellBox& enlargeUpdateCellBox);

    void TakeSnapshotAndPrepareActiveDataUpdate(QueryProcessMode processMode);
    void UpdateActiveDataAndClearSnapshot(); // call by World::Update
    void UpdateBotsPathFollowing(KyFloat32 simulationTimeInSeconds); // call by World::Update
    void UpdateBotsGenMetrics();

    KyUInt32 GetRayCanGoMarginInt(RayCanGoMarginMode marginMode);
    KyFloat32 GetRayCanGoMarginFloat(RayCanGoMarginMode marginMode);

    void SetupGenerationMetrics(const NavMeshGenParameters& navMeshGenParameters); // called by internal members
    
private:
    friend class DatabaseUpdateManager;
    friend class NavMeshElementManager;
    void IncrementNavDataChangeIndex();

    void RemoveNavGraphsOfNavDataBeeingRemoved();
    void AddNavGraphsOfNavDataBeeingAdded();

    void SnapShotOfNavDataToUpdate();
    void ClearSnapShotOfNavDataToUpdate();

    void PrepareNavMeshInsertionOfNavDataBeeingAdded();
    void PrepareNavMeshRemovalOfNavDataBeeingRemoved();
    void RemoveNavMeshOfNavDataBeeingRemoved();

    void ComputeCellNextActiveNessStatus(QueryProcessMode queryProcessMode);
    void UpdateStitchOneToOneAndLaunchRuntimeStitchQueries(QueryProcessMode queryProcessMode);
    void UpdateActiveData();

    void PrepareAbstractGraphInsertionOfNavDataBeeingAdded();
    void InsertAbstractGraphOfNavDataBeeingAdded();
    void RemoveAbstractGraphOfNavDataBeeingRemoved();

    void ForceSendAllDynamicFloorsAtCellPos(VisualDebugServer &visualDebugServer);

    enum CompatibilityStatus
    {
        Compatibility_Untested,
        Compatibility_Error,
        Compatibility_Success,
    };
    CompatibilityStatus IsCompatibleWith(const NavData& navData, const TrackedCollection<Ptr<NavData>, MemStat_WorldFwk>& navDataCollection) const;

public: // internal
    KyUInt32 m_navdataChangeIdx; // 0 in an invalid Value
    KyUInt32 m_frameIdx; // mainly to be accessed by queries to check if consecutive calls to Advance occur during the same frame
    CellBox m_lastUpdateBox;

    DatabasePositionSpatializationRange m_positionSpatializationRange;
    DatabaseGenMetrics m_generationMetrics;          

    ActiveData*             m_activeData;            
    NavCellGrid*            m_navCellGrid;           
    NavMeshElementManager*  m_navMeshElementManager; 
    NavGraphManager*        m_navGraphManager;       
    AbstractGraphCellGrid*  m_abstractGraphCellGrid;
    WorkingMemory*          m_workingMemory;

    TrackedCollection<Ptr<Bot>, MemStat_WorldFwk> m_bots;

    TrackedCollection<Ptr<ITriangleCostMap>, MemStat_WorldFwk> m_triangleCostMaps;

    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataToBeAdded;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataBeeingAdded;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDatas;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataToBeRemoved;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataBeeingRemoved;

    Ptr<IDatabaseChangeBroadcaster> m_eventBroadCaster;

    DatabaseGeometryBuildingManager m_geometryBuildingManager;

    bool m_needToSendActiveNavData;        
    Collection<Ptr<BaseBlobHandler> > m_visualDebugBlobCollection; 

private:
    PerformQueryStatistics* m_queryStatistics;

    KyUInt32 m_databaseIndex; // Index of the Database in the world, set once and for all in the constructor

    // internal for update
    CellBox m_currentNavMeshUpdateCellBox;
    CellBox m_currentNavGraphUpdateCellBox;
    CellBox m_currentAbstractGraphUpdateCellBox;
    KyUInt32 m_navDataWithNavMeshElementCount;
    KyUInt32 m_navDataWithAbstractGraphCount;
};

KY_INLINE bool           Database::IsClear()                  const { return m_generationMetrics.IsClear(); }
KY_INLINE KyUInt32       Database::GetDatabaseIndex()         const { return m_databaseIndex;               }
KY_INLINE KyUInt32       Database::GetBotsCount()             const { return m_bots.GetCount();             }
KY_INLINE Bot*           Database::GetBot(KyUInt32 index)     const { return m_bots[index];                 }
KY_INLINE WorkingMemory* Database::GetWorkingMemory()         const { return m_workingMemory;               }
KY_INLINE ActiveData*    Database::GetActiveData()            const { return m_activeData;                  }
KY_INLINE const CellBox& Database::GetLastUpdateCellBox()     const { return m_lastUpdateBox;               }
KY_INLINE bool           Database::HasChangedLastFrame()      const { return m_lastUpdateBox.IsValid();     }

KY_INLINE bool     Database::IsThereNavDataToBeAddedOrRemoved() const { return m_navDataToBeAdded.GetCount()   + m_navDataToBeRemoved.GetCount() != 0; }
KY_INLINE bool     Database::IsDatabaseUpdatingNavData()   const { return m_navDataBeeingAdded.GetCount() + m_navDataBeeingRemoved.GetCount() != 0; }
KY_INLINE KyUInt32 Database::GetAliveNavDataCount()        const { return m_navDatas.GetCount() + m_navDataToBeRemoved.GetCount() + m_navDataBeeingRemoved.GetCount(); }

KY_INLINE DatabaseGeometryBuildingManager&           Database::GetDatabaseGeometryBuildingManager()           { return m_geometryBuildingManager;                                      }
KY_INLINE const DatabaseGenMetrics&                  Database::GetDatabaseGenMetrics()                  const { return m_generationMetrics;                                            }
KY_INLINE const DatabasePositionSpatializationRange& Database::GetDatabasePositionSpatializationRange() const { return m_positionSpatializationRange;                                  }
KY_INLINE DatabasePositionSpatializationRange&       Database::GetDatabasePositionSpatializationRange()       { return m_positionSpatializationRange;                                  }
KY_INLINE const PositionSpatializationRange&         Database::GetPositionSpatializationRange()         const { return m_positionSpatializationRange.GetPositionSpatializationRange(); }

KY_INLINE IVisualGeometry* Database::GetVisualGeometry() const  { return m_geometryBuildingManager.GetVisualGeometry(); }

KY_INLINE void Database::SetVisualGeometryFactory(Ptr<IVisualGeometryFactory> factory) { GetDatabaseGeometryBuildingManager().SetVisualGeometryFactory(factory); }
KY_INLINE void Database::SetVisualGeometry(Ptr<IVisualGeometry> geometry)              { GetDatabaseGeometryBuildingManager().SetVisualGeometry(geometry); }
KY_INLINE void Database::IncrementNavDataChangeIndex() { m_navdataChangeIdx = m_navdataChangeIdx != KyUInt32MAXVAL ? m_navdataChangeIdx + 1 : 1; }

KY_INLINE void Database::BuildVisualGeometry(bool forceRebuildAll) { m_geometryBuildingManager.BuildGeometry(forceRebuildAll); }

KY_INLINE KyUInt32 Database::GetRayCanGoMarginInt(RayCanGoMarginMode rayCanGoMarginMode)
{
    static const KyUInt32 marginValues[RayCanGoMarginModeCount] = {  //   PixelSize | 5 cm | 10 cm | 20 cm | 30 cm 
        0,  // UInt32 value for NoMargin.                            // ------------+------+-------+-------+-------
        10, // UInt32 value for DiagonalStripMargin                  // value in cm |      |       |       |       // Just a bit less than ChannelMargin
        15, // UInt32 value for ChannelMargin                        // value in cm |      |       |       |       // Very small to prevent polygon shrinking errors
        45, // UInt32 value for PathMargin.                          // value in cm | 1.76 |  3.52 |  7.03 | 10.55 
        35, // UInt32 value for IdealTrajectoryMargin.               // value in cm | 1.37 |  2.73 |  5.47 |  8.20 
        30, // UInt32 value for MinimalTrajectoryMargin.             // value in cm | 1.17 |  2.34 |  4.69 |  7.03 
        10  // UInt32 value for MoveOnNavMeshMargin.                 // value in cm | 0.39 |  0.78 |  1.56 |  2.34 
    };
    return marginValues[rayCanGoMarginMode];
}

KY_INLINE KyFloat32 Database::GetRayCanGoMarginFloat(RayCanGoMarginMode rayCanGoMarginMode)
{
    return GetRayCanGoMarginInt(rayCanGoMarginMode) * GetDatabaseGenMetrics().m_integerPrecision;
}

KY_INLINE PerformQueryStatistics* Database::GetPerformQueryStatistics() { return m_queryStatistics; }

} // namespace Kaim

#endif // Navigation_Database_H