rectangleintersector.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_RectangleIntersector_H
#define Navigation_RectangleIntersector_H

#include "gwnavruntime/database/database.h"
#include "gwnavruntime/navmesh/intersections.h"
#include "gwnavruntime/navmesh/closestpoint.h"
#include "gwnavruntime/queries/utils/basesegmentcangoquery.h"
#include "gwnavruntime/queries/utils/basesegmentcastquery.h"

namespace Kaim
{

/*
class RectangleIntersector
*/
class RectangleIntersector
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Query)

public:
    RectangleIntersector(BaseSegmentCastQuery& query) : m_maxDist(query.GetMaxDist())
    {
        const DatabaseGenMetrics& databaseGenMetrics = query.m_database->GetDatabaseGenMetrics();

        m_integerPrecision = databaseGenMetrics.m_integerPrecision;

        Vec2f ortho = query.GetNormalizedDir2d().PerpCCW();
        m_startA.Set(query.GetStartPos().x + (ortho.x * query.GetRadius()), query.GetStartPos().y + (ortho.y * query.GetRadius()), query.GetStartPos().z);
        m_startB.Set(query.GetStartPos().x - (ortho.x * query.GetRadius()), query.GetStartPos().y - (ortho.y * query.GetRadius()), query.GetStartPos().z);

        m_rectangle = OrientedBox2d(m_startB, query.GetNormalizedDir2d(), m_maxDist, 2.f * query.GetRadius(), 0.f);

        const Vec2f direction2f(query.GetNormalizedDir2d() * m_maxDist);
        Vec2f destPos2f(query.GetStartPos().x + direction2f.x, query.GetStartPos().y + direction2f.y);
        const CoordPos64 destCoordPos(databaseGenMetrics.GetCoordPos64FromVec2f(destPos2f));

        databaseGenMetrics.GetCoordPos64FromVec3f(m_startB, m_o1);
        const CoordPos64 startCoordPos = databaseGenMetrics.GetCoordPos64FromWorldIntegerPos(query.GetStartIntegerPos());
        m_lengthVec = destCoordPos - startCoordPos;
        m_widthVec = (startCoordPos - m_o1) * 2;
    }

    RectangleIntersector(BaseSegmentCanGoQuery& query)
    {
        const DatabaseGenMetrics& databaseGenMetrics = query.m_database->GetDatabaseGenMetrics();

        m_integerPrecision = databaseGenMetrics.m_integerPrecision;

        Vec2f dir(query.GetDestPos().x - query.GetStartPos().x, query.GetDestPos().y - query.GetStartPos().y);
        dir.Normalize();
        dir = dir.PerpCCW();
        Vec3f normalizedDir3D(dir.x, dir.y, 0.f);

        const Vec3f o1Floats(query.GetStartPos() - (normalizedDir3D * query.GetRadius()));

        databaseGenMetrics.GetCoordPos64FromVec3f(o1Floats, m_o1);
        const CoordPos64 startCoordPos = databaseGenMetrics.GetCoordPos64FromWorldIntegerPos(query.GetStartIntegerPos());
        m_lengthVec = databaseGenMetrics.GetCoordPos64FromWorldIntegerPos(query.GetDestIntegerPos()) - startCoordPos;
        m_widthVec = (startCoordPos - m_o1) * 2;
    }

    bool DoesIntersectEdge(const CoordPos64& startEdgeCoordPos, const CoordPos64& endEdgeCoordPos)
    {
        return Intersections::SegmentVsOrientedBox2d(startEdgeCoordPos, endEdgeCoordPos, m_o1, m_lengthVec, m_widthVec);
    }

    void ComputeCollisionPosOnEdge(const CoordPos64& startEdgeCoordPos, const CoordPos64& endEdgeCoordPos, Vec3f& collisionPos, KyFloat32& squareDistToCollisionPos)
    {
        const Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
        const Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

        ClosestPoint::OnSegmentVsSegmentCast2d(startEdgePos, endEdgePos, m_startA, m_startB, m_maxDist, collisionPos, squareDistToCollisionPos);
    }

    void ComputeTriangleCost(const CoordPos64& v0CoordPos, const CoordPos64& v1CoordPos, const CoordPos64& v2CoordPos, KyFloat32& cost)
    {
        const Vec3f v0(v0CoordPos.x * m_integerPrecision, v0CoordPos.y * m_integerPrecision, 0.f);
        const Vec3f v1(v1CoordPos.x * m_integerPrecision, v1CoordPos.y * m_integerPrecision, 0.f);
        const Vec3f v2(v2CoordPos.x * m_integerPrecision, v2CoordPos.y * m_integerPrecision, 0.f);

        Vec3f unused;
        ClosestPoint::OnTriangleVsSegmentCast2d(v0, v1, v2, m_startA, m_startB, m_maxDist, unused, cost);
    }

private:
    /*
         o4 +-----------------------+ o3
            |                       |
            |                       |
            |                       |
         o1 +---------------------->+
                m_lengthVec
    */

    CoordPos64 m_o1;
    Vec2LL m_lengthVec;
    Vec2LL m_widthVec;

    OrientedBox2d m_rectangle;
    Vec3f m_startA;
    Vec3f m_startB;
    KyFloat32 m_maxDist;


    KyFloat32 m_integerPrecision;

};


}


#endif //Navigation_RectangleIntersector_H