stringpuller.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.
*/

#ifndef Navigation_StringPuller_H
#define Navigation_StringPuller_H

#include "gwnavruntime/channel/bubblearray.h"

#include "gwnavruntime/channel/stringpulledbubblelist.h"
#include "gwnavruntime/channel/bubbletocornerfunnel.h"

#include "gwnavruntime/containers/stringstream.h"
#include "gwnavruntime/containers/kyarray.h"


namespace Kaim
{

class World;
class BiTangentSorter_IncreasingAngleFromReferenceDirection;

enum StringPullerResult
{
    StringPuller_NotInitialized,
    StringPuller_NotComputed,

    StringPuller_Done_Success,

    StringPuller_Done_InvalidInput,
    StringPuller_Done_CurrentPivotOppositeBorderNotFound,
    StringPuller_Done_BubbleToCornerFunnelFailure,
    StringPuller_Done_NextPivotNotFound,
    StringPuller_Done_NextPivotOppositeBorderNotFound,
};


class StringPuller
{
public:
    StringPuller();

    void Initialize(const BubbleArray& bubbleArray);
    void Clear();

    // Compute full StringPull, i.e. same as Advance with no slicing
    KY_INLINE void Compute(StringPulledBubbleList& stringPulledBubbleList);

    // Advances the pivot at most by maxPivotPerAdvance
    void Advance(StringPulledBubbleList& stringPulledBubbleList, KyUInt32 maxPivotPerAdvance = 1);


public: // Internal. They are public only to be unit tested
    KyResult RunFromCurrentPivot(StringPulledBubbleList& stringPulledBubbleList);

    KyResult ComputeClosedCorner();
    KyResult ComputeNextPivot();
    KyResult StringPullBetweenPivots(StringPulledBubbleList& stringPulledBubbleList);

    KyResult ComputeCurrentPivotEnterOrthoOppositeBoderIndex();
    KyResult ComputeNextPivotEnterOrthoOppositeBoderIndex();

    KyResult ComputeCornerEnterOrthoOppositeBoderIndex(KyUInt32 cornerIndex, FunnelSide cornerSide, const Vec2f& enterDirection,
        KyUInt32& oppositeBorderStartIdx, KyUInt32& oppositeBorderEndIdx, const VisualColor& baseColor, const char* displayListName);

    KyResult ComputeOppositeBorderIndex(KyUInt32 cornerIdx, const Vec2f& direction, KyUInt32& oppositeBorderStartIdx, KyUInt32& oppositeBorderEndIdx);
    KyResult CollectIntersectingBubblesInPivotTurn();
    KyResult CollectIntersectingBubblesSameSideThanCurrentPivot();
    KyResult CollectIntersectingBubblesSameSideThanClosedCorner();
    KyResult CollectIntersectingBubblesUpToClosedCorner(RotationDirection collectedBubbleRotDir);
    KyResult CollectIntersectingBubblesOverClosedCorner(RotationDirection collectedBubbleRotDir);

    KyUInt32 GetNextTangentBubbleIdx(FunnelSide funnelSide, const Vec2f& refDir);

    void VisualDebugRunFromCurrentPivot() const;
    void VisualDebugGetNextTangentBubbleIdx(KyUInt32 bubbleCount, const Bubble& curPivotBubble, const Vec2f& refDir, BiTangentSorter_IncreasingAngleFromReferenceDirection& increasingAngleSorter) const;
    void VisualDebugStringPullBetweenPivots() const;
    void VisualDebugComputeCornerEnterOrtho_1(const VisualColor& displayColor, const char* displayListName, KyUInt32 cornerIndex) const;
    void VisualDebugComputeCornerEnterOrtho_2(const VisualColor& displayColor, const char* displayListName, KyUInt32 cornerIndex, const Vec2f& curPivotEnterOrthoDir, const Vec2f& enterDirection) const;
    void VisualDebugComputeCornerEnterOrtho_3(const char* displayListName, KyUInt32 oppositeBorderStartIdx, KyUInt32 oppositeBorderEndIdx, VisualColor displayColor) const;
public: // Internal: public only for unit tests
    // Inputs
    const BubbleArray* m_bubbleArray;

    // Parameters
    KyFloat32 m_fullTurnToleranceSin; // Very technical: default is 0.01 ( = sin(~s0.57 Degrees )), must be let very small

    // Internal
//  StringPulledBubbleList m_localStringPull;
    KyArrayPOD<KyUInt32> m_indicesOfTheSameSideCornersIncludedInCurrentPivotBubble;
    BubbleFunnelBorder m_funnelClosedBorder;

    KyUInt32   m_bubbleCount;

    KyUInt32   m_currentPivotIndex;
    FunnelSide m_currentPivotSide;
    Vec2f      m_currentPivotEnterDirection;
    KyUInt32   m_currentPivotOrthoOppositeBorderStartIdx;
    KyUInt32   m_currentPivotOrthoOppositeBorderEndIdx;

    KyUInt32   m_nextPivotIndex;
    FunnelSide m_nextPivotSide;
    Vec2f      m_nextPivotEnterDirection;
    KyUInt32   m_nextPivotOrthoOppositeBorderStartIdx;
    KyUInt32   m_nextPivotOrthoOppositeBorderEndIdx;

    KyArrayPOD<KyUInt32> m_intersectingBubbles; // aka bubble subset
    struct BiTangent
    {
        KyFloat32 GetSqLength2d() const { return SquareDistance2d(m_startPos, m_endPos); }
        Vec3f m_startPos;
        Vec3f m_endPos;
        Vec2f m_dir;
    };
    KyArrayPOD<BiTangent> m_biTanArray;
    KyArrayPOD<KyUInt32> m_sortedIndices;
    KyArrayPOD<KyUInt32> m_localStringPullCornerIndices;

    // Outputs
    StringPullerResult m_result;

    // VisualDebug
    mutable KyUInt32 m_loopIndex;
    mutable StringStream m_groupName;

public:
    bool m_advancedVisualDebuggingEnabled;
    World* m_advancedVisualDebuggingWorld;
};


KY_INLINE void StringPuller::Compute(StringPulledBubbleList& stringPulledBubbleList) { Advance(stringPulledBubbleList, KyUInt32MAXVAL); }

} // namespace Kaim

#endif // Navigation_StringPuller_H