navrastercellscanlinepainter.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: LASI - secondary contact: NONE
#ifndef GwNavGen_NavRasterCellScanlinePainter_H
#define GwNavGen_NavRasterCellScanlinePainter_H


#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavgeneration/containers/tlsarray.h"
#include "gwnavgeneration/common/generatormemory.h"
#include "gwnavruntime/navmesh/blobs/flooraltituderange.h"
#include "gwnavgeneration/navraster/navrastertypes.h"
#include "gwnavgeneration/navraster/navrastercell.h"

namespace Kaim
{

class DynamicNavRasterCell;
class NavRasterPixel;
class NavRasterWorkingPixel;
class DynamicNavRasterFinalColumn;

class NavRasterCellScanlinePainter
{
public:
    enum SearchResult   { SEARCH_RESULT_FOUND, NO_SEARCH_RESULT };
    class ScanPixel
    {
    public:
        ScanPixel() : m_navPixel(KY_NULL), m_pos(KyInt32MAXVAL,KyInt32MAXVAL), m_floorIdx(KyUInt32MAXVAL) {}
        ScanPixel(NavRasterPixel* columnElement, const PixelPos& pos, KyUInt32 floor) :
            m_navPixel(columnElement), m_pos(pos), m_floorIdx(floor) {}

        NavRasterPixel* m_navPixel;
        PixelPos m_pos;
        KyUInt32 m_floorIdx;
    };

    class ColorBoundary
    {
    public:
        ColorBoundary() {}

        ScanPixel m_fisrtBoundaryPixel;
        ScanPixel m_lastBoundaryPixel;
        CardinalDir m_boundaryDir;
    };

    class ColorData
    {
    public:
        ColorData(PixelColor color = PixelColor_Unset, KyUInt32 connectedComponentIdx = KyUInt32MAXVAL) :
          m_color(color), m_pixelCount(0), m_connectedComponentIdx(connectedComponentIdx),
              m_boundaryPixelBorderCount(0) , m_indexInBinaryHeap(BinaryHeapInvalidReference)  {}
        void UpdateColorDataFromNewPixel(NavRasterPixel* pixel, const PixelPos& pos);
    public:
        PixelColor m_color;
        PixelBox m_box;
        KyUInt32 m_pixelCount;
        KyUInt32 m_connectedComponentIdx;
        KyUInt32 m_boundaryPixelBorderCount;
        KyUInt32 m_indexInBinaryHeap;
        FloorAltitudeRange m_altRange;
    };

public: //keep it simple

    NavRasterCellScanlinePainter() : m_navRaster(KY_NULL), m_paintingMs(KY_NULL) {}

    void Clear();
    KyResult Paint();

    void SetNavRasterCell(DynamicNavRasterCell* cell) {  m_navRaster = cell;       }
    void SetConnexIdxToNavTagIdxArray(KyArrayTLS_POD<KyUInt32>* connexIdxToNavTagIdxArray) { m_connexIdxToNavTagIdxArray = connexIdxToNavTagIdxArray ;}
    void SetPaintingMs(KyFloat32* paintingMs)         { m_paintingMs = paintingMs; }

    KyUInt32 GetNbColorsUsed() const { return m_colorCount; }
private:
    // 1 -
    void Init();

    // 2 -
    void RemoveSmallNavTagArea();

    // 3 -
    void ComputeConnectedComponent();

    // 4 - 
    void ComputeColorsByPropagation();

    // 5 - 
    void MergeColors();

    // 6 - 
    void TagConnex();

private:
    void PropagateInSouthWestBox();
    void PropagateInSouthEastBox();
    void PropagateInNorthWestBox();
    void PropagateInNorthEastBox();

    void PropagateFromCornerColumn(const PixelBox& paintBox, const PixelPos& cornerPos, CardinalDir expandLineDir, CardinalDir lineMoveDir);
    void PropagateFromCornerPixel(const PixelBox& paintBox, const ScanPixel& seedPixel, CardinalDir expandLineDir, CardinalDir lineMoveDir);
    PixelBox ComputeLocalPaintBoxForCorner(const PixelBox& paintBox, const ScanPixel& corner, CardinalDir expandLineDir, CardinalDir lineMoveDir);

    void PropagateFromBoxBorder(const PixelBox& paintBox, const PixelPos& startPos, CardinalDir expandLineDir, CardinalDir lineMoveDir);
    void PropagateFromBorderPixel(const PixelBox& paintBox, const ScanPixel& seedPixel, CardinalDir expandLineDir, CardinalDir lineMoveDir);
    PixelBox ComputeLocalPaintBoxForBorder(const PixelBox& paintBox, const ScanPixel& seedPixel, CardinalDir expandLineDir, CardinalDir lineMoveDir);

    void DisconnectOutsidePixelsAtBoxBounds(const PixelBox& paintBox, const ScanPixel& corner, CardinalDir dirAlongBorder,
        CardinalDir dirToOutside, PixelColor color);

    void PropagateFromAllRemainingUncoloredPixels();
    void PropagateFromUncoloredNonBorderPixel(const ScanPixel& startPixel);

    void ColorCellBoundaryPixelLineInBox(const PixelBox& localPaintBox, const ScanPixel& startPixel, PixelColor color,
        CardinalDir expandDir, CardinalDir borderDir, ScanPixel& lastPixelOnLine);

    bool TwoNeighborPixelHaveSameColor(const ScanPixel& pixel1, const ScanPixel& pixel2, CardinalDir dir, PixelColor currentColor);
    bool CanPropagateToPixel(PixelPos& pixelPos, KyUInt32 currentFloorIdx, KyUInt32 propagationIdx);

    void FindLowerConnectedPixel(const ScanPixel& startPixel, ScanPixel& lowerPixel);
    void CastPixelUntillBoundary(const ScanPixel& startScanPixel, CardinalDir castDir);

    PixelPos CastCellBoundaryPixel(const PixelBox& bbox, const ScanPixel& borderPixel, CardinalDir castDir, CardinalDir borderDir);
    void CastPixelCheckingColor(const ScanPixel& scanLine, PixelColor color, const PixelBox& bbox, CardinalDir castdir);
    void PaintLastPixelCastResultAndOutsideNeighbors(PixelColor color, CardinalDir borderDir);

    bool IsConnectedInDir(const ScanPixel& pixel, CardinalDir dir, ScanPixel& result);
    void GetNeighborScanPixel(const ScanPixel& borderPixel, CardinalDir neighborDir, ScanPixel& neighborPixel);
    void GetNeighborScanPixel(const PixelBox& bbox, const ScanPixel& borderPixel, CardinalDir neighborDir, ScanPixel& neighborPixel);

    PixelColor GetNewColor(KyUInt32 connectedComponentIdx);
    void ColorPixel(const ScanPixel& pixel, PixelColor color);

    bool CanSetColorToPixel(PixelPos& pixelPos, KyUInt32 floor, PixelColor newColor);
    bool IsColorPresentInOtherFloorOfColumn(const DynamicNavRasterFinalColumn& column, KyUInt32 ignoredFloorIdx, PixelColor newColor);
    bool IsColorPresentInOtherFloorOfColumn(const DynamicNavRasterFinalColumn& column, KyUInt32 ignoredFloorIdx1, KyUInt32 ignoredFloorIdx2, PixelColor newColor);

    bool CanPaintNeighborLine(const ScanPixel& startScanPixel, const ScanPixel& endScanPixel, PixelColor color, const PixelBox& bbox,
        CardinalDir lineDir, CardinalDir expandDir, ScanPixel& borderLineStartScanPixel, ScanPixel& borderLineEndScanPixel,
        KyUInt32& neighborLineCount, KyFloat32& altRangeDiffWithNeighborLine);

    // 4 -
    void DetectForbiddenColorMergeAndConnectedColors();
    void ComputeMergedColors();
    void ApplyFinalColorToPixels();

    class ScanPixelSorterByAlt
    {
    public:
        bool operator() (const ScanPixel& pixel1, const ScanPixel& pixel2) const
        {
            return pixel1.m_navPixel->m_altitude < pixel2.m_navPixel->m_altitude;
        }
    };

    void TagNavTagConnectedComponent(const PixelBox& safenavTagRemovalBox, const ScanPixel& startPixel, KyUInt32 connectedComponentIdx, KyUInt32 minPixelCount);
    void TagConnectedComponent(const ScanPixel& startPixel, KyUInt32 connectedComponentIdx);
    void TagConnexConnectedComponentInFloor(const ScanPixel& startPixel, KyUInt32 currentConnexIdx);
private:
    DynamicNavRasterCell* m_navRaster;
    KyFloat32* m_paintingMs;
    KyUInt32 m_colorCount;
    KyArrayTLS<ScanPixel> m_popagationStatck; // cache the array between floodFills to avoid multiple resizes
    KyArrayTLS_POD<ScanPixel> m_navTagArea;
    KyArrayTLS_POD<ScanPixel> m_navTagAreaNeighbors;
    KyArrayTLS<ColorData> m_colorData;

    BitFieldTLS m_forbiddenColorMerge;
    BitFieldTLS m_connectedColors;
    KyArrayTLS_POD<PixelColor> m_finalColor; // m_finalColor[color] = finalColor after merge !

    KyArrayTLS<ScanPixel> m_castForwardResult;
    KyArrayTLS<ScanPixel> m_castBackwardResult;
    KyArrayTLS<ScanPixel> m_onePixelPerFinalColor;

    BinaryHeapTls<ScanPixel, ScanPixelSorterByAlt> m_orderedPixels;
    KyArrayTLS_POD<KyUInt32>* m_connexIdxToNavTagIdxArray;

    KyInt32 m_midPixelPosX;
    KyInt32 m_midPixelPosY;
    KyUInt32 m_currentPropagationId;
};


KY_INLINE bool NavRasterCellScanlinePainter::IsConnectedInDir(const ScanPixel& pixel, CardinalDir dir, ScanPixel& result)
{
    GetNeighborScanPixel(pixel, dir, result);
    return result.m_navPixel != KY_NULL;
}

KY_INLINE PixelColor NavRasterCellScanlinePainter::GetNewColor(KyUInt32 connectedComponentIdx)
{
    PixelColor color = m_colorData.GetCount();
    m_colorData.PushBack(ColorData(color, connectedComponentIdx));
    return color;
}
KY_INLINE void NavRasterCellScanlinePainter::ColorPixel(const ScanPixel& pixel, PixelColor color)
{
    KY_ASSERT(pixel.m_navPixel != KY_NULL);
    KY_ASSERT(pixel.m_navPixel->m_floorColor == PixelColor_Unset);
    KY_ASSERT(color < m_colorData.GetCount());

    pixel.m_navPixel->m_floorColor = color;
    m_colorData[color].UpdateColorDataFromNewPixel(pixel.m_navPixel, pixel.m_pos);
}
KY_INLINE void NavRasterCellScanlinePainter::ColorData::UpdateColorDataFromNewPixel(NavRasterPixel* currentPixel, const PixelPos& pos)
{
    KY_LOG_ERROR_IF(currentPixel->m_floorColor != m_color, ("Wrong color data for this pixel"));
    ++m_pixelCount;
    m_altRange.Update(currentPixel->m_altitude);
    m_box.ExpandByVec2(pos);
    for(KyUInt32 i = 0; i < 4; ++i)
    {
        if (currentPixel->m_neighborFloorIdx[i] == NavRasterFloorIdx_Invalid)
            ++m_boundaryPixelBorderCount;
    }
}


}

#endif