trajectory.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: GUAL - secondary contact: NOBODY
#ifndef Navigation_Trajectory_H
#define Navigation_Trajectory_H


#include "gwnavruntime/world/worldelement.h"
#include "gwnavruntime/pathfollower/iavoidancecomputer.h"
#include "gwnavruntime/world/botconfig.h"
#include "gwnavruntime/pathfollower/resettrajectorystatus.h"


namespace Kaim
{

class VisualDebugServer;
class SplineTrajectory;
class BaseShortcutTrajectory;
class FollowedCircleArcSpline;
class Bot;
class PositionOnLivePath;
class TargetOnPath;

class Trajectory : public RefCountBase<Trajectory, MemStat_PathFollowing>
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)
public:
    // ---------------------------------- Public Member Functions ----------------------------------

    Trajectory(Bot* bot);
    virtual ~Trajectory();
    
    void SetShortcutTrajectory(Ptr<BaseShortcutTrajectory> shortcutTrajectory);
    void SetAvoidanceComputer(Ptr<IAvoidanceComputer> avoidanceComputer);

    TrajectoryMode GetTrajectoryMode() const { return m_trajectoryMode; }

    virtual void Compute(KyFloat32 simulationTimeInSeconds);
    
    Ptr<IAvoidanceComputer> GetAvoidanceComputer() { return m_avoidanceComputer; }
    Vec2f GetIdealVelocity() const { return m_idealVelocity; }

    const FollowedCircleArcSpline* GetFollowedCircleArcSpline() const;
    
    
public: // internal

    void ClearOutput(const Vec2f& frontDirection);


    virtual void Clear(); // fully clear the trajectory and default its config
    virtual void ClearTrajectory(); // only clear the current computed trajectory

    virtual bool IsShortcutTrajectoryAllowingToSkipPathFollowingThisFrame(KyFloat32& simulationTimeInSeconds);

    virtual ResetTrajectoryStatus ResetTrajectory(const PositionOnLivePath& progressOnLivePath);
    virtual ResetTrajectoryStatus CanResetTrajectory(const PositionOnLivePath& progressOnLivePath, TargetOnPath& directTargetOnPath);

    virtual void SendVisualDebugBlob(VisualDebugServer& visualDebugServer, VisualDebugSendChangeEvent changeEvent);


    // ------------- Helper functions ---------------

    enum OutputVelocity
    {
        OutputVelocity_Stop,
        OutputVelocity_SlowDownToTarget,
        OutputVelocity_FullSpeed,
    };

    static OutputVelocity ComputeStraightVelocityToTarget(Bot* bot, KyFloat32 simulationTimeInSeconds, const Vec3f& target, Vec3f& outputVelocity);
    static OutputVelocity ComputeStraightVelocityToTarget2d(Bot* bot, KyFloat32 simulationTimeInSeconds, const Vec2f& target, Vec2f& outputVelocity);

protected:
    void SetTrajectoryMode(TrajectoryMode trajectoryMode); // called in compute if m_trajectoryMode differs from the one set in the bot config

public: // internal
    Bot* m_bot;
    TrajectoryMode m_trajectoryMode;
    Ptr<IAvoidanceComputer> m_avoidanceComputer;
    Ptr<BaseShortcutTrajectory> m_shortcutTrajectory;
    Ptr<SplineTrajectory>  m_splineTrajectory;

    Vec2f m_idealVelocity; // trajectory ideal 2d velocity before avoidance (if applicable)

    TrajectoryMode m_previousTrajectoryModeForVisualDebug; //< used for visualDebugPurpose;
};

} // namespace Kaim


#endif // Navigation_Trajectory_H