gatearraycomputer.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_GateArrayComputer_H
#define Navigation_GateArrayComputer_H

#include "gwnavruntime/channel/channelcomputerconfig.h"
#include "gwnavruntime/channel/stringpuller.h"
#include "gwnavruntime/channel/channel.h"
#include "gwnavruntime/channel/gatedefinition.h"
#include "gwnavruntime/channel/gatedefinitioncomputer.h"
#include "gwnavruntime/channel/stringpulledbubblelist.h"
#include "gwnavruntime/channel/channelsectionwidener.h"
#include "gwnavruntime/queries/raycastquery.h"
#include "gwnavruntime/database/activedata.h"
#include "gwnavruntime/base/timeprofiler.h"


namespace Kaim
{

enum GateArrayComputerResult
{
    GateArrayComputerResult_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    GateArrayComputerResult_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    GateArrayComputerResult_ComputingGateDefinitions,
    GateArrayComputerResult_WidenChannel_FirstGate,
    GateArrayComputerResult_WidenChannel_TurnGates,
    GateArrayComputerResult_WidenChannel_LastGate,

    GateArrayComputerResult_Done_InputError,
    GateArrayComputerResult_Done_Error,
    GateArrayComputerResult_Done_GateDefinitionComputerError,
    GateArrayComputerResult_Done_IntermediateGatesError,

    GateArrayComputerResult_Done
};

class GateArrayComputer
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    GateArrayComputer();

    void Initialize(Database* database, const StringPulledBubbleList& stringPulledBubbleList, Channel* channel);

    bool IsFinished() const { return m_result >= GateArrayComputerResult_Done_InputError; }
    GateArrayComputerResult GetResult() const { return m_result; }

    void Clear();

    template<class TraverseLogic>
    void Advance(WorkingMemory* workingMemory);

    template<class TraverseLogic>
    KyResult Compute(WorkingMemory* workingMemory);

    ChannelComputerConfig& GetComputerConfig();

    KyFloat32 GetComputationDurationMks()  const;
    void*     GetTraverseLogicUserData() const;

    Channel* GetChannel() { return m_channel; }

    void SetComputerConfig(const ChannelComputerConfig& computerConfig);
    void SetTraverseLogicUserData(void* traverseLogicUserData);

protected:
    void Processing_Initialize();

    template<class TraverseLogic>
    void Processing_ComputingGateDefinitions(WorkingMemory* workingMemory);

    template<class TraverseLogic>
    void Processing_WidenChannel_FirstGate(WorkingMemory* workingMemory);

    template<class TraverseLogic>
    void Processing_WidenChannel_TurnGates(WorkingMemory* workingMemory);

    template<class TraverseLogic>
    void Processing_WidenChannel_LastGate(WorkingMemory* workingMemory);

    template<class TLogic>
    void CreateStartGate(WorkingMemory* workingMemory);
    template<class TLogic>
    void CheckExtremityGateSize(WorkingMemory* workingMemory, Gate& gate);

    void MovePathPosInsideGates();

    void TreatCollapsedSections();

    bool IsGateCollapsed(const Gate& gate) const;
    bool CollapseGateWhenNecessary(KyUInt32 gateIdx) const;

    KyResult ComputeCollapseIntermediaryGate(const Gate& extremityGate, const Vec3f collapsingPosition, Gate& intermediaryExtremityGate);

    KyUInt32 BacktrackCollapse(const Gate& prevGate, KyUInt32 gateIdx);

    void UpdateInternalParametersFromConfig();

    template<class TraverseLogic>
    KyResult WidenChannelNotInTurn(WorkingMemory* workingMemory, const Vec2f& endGateDirOnLeft);

    template<class TraverseLogic>
    KyResult WidenChannelInTurn(WorkingMemory* workingMemory, const Vec2f& endGateDirOnLeft);

    template<class TLogic>
    KyResult ComputeCurrentGatePos(WorkingMemory* workingMemory);

    template<class TLogic>
    KyResult TreatNextStringPulledBubble_TransitionToNextBubble(WorkingMemory* workingMemory);

    template<class TraverseLogic>
    KyResult ComputeTurnGate(WorkingMemory* workingMemory, const Vec2f& gateLeftDirection);

protected:
    Ptr<Database> m_database;
    ChannelComputerConfig m_computerConfig;
    void* m_traverseLogicUserData;

    GateArrayComputerResult m_result;

    // stats
    KyFloat32 m_computationDurationMks;

    const StringPulledBubbleList* m_stringPulledBubbleList;
    Ptr<GateDefinitionArray> m_gateDefinitionArray;
    Ptr<Channel> m_channel;

public: // internal
    Vec2f m_prevGateDirOnLeft;
    Gate m_currentNewGate;
    Vec3f m_channelCornerPos;

    // temp for intermediate gates computing and adjusting
    GateDefinitionComputer m_gateDefinitionComputer;
    ChannelSectionWidener m_channelSectionWidener;
    KyUInt32 m_gateDefinitionCount;
    KyUInt32 m_gateDefinitionIdx;
    NavTrianglePtr m_previousGateNavTriangle;

public:
    bool m_advancedVisualDebuggingEnabled;
};

} // namespace Kaim


#include "gwnavruntime/channel/gatearraycomputer.inl"


#endif // Navigation_GateArrayComputer_H