multidestinationpathfinderquery.h

Go to the documentation of this file.

/*
* 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_MultiDestinationPathFinderQuery_H
#define Navigation_MultiDestinationPathFinderQuery_H

#include "gwnavruntime/queries/utils/basemultidestinationpathfinderquery.h"
#include "gwnavruntime/queries/utils/astartraversal.h"
#include "gwnavruntime/queries/utils/astartraversalcontext.h"
#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/path/path.h"
#include "gwnavruntime/channel/channelarraycomputer.h"
#include "gwnavruntime/math/box2iiterator.h"


namespace Kaim
{

template<class TraverseLogic>
class MultiDestinationPathFinderQuery : public BaseMultiDestinationPathFinderQuery
{
public:

    // ---------------------------------- Public Member Functions ----------------------------------

    MultiDestinationPathFinderQuery();
    virtual ~MultiDestinationPathFinderQuery();

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

    virtual void Advance(WorkingMemory* workingMemory);

    virtual void ReleaseWorkingMemoryOnCancelDuringProcess(WorkingMemory* workingMemory = KY_NULL);

public: //Internal
    bool HasNavDataChanged();

protected:
    void SetFinish(WorkingMemory* workingMemory);
    KyResult ComputeStartGraphEdgeOrGraphVertexOrTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeStartTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeDestTriangleIfNeeded(PathFinderQueryUtils& queryUtils);
    KyResult InitializeContextAndStartNode(PathFinderQueryUtils& queryUtils);
    KyResult InitAllDestinationNodes();
    KyResult InitDestinationNodeFromDestNavGraphEdge(PathFinderPoint& dest);
    KyResult InitDestinationNodeFromDestNavGraphVertex(PathFinderPoint& dest);
    KyResult InitDestinationNodeFromDestNavTriangle(PathFinderPoint& dest);
    KyResult InitTraversalFromStartNode(PathFinderQueryUtils& queryUtils);
    void InitPropagationBounds();

    KyResult CheckNavDataChangeFromAstarContext(WorkingMemory* workingMemory);
    KyResult CheckNavDataChange(WorkingMemory* workingMemory);
    
    bool ShouldReturnAfterTryingCanGo(WorkingMemory* workingMemory);

    bool HasExplorationReachedAllDestNodes();
    bool HasExplorationReachedAtLeastADestNode();
    
    void ComputeRawCosts();
    void BuildRawPaths();
    PathEdgeType GetPathEdgeType(const AStarNode& predecessorNode, const AStarNode& node);

    bool ProcessFirstDestination();
    bool UpdateResultAndSelectFirstDestination();
    bool ProcessNextDestination(WorkingMemory* workingMemory);

    KyUInt32 CountAbstractGraphNodes(WorkingMemory* workingMemory, AStarNodeIndex destNodeIdx);
    bool BuildAbstractPath(WorkingMemory* workingMemory);

protected:
    class TraversalCustomizer
    {
    public:
        typedef TraverseLogic TLogic;

        TraversalCustomizer();

        bool CanTraverse(const NavTriangleRawPtr& triangleRawPtr, KyFloat32* costMultiplier);
        bool CanTraverse(const NavGraphEdgeRawPtr& edgeRawPtr, KyFloat32* costMultiplier);
        bool CanEnterNavTag(const NavTag& exitNavTag, const NavTag& enterNavTag, const Vec3f& pos);
        KyFloat32 GetHeuristicFromNodePosition(const Vec3f& nodePosition);

        void* GetTraverseLogicUserData() const { return m_traverseLogicUserData; }
        bool ShouldVisitNode(AStarTraversalContext* aStarTraversalContext, AStarNodeIndex nodeIndex);
        bool IsNodeOutsidePropagationBounds(AStarTraversalContext* aStarTraversalContext, AStarNodeIndex nodeIndex);
        bool ShouldOpenHalfEdgeNode(const NavHalfEdgeRawPtr& halfEdge, NavHalfEdgeRawPtr& pairHalfEdgeOfNewNode);
        bool ShouldOpenGraphVertexNode(const NavGraphVertexRawPtr& navGraphVertexRawPtr);
        bool ShouldOpenAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        bool ShouldOpenNavTriangleUnderAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        Vec3f ComputeNodePositionOnHalfEdge(AStarTraversalContext* aStarTraversalContext, const Vec3f& startPosOfEdge, const Vec3f& endPosOfEdge, AStarNodeIndex predecessorNodeIndex);
        KyResult OnNavTriangleExplored(AStarTraversalContext* aStarTraversalContext, const NavTriangleRawPtr& navTriangleRawPtr, AStarNodeIndex currentNodeIndex);
        KyResult OnNavGraphEdgeExplored(AStarTraversalContext* aStarTraversalContext, const NavGraphEdgeRawPtr& navGraphEdgeRawPtr, AStarNodeIndex currentNodeIndex);

        MultiDestinationPathFinderQuery<TraverseLogic>* m_query;
        void* m_traverseLogicUserData;
    };

    AStarTraversal<TraversalCustomizer> m_traversal;
    KyArray<MonodirectionalRayCanGoQuery<TraverseLogic> > m_rayCanGoQueries;
    KyUInt32 m_currentProcessedDestIdx;
};

}

#include "gwnavruntime/queries/multidestinationpathfinderquery.inl"

#endif //Navigation_MultiDestinationPathFinderQuery_H