dynamicnavfloor.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: LASI
#ifndef Navigation_DynamicNavFloor_H
#define Navigation_DynamicNavFloor_H

#include "gwnavruntime/navmesh/blobs/flooraltituderange.h"
#include "gwnavruntime/containers/kyarray.h"
#include "gwnavruntime/math/box2f.h"
#include "gwnavruntime/database/navtag.h"


namespace Kaim
{

// ----------------------------
// ----- DynamicNavVertex -----
// ----------------------------
class DynamicNavVertex
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    DynamicNavVertex() :
        m_pixelPos(InvalidPixelCoord, InvalidPixelCoord),
        m_altitude(KyFloat32MAXVAL),
        m_first(KyUInt32MAXVAL)
    {}

    DynamicNavVertex(const PixelPos& pixelPos, KyFloat32 alt) :
        m_pixelPos(pixelPos),
        m_altitude(alt),
        m_first(KyUInt32MAXVAL)
    {}

    bool operator==(const DynamicNavVertex& other) const
    {
        return m_pixelPos == other.m_pixelPos && m_altitude == other.m_altitude;
    }
    bool operator!=(const DynamicNavVertex& other) const
    {
        return !operator==(other);
    }
public:
    PixelPos m_pixelPos;
    KyFloat32 m_altitude;
    KyUInt32 m_first; // first outgoing edge
};

// ------------------------------
// ----- DynamicNavTriangle -----
// ------------------------------
class DynamicNavTriangle
{
public:
    DynamicNavTriangle() : m_edge(KyUInt32MAXVAL) {}
    DynamicNavTriangle(KyUInt32 edge) : m_edge(edge) {}

public:
    KyUInt32 m_edge;     // one edge around the face
};

// --------------------------
// ----- DynamicNavHalfEdge -----
// --------------------------

enum DynamicNavHalfEdgeType
{
    DynamicNavHalfEdgeType_Normal = 0,
    DynamicNavHalfEdgeType_Wall = 1,
    DynamicNavHalfEdgeType_Hole = 2,
    DynamicNavHalfEdgeType_FloorBoundary = 3,
    DynamicNavHalfEdgeType_CellBoundary = 4,

    DynamicNavHalfEdgeType_Invalid = 0xFFFFFFFF
};

class DynamicNavHalfEdge
{
public:
    DynamicNavHalfEdge()
        : m_idx(KyUInt32MAXVAL)
        , m_start(KyUInt32MAXVAL)
        , m_end(KyUInt32MAXVAL)
        , m_face(KyUInt32MAXVAL)
        , m_next(KyUInt32MAXVAL)
        , m_type(DynamicNavHalfEdgeType_Invalid)
        , m_pair(KyUInt32MAXVAL)
        , m_cardinalDir(CardinalDir_INVALID)
        , m_stitch1To1EdgeIdx(KyUInt32MAXVAL) {}
public:
    KyUInt32 m_idx;
    KyUInt32 m_start; // start vertex
    KyUInt32 m_end; // end vertex (added by LS for dynamicFloorBuilder)
    KyUInt32 m_face; // the adjacent face
    KyUInt32 m_next; // next edge
    DynamicNavHalfEdgeType m_type;  // 0 = normal, 1 = wall, 2 = hole,  3 = Floor boundary, 4 = cell boundary
    
    // if m_type == Normal : pair edge idx in the same floor
    // if m_type == FloorBoundary || m_type == CellBoundary, UNUSED
    KyUInt32 m_pair;

    CardinalDir m_cardinalDir; // use for edge of type == 3 (cell boundary) only. The cardinal dir of the side of the cell

    mutable KyUInt32 m_stitch1To1EdgeIdx;
};

// --------------------------
// ----- DynamicNavFloor -----
// --------------------------
class DynamicNavFloor
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    enum PixelPosRelativeCoordSystem
    {
        PIXELPOS_ABSOLUTE,
        PIXELPOS_RELATIVE_TO_CELL
    };

public:
    DynamicNavFloor();
    DynamicNavFloor(MemoryHeap* memoryHeap);

    void Clear();

    KyUInt32 AddIntVertex(const Vec2i& position, KyFloat32 altitude);
    KyUInt32 AddIntVertex(const Vec2i& position); // Do not forget to call ComputeAltitudeRange() once the altitude has been set for each vertex
    // for legacy. Create a vertex a position but without pixel pos.
    KyUInt32 AddVertex3f(const Vec3f& position);

    KyUInt32 AddTriangle(KyUInt32 idxV1, KyUInt32 idxV2, KyUInt32 idxV3);
    KyUInt32 AddHalfEdge(KyUInt32 start, KyUInt32 end, KyUInt32 face, DynamicNavHalfEdgeType type = DynamicNavHalfEdgeType_Normal);
    KyResult MakeEdgesOpposite(KyUInt32 idxEdge1, KyUInt32 idxEdge2);

    // ---- Edge -----
    KyUInt32 GetNextEdgeIdx(KyUInt32 edgeIdx)     const {  return m_edges[edgeIdx].m_next; }
    KyUInt32 GetPrevEdgeIdx(KyUInt32 edgeIdx)     const {  return GetNextEdgeIdx(GetNextEdgeIdx(edgeIdx)); }
    KyUInt32 GetOppositeEdgeIdx(KyUInt32 edgeIdx) const {  return m_edges[edgeIdx].m_pair; }
    KyUInt32 GetStartVertexIdx(KyUInt32 edgeIdx)  const {  return m_edges[edgeIdx].m_start; }
    KyUInt32 GetFaceIdx(KyUInt32 edgeIdx)         const {  return m_edges[edgeIdx].m_face; }

    // ---- Face -----
    KyUInt32 GetEdgeIdx(KyUInt32 triangleIdx) const { return m_triangles[triangleIdx].m_edge; }

    // ---- Vertex -----
    KyUInt32 GetFirstEdgeIdx(KyUInt32 vertexIdx) const { return m_vertices[vertexIdx].m_first; }
    
    const DynamicNavVertex& GetNavVertex(KyUInt32 vertexIdx) const { return m_vertices[vertexIdx]; }

    KyUInt32 ComputeNextBorderEdgeIdx(KyUInt32 edgeIdx) const;
    KyUInt32 GetNumberOfFloorBoundaryEdges() const;

    bool AreIndexesWithinBounds() const;
    // search m_navTagArray for Navtag. 
    // If this particular navtag is not present, It will be added.
    // returns the index in m_navTagArray where tag was found or added. 
    KyUInt32 FindOrAddNavtag(const NavTag* tag); 

    void ComputeAltitudeRange();

public:
    KyUInt32 m_idx;

    KyArrayDH<DynamicNavTriangle> m_triangles;
    KyArrayDH_POD<DynamicNavVertex> m_vertices;
    KyArrayDH_POD<DynamicNavHalfEdge> m_edges;
    KyArrayDH_POD<KyUInt32> m_navTagIndexes;
    KyArrayDH_POD<const NavTag*> m_navTagArray;

    FloorAltitudeRange m_altitudeRange;
};

KY_INLINE DynamicNavFloor::DynamicNavFloor() :
    m_idx(KyUInt32MAXVAL),
    m_triangles(KY_NULL),
    m_vertices(KY_NULL),
    m_edges(KY_NULL),
    m_navTagIndexes(KY_NULL),
    m_navTagArray(KY_NULL)
{
    Clear();
}

KY_INLINE DynamicNavFloor::DynamicNavFloor(MemoryHeap* memoryHeap) :
    m_idx(KyUInt32MAXVAL),
    m_triangles(memoryHeap),
    m_vertices(memoryHeap),
    m_edges(memoryHeap),
    m_navTagIndexes(memoryHeap),
    m_navTagArray(memoryHeap)
{
    Clear();
}

KY_INLINE void DynamicNavFloor::Clear()
{
    m_vertices.Clear();
    m_triangles.Clear();
    m_edges.Clear();
    m_navTagIndexes.Clear();
    m_navTagArray.Clear();
    m_altitudeRange.Clear();
}

} // namespace Kaim


#endif //Navigation_DynamicNavFloor_H