positiononlivepath.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: JUBA

#ifndef Navigation_PositionOnLivePath_H
#define Navigation_PositionOnLivePath_H

#include "gwnavruntime/path/positiononpath.h"
#include "gwnavruntime/path/patheventlist.h"
#include "gwnavruntime/kernel/SF_RefCount.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/queries/raycangoquery.h"


namespace Kaim
{

class Bot;
class IMovePositionOnLivePathPredicate;

enum OnEventListStatus
{
    OnEventListStatus_Undefined = 0, 
    OnEventListStatus_OnEvent,       
    OnEventListStatus_OnInterval     
};


class PositionOnLivePath
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Path)

public:
    // ---------------------------------- Main API Functions ----------------------------------

    PositionOnLivePath();
    void BindToPathEventList(PathEventList* pathEventList);
    PathEventList* GetPathEventList() const { return m_pathEventList; }

    void Clear();
    void ClearEventListLocation();


    // ---------------------------------- Comparison Operators ----------------------------------

    bool operator==(const PositionOnLivePath& positionOnLivePath) const;
    bool operator!=(const PositionOnLivePath& positionOnLivePath) const;


    // ---------------------------------- Raw Path Related Functions ----------------------------------

    Path*                 GetPath();
    const Path*           GetPath()                  const;
    const Vec3f&          GetPosition()              const;
    const PositionOnPath& GetPositionOnPath()        const;
    PositionOnPathStatus  GetPositionOnPathStatus()  const;
    PathEdgeType          GetPathEdgeType()          const;

    bool IsAtFirstNodeOfPath() const;
    bool IsAtLastNodeOfPath()  const;
    
    bool IsAtFirstEdgeOfPath() const;
    bool IsAtLastEdgeOfPath()  const;

    KyUInt32 GetPathEdgeIndex() const;

    KyUInt32 GetEdgeIdxToMoveOnForward()  const;

    PathEdgeType GetEdgeTypeToMoveOnForward()  const;

    PathEdgeType GetEdgeTypeToMoveOnBackward() const;

    KyUInt32 GetEdgeIdxToMoveOnBackward() const;

    bool DoesPrecede(const PositionOnLivePath& other) const;

    bool IsStrictlyBefore(const PositionOnLivePath& other) const;

    // ---------------------------------- PositionOnLivePath initialization on Path----------------------------------

    void InitOnPathFirstNode(Path* path);
    void InitOnPathLastNode(Path* path);
    void InitOnPathNode(Path* path, KyUInt32 pathNodeIdx);
    void InitOnPathEdge(Path* path, const Vec3f& positionOnEdge, KyUInt32 pathEdgeIdx);
    void InitOnPositionOnPath(const PositionOnPath& positionOnPath);

    void FindLocationOnEventListFromScratch();

    // ---------------------------------- PathEventList Related Functions ----------------------------------

    OnEventListStatus GetOnEventListStatus() const;

    PathEvent GetPathEvent(KyUInt32 pathEventIdx) const;
    PathEvent GetCurrentPathEvent() const; // return copy of current PathEvent _if and only if_ on a PathEvent!

    KyUInt32 GetOnEventListIndex() const;

    KyUInt32 GetNextPathEventIdx() const;

    KyUInt32 GetPrevPathEventIdx() const;

    bool IsAtLowerBoundOfLivePath() const;
    bool IsAtUpperBoundOfLivePath() const;

    bool IsAtACheckPoint() const;

    const PositionOnPath* GetUpcomingEventPositionOnPath() const;

    const NavTag* GetCurrentOrNextNavTag() const;
    
    const NavTag* GetCurrentOrPreviousNavTag() const;


    // ---------------------------------- Move Functions ----------------------------------

    void MoveForward(KyFloat32 distanceMove);

    void MoveBackward(KyFloat32 distanceMove);

    void MoveForward_StopAtPathNode(KyFloat32 distanceMove);

    void MoveBackward_StopAtPathNode(KyFloat32 distanceMove);

    void MoveForward_StopAtEvent(KyFloat32 distanceMove);

    void MoveBackward_StopAtEvent(KyFloat32 distanceMove);

    void MoveForward_StopAtEventOrAtPathNode(KyFloat32 distanceMove);

    void MoveBackward_StopAtEventOrAtPathNode(KyFloat32 distanceMove);

    void MoveToNextEventOrPathNode();

    void MoveToPrevEventOrPathNode();

    void MoveForward_StopAtCheckPoint(KyFloat32 distanceMove);

    void MoveForwardToNextPathNode();

    void MoveBackwardToPrevPathNode();

    void MoveToPathEvent(KyUInt32 pathEventIdx);

    void MoveForwardToNextPathEvent();

    void MoveBackwardToPrevPathEvent();

    void MoveForwardToNextPathEdge();

    void MoveBackwardToPrevPathEdge();

    void MoveForwardToNextPathEventInterval();

    void MoveForwardToNextCheckPoint();

    void MoveBackwardToPrevCheckPoint();

    KyFloat32 MoveForwardToClosestPositionOnPath(const Vec3f& position);

    void MoveForwardToNextPathEventWithPredicate(IMovePositionOnLivePathPredicate* predicate);
    
    void MoveBackwardToPreviousEventWithPredicate(IMovePositionOnLivePathPredicate* predicate);

    void SetNewPositionOnPathForward(const PositionOnPath& newPositionOnPathForward);

    void SetNewPositionOnPathBackward(const PositionOnPath& newPositionOnPathBackward);

    // ---------------------------------- Move Functions with Cost ----------------------------------

    template<class TraverseLogic>
    void MoveForwardAndGetCost_StopAtEventOrAtPathNode(void* traverseLogicUserData, KyFloat32 distanceMove, RayCanGoMarginMode rayCanGoMarginMode, KyFloat32& cost);

    
    // ---------------------------------- Unsafe Version of Functions ----------------------------------

    // cf. GetNextPathEventIdx()
    KyUInt32 GetNextPathEventIdx_Unsafe() const;
    // cf. GetPrevPathEventIdx()
    KyUInt32 GetPrevPathEventIdx_Unsafe() const;
    // cf. MoveForwardToNextPathEvent()
    void MoveForwardToNextPathEvent_Unsafe();
    // cf. MoveBackwardToPrevPathEvent()
    void MoveBackwardToPrevPathEvent_Unsafe();
    // cf. MoveForwardToNextPathEventInterval()
    void MoveForwardToNextPathEventInterval_Unsafe();

public: // DEPRECATED
    // -------------  Deprecated functions --------------
    KY_DEPRECATED(const NavTag* GetUpcomingEventNavTag() const) { return GetCurrentOrNextNavTag(); }
    KY_DEPRECATED(const NavTag* GetPreviousEventNavTag() const) { return GetCurrentOrPreviousNavTag(); }

private:
    bool IsEventListStatusValid() const;

    void FixLocationOnEventListAfterMovingForward();
    void FixLocationOnEventListAfterMovingBackward();
    void StopAtEventAfterMovingForward();
    void StopAtEventAfterMovingBackward();
    void StopAtCheckPointAfterMovingForward();

    template<class TraverseLogic>
    void GetCostAfterStopAtEventOrAtPathNode(void* traverseLogicUserData, const Vec3f& posBeforeMove, const NavTag* navTag,
        RayCanGoMarginMode rayCanGoMarginMode, KyFloat32& cost, const LogicWithoutCostMultipler&);
    template<class TraverseLogic>
    void GetCostAfterStopAtEventOrAtPathNode(void* traverseLogicUserData, const Vec3f& posBeforeMove, const NavTag* navTag,
        RayCanGoMarginMode rayCanGoMarginMode, KyFloat32& cost, const LogicWithCostMultiplerPerNavTag&);
    template<class TraverseLogic>
    void GetCostAfterStopAtEventOrAtPathNode(void* traverseLogicUserData, const Vec3f& posBeforeMove, const NavTag* navTag,
        RayCanGoMarginMode rayCanGoMarginMode, KyFloat32& cost, const LogicWithCostMultiplerPerTriangle&);

private:
    PathEventList* m_pathEventList;
    PositionOnPath m_positionOnPath;
    OnEventListStatus m_onEventListStatus;
    KyUInt32 m_currentOnEventListIdx; // index on the event or index of the interval. position is on ]EventIntervalStart, EventIntervalEnd]
};

} // namespace Kaim

#include "gwnavruntime/path/positiononlivepath.inl"

#endif // Navigation_PositionOnLivePath_H