polylinecasthelper.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: JUBA - secondary contact: NOBODY
#ifndef Navigation_PolylineCastHelper_H
#define Navigation_PolylineCastHelper_H

#include "gwnavruntime/base/memory.h"
#include "gwnavruntime/queries/utils/queryutils.h"
#include "gwnavruntime/queries/utils/bestfirstsearch2dbordercollector.h"
#include "gwnavruntime/queries/utils/bestfirstsearchtraversal.h"
#include "gwnavruntime/queries/utils/polylinecastintersector.h"


namespace Kaim
{
class WorkingMemory;
class Vec3f;
class NavTrianglePtr;

class PolylineCastHelper
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Query)

public:

    static KyResult RetrieveTriangleFromStartToEnd(WorkingMemory* workingMemory, Database* database, const Vec3f& start, const Vec3f& end,
        NavTrianglePtr& inAndOutStartTrianglePtr, NavTrianglePtr& outStartTrianglePtr, Ptr<QueryDynamicOutput>& dynamicOutput);

    template<class TLogic>
    static KyResult RunPolylineCastInTrapeze(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
        QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
        const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnEndSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideRight);

    template<class TLogic>
    static KyResult RunPolylineCastInTriangle(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
        QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
        const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideLeft, const Vec3f& pointOnEndSideRight);

    template<class TLogic>
    static KyResult RunPolylineCastInTriangleOnLeft(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
        QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
        const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideRight);

    template<class TLogic>
    static KyResult RunPolylineCastInTriangleOnRight(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
        QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
        const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnEndSideLeft, const Vec3f& pointOnEndSideRight);

    template<class TLogic>
    static KyResult RunPolylineCast(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector);
};


template<class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTrapeze(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
    QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
    const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnEndSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideRight)
{
    intersector.InitTrapezoid(pathEdgeStart, pathEdgeEnd, pointOnStartSideLeft, pointOnEndSideLeft, pointOnStartSideRight, pointOnEndSideRight, database->GetDatabaseGenMetrics());
    return RunPolylineCast<TLogic>(workingMemory, database, traverseLogicUserData, queryDynamicOutput, intersector);
}

template<class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTriangle(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
    QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
    const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideLeft, const Vec3f& pointOnEndSideRight)
{
    KY_ASSERT(pointOnStartSideLeft == pointOnEndSideLeft || pointOnStartSideRight == pointOnEndSideRight);
    if (pointOnStartSideLeft == pointOnEndSideLeft)
        return RunPolylineCastInTriangleOnLeft<TLogic>(workingMemory, database, traverseLogicUserData, queryDynamicOutput, intersector, pathEdgeStart,
            pathEdgeEnd, pointOnStartSideLeft, pointOnStartSideRight, pointOnEndSideRight);
    else
        return RunPolylineCastInTriangleOnRight<TLogic>(workingMemory, database, traverseLogicUserData, queryDynamicOutput, intersector, pathEdgeStart,
            pathEdgeEnd, pointOnStartSideLeft, pointOnStartSideRight, pointOnEndSideLeft);
}

template<class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTriangleOnLeft(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
    QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
    const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideRight)
{
    intersector.InitTriangleAroundLeft(pathEdgeStart, pathEdgeEnd, pointOnStartSideLeft, pointOnStartSideRight, pointOnEndSideRight,database->GetDatabaseGenMetrics());
    return RunPolylineCast<TLogic>(workingMemory, database, traverseLogicUserData, queryDynamicOutput, intersector);
}

template<class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTriangleOnRight(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
    QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector, const Vec3f& pathEdgeStart, const Vec3f& pathEdgeEnd,
    const Vec3f& pointOnStartSideLeft, const Vec3f& pointOnStartSideRight, const Vec3f& pointOnEndSideLeft)
{
    intersector.InitTriangleAroundRight(pathEdgeStart, pathEdgeEnd, pointOnStartSideLeft, pointOnEndSideLeft, pointOnStartSideRight, database->GetDatabaseGenMetrics());
    return RunPolylineCast<TLogic>(workingMemory, database, traverseLogicUserData, queryDynamicOutput, intersector);
}

template<class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCast(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* queryDynamicOutput, PolylineCastIntersector& intersector)
{
    if (queryDynamicOutput == KY_NULL || queryDynamicOutput->GetNavTrianglePtrCount() == 0)
        return KY_ERROR;

    QueryUtils queryUtils(database, workingMemory,traverseLogicUserData);
    BestFirstSearch2dBorderCollector<TLogic, PolylineCastIntersector> edgeIntersectionVisitor(traverseLogicUserData, intersector);
    BestFirstSearchTraversal<BestFirstSearch2dBorderCollector<TLogic, PolylineCastIntersector> > traversalForPolylineCast(queryUtils, database->GetActiveData()->GetCellBox(),
        edgeIntersectionVisitor);

    if (traversalForPolylineCast.IsInitialized() == false)
        return KY_ERROR;

    for(KyUInt32 i = 0; i < queryDynamicOutput->GetNavTrianglePtrCount(); ++i)
    {
        const NavTrianglePtr& triangle = queryDynamicOutput->GetNavTrianglePtr(i);
        if (traversalForPolylineCast.SetStartTriangle(triangle.GetRawPtr()) != TraversalResult_DONE)
            return KY_ERROR;
    }

    if (traversalForPolylineCast.Search() != TraversalResult_DONE)
        return KY_ERROR;

    return KY_SUCCESS;
}
}

#endif //Navigation_PolylineCastHelper_H