iavoidancesolver.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: MUBI - secondary contact: LAPA
#ifndef Navigation_IAvoidanceSolver_H
#define Navigation_IAvoidanceSolver_H

#include "gwnavruntime/pathfollower/iavoidancecomputer.h"
#include "gwnavruntime/channel/channelsectionptr.h"


namespace Kaim
{
class AvoidanceConfig;
class SpatializedPoint;
class AvoidanceWorkspace;
class Database;
class Gate;

class AvoidanceSolverConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)

public:
    // ---------------------------------- Public Member Functions ----------------------------------

    AvoidanceSolverConfig()
        : m_avoidanceConfig(KY_NULL)
        , m_colliderSpatializedPoint(KY_NULL)
        , m_workspace(KY_NULL)
        , m_database(KY_NULL)
        , m_deltaTime(0.016f)
        , m_bot(KY_NULL)
    {}

    AvoidanceSolverConfig(const AvoidanceConfig* avoidanceComputerConfig,
                          const SpatializedPoint* colliderSpatializedPoint,
                          AvoidanceWorkspace* workspace,
                          Database* database,
                          KyFloat32 simulationTimeInSeconds,
                          Bot* bot)
    {
        Init(avoidanceComputerConfig,
            colliderSpatializedPoint,
            workspace,
            database,
            simulationTimeInSeconds, bot);
    }
    
    void Init(const AvoidanceConfig* avoidanceConfig,
              const SpatializedPoint* colliderSpatializedPoint,
              AvoidanceWorkspace* workspace,
              Database* database,
              KyFloat32 simulationTimeInSeconds,
              Bot* bot)
    {
        m_avoidanceConfig = avoidanceConfig;
        m_colliderSpatializedPoint = colliderSpatializedPoint;
        m_workspace = workspace;
        m_database = database;
        m_deltaTime = simulationTimeInSeconds;
        m_channelSectionPtr.Invalidate();
        m_bot = bot;
    }

public:
    // ---------------------------------- Usual Common Members ----------------------------------
    const AvoidanceConfig*   m_avoidanceConfig;
    const SpatializedPoint*  m_colliderSpatializedPoint;
    AvoidanceWorkspace*      m_workspace;
    Database*                m_database;
    KyFloat32                m_deltaTime;
    Bot*                     m_bot;
    
    // ---------------------------------- Channel Specific Members ----------------------------------

    ChannelSectionPtr        m_channelSectionPtr;
};


class IAvoidanceSolver: public RefCountBase<IAvoidanceSolver, MemStat_PathFollowing>
{
    KY_CLASS_WITHOUT_COPY(IAvoidanceSolver)

public:
    // ---------------------------------- Public Member Functions ----------------------------------
    IAvoidanceSolver() {}

    virtual ~IAvoidanceSolver() {}

    virtual AvoidanceResult Solve(
        AvoidanceSolverConfig& config, const Vec2f& previousVelocity, const Vec2f& desiredVelocity,
        Vec2f& outputVelocity, Vec2f& outputFrontDirection, bool& collide) = 0;
};

} // namespace Kaim

#endif // Navigation_IAvoidanceSolver_H