diskcangoquery.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: NOBODY
#ifndef Navigation_DiskCanGoQuery_H
#define Navigation_DiskCanGoQuery_H

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

#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/queries/raycastquery.h"
#include "gwnavruntime/queries/diskcollisionquery.h"
#include "gwnavruntime/queries/utils/capsuleintersector.h"
#include "gwnavruntime/queries/utils/crossedsectioncapsuleintersector.h"
#include "gwnavruntime/queries/utils/breadthfirstsearchedgecollisionvisitor.h"
#include "gwnavruntime/queries/utils/breadthfirstsearchtraversal.h"

namespace Kaim
{

class NavTriangleRawPtr;

template<class TraverseLogic>
class DiskCanGoQuery : public BaseDiskCanGoQuery
{
public:
    // ---------------------------------- Public Member Functions ----------------------------------

    DiskCanGoQuery();
    virtual ~DiskCanGoQuery() {}

    // ---------------------------------- Functions to set up the query ----------------------------------

    void BindToDatabase(Database* database);

    void Initialize(const Vec3f& startPos, const Vec3f& destPos, KyFloat32 radius);

    // ---------------------------------- write accessors for query inputs ----------------------------------

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);

    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput);

    // ---------------------------------- write accessors for query parameters ----------------------------------

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);

    void SetQueryType(DiskCanGoQueryType queryType);

    void SetDynamicOutputMode(DynamicOutputMode savingMode);

    // ---------------------------------- Query framework functions ----------------------------------

    virtual void Advance(WorkingMemory* workingMemory);

    void PerformQuery(WorkingMemory* workingMemory = KY_NULL);


    // ---------------------------------- Accessors ----------------------------------

    DiskCanGoQueryResult  GetResult()             const;
    const Vec3f&          GetStartPos()           const;
    const Vec3f&          GetDestPos()            const;
    const NavTrianglePtr& GetStartTrianglePtr()   const;
    const NavTrianglePtr& GetDestTrianglePtr()    const;
    KyFloat32             GetRadius()             const;
    DiskCanGoQueryType    GetQueryType()          const;
    DynamicOutputMode     GetDynamicOutputMode()  const;
    QueryDynamicOutput*   GetQueryDynamicOutput() const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

public : // internal
    void PerformQueryWithInputCoordPos(WorkingMemory* workingMemory);
    void SetStartIntegerPos(const WorldIntegerPos& startIntegerPos);
    void SetDestIntegerPos(const WorldIntegerPos& destIntegerPos);
    const WorldIntegerPos& GetStartIntegerPos() const;
    const WorldIntegerPos& GetDestIntegerPos() const;

private:
    void ForceDiskCanGo(WorkingMemory* workingMemory, const CellBox& cellBox, const NavTriangleRawPtr& startTriangleRawPtr);
    KyResult RayCastQueryFromStartOnTheRigth(WorkingMemory* workingMemory, const Vec2f& normalizedDir2d, RayCastQuery<TraverseLogic>& rayCastQuery,
        RayCastQueryResult& queryOnRightResult, KyFloat32& borderDistOnRight);
    KyResult RayCastQueryFromStartOnTheLeft(WorkingMemory* workingMemory, const Vec2f& normalizedDir2d, RayCastQuery<TraverseLogic>& rayCastQuery,
        RayCastQueryResult& queryOnLeftResult, KyFloat32& borderDistOnLeft);


public:
    // ---------------------------------- Public Data Members ----------------------------------
};

}

#include "gwnavruntime/queries/diskcangoquery.inl"


#endif //Navigation_DiskCanGoQuery_H