followedcirclearcspline.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.
*/


#ifndef Navigation_FollowedCircleArcSpline_H
#define Navigation_FollowedCircleArcSpline_H

#include "gwnavruntime/pathfollower/circlearcspline.h"
#include "gwnavruntime/pathfollower/positiononcirclearcspline.h"
#include "gwnavruntime/channel/channelsectionptr.h"
#include "gwnavruntime/path/positiononpath.h"

namespace Kaim
{


enum SplineComputationMode
{
    SplineComputation_Failure,      // Spline computation failed, and Shortcut cannot reach the Path
    SplineComputation_OutOfNavMesh, // Following or going to an out of NavMesh PathEdge since there's no Channel, relying on Shortcut, no spline computed.
    SplineComputation_Frozen,       // Spline was not recomputed but can potentially be cut
    SplineComputation_Degraded,     // Spline computation failed, so relying on Shortcut to generate a spline following the Channel
    SplineComputation_SubOptimal,   // Spline computed in channel but some constraints are respected
    SplineComputation_Optimal,      // Spline computed in channel respecting all constraints        
};

class FollowedCircleArcSpline
{
public:
    FollowedCircleArcSpline() { Clear(); }
    FollowedCircleArcSpline(const FollowedCircleArcSpline& other);
    FollowedCircleArcSpline& operator=(const FollowedCircleArcSpline& other);
    void Clear();

    bool IsEmpty() const { return m_spline.IsEmpty(); }

public:
    SplineComputationMode m_computationMode;
    
    // This is empty on SplineComputation_OutOfNavMesh and SplineComputation_Failure:
    CircleArcSpline m_spline;
    PositionOnCircleArcSpline m_positionOnSpline;
    PositionOnCircleArcSpline m_targetOnSpline;
    KyFloat32 m_recomputationDistance; // after having moved this distance along the spline, the spline will be recomputed, this distance is computed based on SplineComputaitonConfig::m_recomputationDistanceRatio and the length of the spline

    ChannelSectionPtr m_endSection; // end section in channel if any
    PositionOnPath m_endPositionOnPath; // end positionOnPath of the spline or if no spline with SplineComputation_OutOfNavMesh it is used as target position
    bool m_hasEndConstraint; // indicates if a direction associated to m_endPositionOnPath is used as an end constraint for the spline
    Vec2f m_endConstraint;  // the direction of the end constraint, relevant only if m_hasEndConstraint is true
};

}

#endif