tagvolume.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: LASI
#ifndef Navigation_TagVolume_H
#define Navigation_TagVolume_H

#include "gwnavruntime/world/worldelement.h"
#include "gwnavruntime/math/box3f.h"
#include "gwnavruntime/spatialization/tagvolumespatialization.h"
#include "gwnavruntime/dynamicnavmesh/tagvolumeexpander.h"


namespace Kaim
{

class TagVolumeBlob;
class BoxObstacle;
class CylinderObstacle;
class VisualColor;


enum TagVolumeExtendOptions
{
    ExtendTagVolume_WithAltitudeTolerance_Above = 1,      
    ExtendTagVolume_WithAltitudeTolerance_Below = 1 << 1, 
    ExtendTagVolume_WithEntityHeight_Below      = 1 << 2, 
};

class TagVolumeInitConfig
{
public:

    // ---------------------------------- Main API Functions ----------------------------------

    TagVolumeInitConfig() { SetDefaults(); }

    void SetDefaults()
    {
        m_points.Clear();
        m_navTag.Clear();
        m_world = KY_NULL;
        m_databaseBinding = KY_NULL;
        m_altitudeMin = 0.0f;
        m_altitudeMax = 0.0f;
        m_extendOptions = ExtendTagVolume_WithAltitudeTolerance_Below;
    }

    // ---------------------------------- Initialization ----------------------------------

    void SetContour(const Vec2f* points, KyUInt32 pointCount);
    void InitFromTagVolumeBlob(const TagVolumeBlob& blob); 
    void Init4PointsContour(const Vec2f& center, const Vec2f& v1, const Vec2f& v2);
    void Init6PointsContour(const Vec2f& center, const Vec2f& v1, const Vec2f& v2, const Vec2f& v3);
    void InitFromBox(const Transform& transform, const Vec3f& localCenter, const Vec3f& localHalfExtents, DatabaseBinding* databaseBinding);

public:
    // ---------------------------------- Public Data Members ----------------------------------

    World* m_world;

    Ptr<DatabaseBinding> m_databaseBinding;

    DynamicNavTag m_navTag;

    KyArray<Vec2f, MemStat_TagVolume> m_points;
    KyFloat32 m_altitudeMin;
    KyFloat32 m_altitudeMax;
    TagVolumeExtendOptions m_extendOptions;
};


class TagVolume: public WorldElement
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_TagVolume)
    KY_CLASS_WITHOUT_COPY(TagVolume)

public:
    enum WorldStatus
    {
        WorldStatus_NotInit = 0,
        WorldStatus_Added,
        WorldStatus_NotAdded,
        WorldStatus_Unknown
    };

    enum IntegrationStatus
    {
        IntegrationStatus_NotIntegrated = 0,
        IntegrationStatus_ToBeIntegrated,
        IntegrationStatus_IntegrationInProcess,
        IntegrationStatus_Integrated,
        IntegrationStatus_ToBeDeintegrated,
        IntegrationStatus_DeintegrationInProcess
    };

    enum ObstacleType
    {
        ObstacleType_Undefined = 0,
        ObstacleType_BoxObstacle,
        ObstacleType_CylinderObstacle
    };

public:
    static  WorldElementType GetStaticType() { return TypeTagVolume; }
    virtual WorldElementType GetType() const { return TypeTagVolume; }

    virtual const char* GetTypeName() const { return "TagVolume"; }

    static const char* GetWorldStatusDescription(WorldStatus status);
    static const char* GetIntegrationStatusDescription(IntegrationStatus status);
    static const char* GetObstacleTypeName(ObstacleType obstacleType);

    TagVolume();
    ~TagVolume();

    KyResult Init(const TagVolumeInitConfig& initConfig);

    void AddToWorld();

    void RemoveFromWorld();


    // ---------------------------------- Getters ----------------------------------

    const Box3f&           GetAABB()                   const; 
    KyFloat32              GetAltitudeMin()            const; 
    KyFloat32              GetAltitudeMax()            const; 
    KyUInt32               GetPointCount()             const; 
    const Vec2f*           GetPoints()                 const; 
    const Vec2f&           GetPoint(KyUInt32 i)        const; 
    const DynamicNavTag&   GetNavTag()                 const; 
    WorldStatus            GetWorldStatus()            const; 
    IntegrationStatus      GetIntegrationStatus()      const; 
    ObstacleType           GetObstacleType()           const; 
    void*                  GetObstacleRawPtr()         const; 
    BoxObstacle*           GetBoxObstacle()            const; 
    CylinderObstacle*      GetCylinderObstacle()       const; 
    const DatabaseBinding* GetDatabaseBinding()        const; 
    TagVolumeExtendOptions GetTagVolumeExtendOptions() const; 

public: // internal
    virtual void DoSendVisualDebug(VisualDebugServer& server, VisualDebugSendChangeEvent changeEvent); // Inherited from WorldElement
    void SetObstacle(BoxObstacle* obstacle);
    void SetObstacle(CylinderObstacle* obstacle);
    void ResetObstacle();

    void OnIntegrationStart();
    void OnDeIntegrationStart();

    void OnIntegrationDone();
    void OnDeIntegrationDone();

    void OnIntegrationCancelled();
    void OnDeIntegrationCancelled();

    const TagVolumeDatabaseData& GetTagVolumeDatabaseData() const { return m_tagVolumeDatabaseData; }
    TagVolumeDatabaseData& GetTagVolumeDatabaseData() { return m_tagVolumeDatabaseData; }

    KyResult GetExpandedContour(KyFloat32 radius, KyFloat32 mergePointDistance, KyArray<Vec2f>& expandedContour) const;

    // WARNING Very internal. Used only internally during the generation process
    void SetWorld(World* world);
private:
    void PushPolylineFromInitConfigAccordingToWinding(const TagVolumeInitConfig& initConfig);
    // AABB & point array are private to force PushPoint(...) usage to ensure coherency.
    // AABB, point array and NavTag are private to trigger an update when modified.
    // TagVolumeSpatialization is private to force read-only access.
    Box3f m_aabb;
    KyArray<Vec2f, MemStat_TagVolume> m_points;
    DynamicNavTag m_navTag;

    TagVolumeDatabaseData m_tagVolumeDatabaseData;
    TagVolumeExtendOptions m_extendOptions;

    ObstacleType m_obstacleType;
    void* m_obstacleRawPtr;
    TagVolumeCylinderExpander m_cylinderExpander;
    TagVolumeBoxExpander m_boxExpander;

public: // For internal use only
    WorldStatus m_currentWorldStatus;
    WorldStatus m_nextWorldStatus;
    IntegrationStatus m_integrationStatus;

    // visual debug
    bool m_needToSendNewContextBlob;
    bool m_needToSendTagVolumeBlob;
};


KY_INLINE const Box3f&                 TagVolume::GetAABB()                   const { return m_aabb;                                       }
KY_INLINE       KyFloat32              TagVolume::GetAltitudeMin()            const { return m_aabb.m_min.z;                               }
KY_INLINE       KyFloat32              TagVolume::GetAltitudeMax()            const { return m_aabb.m_max.z;                               }
KY_INLINE       KyUInt32               TagVolume::GetPointCount()             const { return m_points.GetCount();                          }
KY_INLINE const Vec2f*                 TagVolume::GetPoints()                 const { return m_points.GetDataPtr();                        }
KY_INLINE const Vec2f&                 TagVolume::GetPoint(KyUInt32 i)        const { return m_points[i];                                  }
KY_INLINE const DynamicNavTag&         TagVolume::GetNavTag()                 const { return m_navTag;                                     }
KY_INLINE TagVolume::WorldStatus       TagVolume::GetWorldStatus()            const { return m_currentWorldStatus;                         }
KY_INLINE TagVolume::IntegrationStatus TagVolume::GetIntegrationStatus()      const { return m_integrationStatus;                          }
KY_INLINE TagVolume::ObstacleType      TagVolume::GetObstacleType()           const { return m_obstacleType;                               }
KY_INLINE void*                        TagVolume::GetObstacleRawPtr()         const { return m_obstacleRawPtr;                             }
KY_INLINE TagVolumeExtendOptions       TagVolume::GetTagVolumeExtendOptions() const { return m_extendOptions;                              }
KY_INLINE const DatabaseBinding*       TagVolume::GetDatabaseBinding()        const { return GetTagVolumeDatabaseData().m_databaseBinding; }
KY_INLINE BoxObstacle*                 TagVolume::GetBoxObstacle()            const
{
    return ((m_obstacleType == ObstacleType_BoxObstacle) ? (BoxObstacle*)m_obstacleRawPtr : KY_NULL);
}
KY_INLINE CylinderObstacle*            TagVolume::GetCylinderObstacle()      const
{
    return ((m_obstacleType == ObstacleType_CylinderObstacle) ? (CylinderObstacle*)m_obstacleRawPtr : KY_NULL);
}

// WARNING Very internal. Used only internally during the generation process
KY_INLINE void TagVolume::SetWorld(World* world)
{
    m_world = world;
}


} // namespace Kaim


#endif //Navigation_TagVolume_H