queryutils.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_QueryUtils_H
#define Navigation_QueryUtils_H

#include "gwnavruntime/queries/querydynamicoutput.h"
#include "gwnavruntime/queries/trianglefromposandtriangleseedquery.h"
#include "gwnavruntime/navmesh/intersections.h"
#include "gwnavruntime/navmesh/closestpoint.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/database/activedata.h"
namespace Kaim
{

class Box2f;
class NavTrianglePtr;
class NavTriangleRawPtr;
class NavHalfEdgePtr;
class NavHalfEdgeRawPtr;
class TriangleFromPosAndTriangleSeedQuery;
class ThinCapsuleWithExtentOffset;

class QueryUtils
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    QueryUtils() : m_database(KY_NULL), m_workingMemory(KY_NULL), m_traverseLogicUserData(KY_NULL), m_performQueryStat(PerformQueryStat_Unspecified) {}
    QueryUtils(Database* database, WorkingMemory* workingMemory, void* traverseLogicUserData);
    void Init(Database* database, WorkingMemory* workingMemory, void* traverseLogicUserData);
    void SetPerformQueryStat(PerformQueryStat performQueryStat);

    // ------------------------------ Accessors -----------------------------------
    Database*      GetDatabase()              { return m_database;              }
    WorkingMemory* GetWorkingMemory()         { return m_workingMemory;         }
    void*          GetTraverseLogicUserData() { return m_traverseLogicUserData; }

    // ------------------------------ Location functions -----------------------------------

    bool FindTriangleFromPositionIfNotValid(NavTrianglePtr& navTrianglePtr, const Vec3f& pos, const PositionSpatializationRange& positionSpatializationRange);

    bool FindTriangleFromPositionIfNotValid(NavTrianglePtr& navTrianglePtr, const Vec3f& pos, const PositionSpatializationRange& positionSpatializationRange, WorldIntegerPos& outputIntegerPos);

    bool FindTriangleFromPositionIfNotValid(NavTrianglePtr& navTrianglePtr, const Vec3f& pos, const WorldIntegerPos& integerPos, const PositionSpatializationRange& positionSpatializationRange);


    template<class TraverseLogic>
    bool IsHalfEdgeCompatibleWithThinCapsule(const NavHalfEdgeRawPtr& halfEdge, ThinCapsuleWithExtentOffset& capsuleParams);


public : // internal
    void GetNextHalfEdgeAroundStartVertex(const NavHalfEdgeRawPtr& currentHalfEdge, NavHalfEdgeRawPtr& nextHalfEdge); // Provides the next HalEdge (CW) starting from the provided HalEdge start vertex.
    void GetPrevHalfEdgeAroundDestVertex(const NavHalfEdgeRawPtr& currentHalfEdge, NavHalfEdgeRawPtr& prevHalfEdge); // Provides the previous HalEdge (CCW) ending at the provided HalEdge end vertex.

    template<class TraverseLogic>
    KyResult FindValidPositionFromIntegerIntersection(const Vec3f& collisionPos3f, const NavHalfEdgePtr& halfEdgePtrHit,
        WorldIntegerPos& arrivalIntegerPos, NavTrianglePtr& arrivalTrianglePtr);

    template<class TLogic, class BorderHalfEdgeProcessor>
    KyResult BrowseAndProcessAllBorderNavHalfEdgeInBox(BorderHalfEdgeProcessor& borderHalfEdgeProcessor);

private :
    class CheckIfCurrentIntegerPositionIsValidParam
    {
    public:
        CoordPos64 m_start;
        CoordPos64 m_end;
        CoordPos64 m_third;
        CoordPos64 m_startToEnd;
        CoordPos64 m_endToThird;
        CoordPos64 m_thirdTostart;
        WorldIntegerPos m_currentArrivalIntegerPos;
    };

    template<class TraverseLogic>
    KyResult  CheckIfCurrentIntegerPositionIsValid(const CheckIfCurrentIntegerPositionIsValidParam& params,
        TriangleFromPosAndTriangleSeedQuery& triangleFromPosAndTriangleSeedQuery, WorldIntegerPos& arrivalIntegerPos, NavTrianglePtr& arrivalTrianglePtr);

public:
    Database* m_database; 
    WorkingMemory* m_workingMemory; 
    void* m_traverseLogicUserData;
    PerformQueryStat m_performQueryStat;
};

class ThinCapsuleWithExtentOffset
{
public:
    ThinCapsuleWithExtentOffset(const CoordPos64& capsuleStartCoordPos, const CoordPos64& capsuleEndCoordPos, 
        KyUInt64 capsuleSquareRadius, KyUInt32 recoveryDistance)
    {
        m_capsuleStartCoordPos = capsuleStartCoordPos;
        m_capsuleEndCoordPos = capsuleEndCoordPos;
        m_capsuleSquareRadius = capsuleSquareRadius;
        m_recoveryDistance = recoveryDistance;

        CoordPos64 capsule = m_capsuleEndCoordPos - m_capsuleStartCoordPos;
        m_capsuleSquareLength = capsule.GetSquareLength();
        // m_offset will be computed lazily (only if needed)
        m_offset.x = KyInt64MAXVAL;
    }

    CoordPos64 GetOffset(); 

public:
    CoordPos64 m_capsuleStartCoordPos;
    CoordPos64 m_capsuleEndCoordPos;
    KyUInt64 m_capsuleSquareRadius;
    KyUInt32 m_recoveryDistance;

    KyUInt64 m_capsuleSquareLength;

private:
    CoordPos64 m_offset;
};




}

#include "gwnavruntime/queries/utils/queryutils.inl"

#endif //Navigation_QueryUtils_H