positiononcirclearcspline.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: LAPA - secondary contact: NOBODY
#ifndef Navigation_PositionOnCircleArcSpline_H
#define Navigation_PositionOnCircleArcSpline_H

#include "gwnavruntime/math/vec3f.h"
#include "gwnavruntime/pathfollower/circlearcsplinesection.h"

namespace Kaim
{

class CircleArcSpline;
class CircleArcSplineSection;


class PositionOnCircleArcSplineSection
{
public:
    PositionOnCircleArcSplineSection() { Invalidate(); }
    PositionOnCircleArcSplineSection(const CircleArcSplineSection* circleArcSplineSection) { Reset(circleArcSplineSection); }

    void Invalidate();
    void Reset(const CircleArcSplineSection* circleArcSplineSection);
    void ResetAtSectionEnd(const CircleArcSplineSection* circleArcSplineSection);

    bool IsValid() const;

    const CircleArcSplineSection* GetSection()           const { return m_circleArcSplineSection; }
    const Vec3f&                  GetPosition()          const { return m_position;               }
    const Vec2f&                  GetTangent()           const { return m_tangent;                }
    KyFloat32                     GetDistanceFromStart() const { return m_distFromStart;          }
    KyFloat32                     GetDistanceToEnd()     const { return (m_circleArcSplineSection ? (m_circleArcSplineSection->GetLength2d() - m_distFromStart) : 0.0f); }
    KyFloat32                     GetTurningRadius()     const { return (m_circleArcSplineSection ? m_circleArcSplineSection->GetRadius() : 0.0f); }

    KyFloat32 MoveForward(KyFloat32 distance);

    KyFloat32 MoveBackward(KyFloat32 distance);

public:
    const CircleArcSplineSection* m_circleArcSplineSection;
    Vec3f                         m_position;
    Vec2f                         m_tangent;
    KyFloat32                     m_distFromStart;
};


class PositionOnCircleArcSpline
{
public:
    PositionOnCircleArcSpline() { Invalidate(); }
    PositionOnCircleArcSpline(const CircleArcSpline* circleArcSpline) { Reset(circleArcSpline); }

    void Invalidate();
    void Reset(const CircleArcSpline* circleArcSpline);

    bool IsValid() const;

    const CircleArcSplineSection* GetSection()                  const { return m_positionOnCircleArcSplineSection.GetSection();           }
    const Vec3f&                  GetPosition()                 const { return m_positionOnCircleArcSplineSection.GetPosition();          }
    const Vec2f&                  GetTangent()                  const { return m_positionOnCircleArcSplineSection.GetTangent();           }
    KyFloat32                     GetDistanceFromSectionStart() const { return m_positionOnCircleArcSplineSection.GetDistanceFromStart(); }
    KyFloat32                     GetDistanceToSectionEnd()     const { return m_positionOnCircleArcSplineSection.GetDistanceToEnd();     }
    KyFloat32                     GetTurningRadius()            const { return m_positionOnCircleArcSplineSection.GetTurningRadius();     }

    KyFloat32                     GetDistanceFromSplineStart()  const;
    KyFloat32                     GetDistanceToSplineEnd()      const;

    void MoveForward(KyFloat32 distance);
    void MoveBackward(KyFloat32 distance);

    KyResult MoveToNextSectionStart();

    KyResult MoveToNextTurnSectionStart();

    KyResult MoveToNextStraigthLineSectionStart();

    bool IsStrictlyBefore(const PositionOnCircleArcSpline& other) const;

    KyResult GetDistanceTo(const PositionOnCircleArcSpline& other, KyFloat32& distanceToOther) const;

public:
    PositionOnCircleArcSplineSection m_positionOnCircleArcSplineSection;
    const CircleArcSpline*           m_circleArcSpline;
    KyUInt32                         m_splineSectionIndex;
};

}

#endif // Navigation_PositionOnCircleArcSpline_H