pixelandcellgrid.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: GUAL - secondary contact: NOBODY
#ifndef GwNavGen_PixelAndCellGrid_H
#define GwNavGen_PixelAndCellGrid_H

#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavruntime/math/gridutils.h"
#include "gwnavruntime/basesystem/intcoordsystem.h"


namespace Kaim
{

/*
                                /\                              [---------------[ cellSize = 16  
                                %                               [-------[ pixelSize = 8          
                                %                                                                
                                %                                                                
################################%################################################################
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       % pixel | pixel # pixel | pixel #       |       #       |       #
#       |       #       |       %  0,3  |  1,3  #  2,3  |  3,3  #       |       #       |       #
#-------+-------#-------+-------%---cell(1,0)---#---cell(1,1)---#---cell(2,1)---#---cell(3,1)---#
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       % pixel | pixel # pixel | pixel #       |       #       |       #
#       |       #       |       %  0,2  |  1,2  #  2,2  |  3,2  #       |       #       |       #
################################%################################################################
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       % pixel | pixel # pixel | pixel #       |       #       |       #
#       |       #       |       %  0,1  |  1,1  #  2,1  |  3,1  #       |       #       |       #
#-------+-------#-------+-------%---cell(0,0)---#---cell(1,0)---#---cell(2,0)---#---cell(3,0)---#
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       | pixel % pixel | pixel # pixel | pixel #       |       #       |       #
#       |       #       | -1,0  %  0,0  |  1,0  #  2,0  |  3,0  #       |       #       |       #
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%> X
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       | pixel % pixel |       #       |       #       |       #       |       #
#       |       #       | -1,-1 %  0,-1 |       #       |       #       |       #       |       #
#-------+-------#--cell(-1,-1)--%--cell(0,-1)---#-------+-------#-------+-------#-------+-------#
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       %       |       #       |       #       |       #       |       #
################################%################################################################
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       %       |       #       |       #       |       #       |       #
#-------+-------#-------+-------%-------+-------#-------+-------#-------+-------#-------+-------#
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       %       |       #       |       #       |       #       |       #
#       |       #       |       %       |       #       |       #       |       #       |       #
################################%################################################################


---------------------------- ZOOMING ON (0,0) ----------------------------
                        Y/\
                         %
        X=-8            X=0             X=8             X=16
         |               %               |               |
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + pixel + + % + + pixel + + | + + pixel + + | + +
 + + + + | + +(-1,1) + + % + + (0,1) + + | + + (1,1) + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
---------+---------------+---------------+---------------+-------Y=8
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + pixel + + % + + pixel + + | + + pixel + + | + +
 + + + + | + +(-1,0) + + % + + (0,0) + + | + + (1,0) + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
%%%%%%%%%+%%%%%%%%%%%%%%%+%%%%%%%%%%%%%%%+%%%%%%%%%%%%%%%+%%%%%%%Y=0%%%> X
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + pixel + + % + + pixel + + | + + pixel + + | + +
 + + + + | + +(-1,-1)+ + % + + (0,-1)+ + | + + (1,-1)+ + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
---------+---------------+---------------+---------------+-------Y=-8
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
 + + + + | + + + + + + + % + + + + + + + | + + + + + + + | + +
*/
class PixelAndCellGrid
{
    typedef GridUtils Utils; // alias for readability

public:
    PixelAndCellGrid()
    {
        m_pixelSize = 0;
        m_cellSize = 0;
        m_nbPixelsOnCellSide = 0;
        m_pixelEnlargement = 0;
        m_coordEnlargement = 0;
    }

    //  the cellSize in Meters is typically not used in the generation because the generation works in integer coordinates
    void Init(KyUInt32 cellSizeInPixel, KyUInt32 entityRadiusInPixel)
    {
        m_nbPixelsOnCellSide = cellSizeInPixel;

        m_pixelSize = IntCoordSystem::IntPixelSize();     // in integer coord
        m_cellSize  = m_pixelSize * m_nbPixelsOnCellSide; // in integer coord

        m_pixelEnlargement = entityRadiusInPixel + 3; // for hard to grasp reasons, +3 is necessary, don't change even if it seems overkill
        m_coordEnlargement = m_pixelEnlargement * m_pixelSize; // in integer coord
    }

public:
    // -------------------- Coord PixelCoord CoordPos PixelPos --------------------
    // Coord -> PixelCoord
    PixelCoord LowPixelCoord (Coord coord) const { return Utils::LowSquare (m_pixelSize, coord); }
    PixelCoord HighPixelCoord(Coord coord) const { return Utils::HighSquare(m_pixelSize, coord); }

    // PixelCoord -> Coord
    Coord MinCoordOfPixel(PixelCoord pixelCoord) const { return Utils::MinCoord(m_pixelSize, pixelCoord); }
    Coord MaxCoordOfPixel(PixelCoord pixelCoord) const { return Utils::MaxCoord(m_pixelSize, pixelCoord); }

    // CoordPos -> PixelPos
    void LowPixelPos (const CoordPos& coordPos, PixelPos& pixelPos) const { return Utils::LowSquare (m_pixelSize, coordPos, pixelPos); }
    void HighPixelPos(const CoordPos& coordPos, PixelPos& pixelPos) const { return Utils::HighSquare(m_pixelSize, coordPos, pixelPos); }

    // PixelPos -> CoordPos
    void MinCoordPosOfPixel(const PixelPos& pixelPos, CoordPos& coordPos) const { Utils::MinCoordPos(m_pixelSize, pixelPos, coordPos); }
    void MaxCoordPosOfPixel(const PixelPos& pixelPos, CoordPos& coordPos) const { Utils::MaxCoordPos(m_pixelSize, pixelPos, coordPos); }


    // ------------------------- PixelPos CellPos -------------------------
    // PixelPos -> CellPos
    void PixelPos_To_CellPos(const PixelPos& pixelPos, CellPos& cellPos) const { Utils::BigSquarePos(m_nbPixelsOnCellSide, pixelPos, cellPos); }

    // ---------------- CoordBox <-> { PixelBox, CellBox } ----------------
    // PixelBox <-> CoordBox
    void CoordBox_To_PixelBox(const CoordBox& coordBox, PixelBox& pixelBox) const { Utils::SquareBox(m_pixelSize, coordBox, pixelBox); }
    void PixelBox_To_CoordBox(const PixelBox& pixelBox, CoordBox& coordBox) const { Utils::GetCoordBox(m_pixelSize, pixelBox, coordBox); }

    // CellBox <-> CoordBox
    void CoordBox_To_CellBox(const CoordBox& coordBox, CellBox& cellBox) const { Utils::SquareBox(m_cellSize, coordBox, cellBox); }
    void CellBox_To_CoordBox(const CellBox& cellBox, CoordBox& coordBox) const { Utils::GetCoordBox(m_cellSize, cellBox, coordBox); }

    // --------------------- PixelBox <-> CellBox  ---------------------
    // PixelBox <-> CellBox
    void PixelBox_To_CellBox(const PixelBox& pixelBox, CellBox& cellBox) const { Utils::BigSquareBox(m_nbPixelsOnCellSide, pixelBox, cellBox); }
    void CellBox_To_PixelBox(const CellBox& cellBox, PixelBox& pixelBox) const { Utils::SmallSquareBox(m_nbPixelsOnCellSide, cellBox, pixelBox); }

public:
    Coord m_pixelSize; // pixel size in integer coordinates
    Coord m_cellSize;  // cell size in integer coordinates
    PixelCoord m_nbPixelsOnCellSide; // cell size in number of pixels

    Coord m_coordEnlargement;      // Cell enlargement in integer coordinates
    PixelCoord m_pixelEnlargement; // Cell enlargement in number of pixels, should be renamed to m_nbPixelsInEnlargement or m_enlargementInPixel
};

inline void SwapEndianness(Endianness::Target e, PixelAndCellGrid& self)
{
    SwapEndianness(e, self.m_pixelSize);
    SwapEndianness(e, self.m_cellSize);
    SwapEndianness(e, self.m_nbPixelsOnCellSide);
    SwapEndianness(e, self.m_coordEnlargement);
    SwapEndianness(e, self.m_pixelEnlargement);
}


}


#endif