traverselogic.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: GUAL
#ifndef Navigation_TraverseLogic_H
#define Navigation_TraverseLogic_H


#include "gwnavruntime/math/vec3f.h"
#include "gwnavruntime/basesystem/logger.h"
#include "gwnavruntime/containers/kyarray.h"
#include "gwnavruntime/database/navtag.h"

namespace Kaim
{

class NavTriangleRawPtr;
class NavGraphEdgeRawPtr;

class LogicDoNotUseCanEnterNavTag       { public: LogicDoNotUseCanEnterNavTag() {} };
class LogicDoUseCanEnterNavTag          { public:    LogicDoUseCanEnterNavTag() {} };

class LogicWithoutCostMultipler         { public:         LogicWithoutCostMultipler() {} };
class LogicWithCostMultiplerPerNavTag   { public:   LogicWithCostMultiplerPerNavTag() {} };
class LogicWithCostMultiplerPerTriangle { public: LogicWithCostMultiplerPerTriangle() {} };


template <class TCanEnterNavTagMode = LogicDoNotUseCanEnterNavTag>
class SimpleTraverseLogic
{
    KY_TRAVERSE_LOGIC(SimpleTraverseLogic, LogicWithoutCostMultipler, TCanEnterNavTagMode)
public:
    static KY_INLINE bool CanTraverseNavTag(void* /*traverseLogicUserData*/, const NavTag& /*navTag*/) { return true; }

    static KY_INLINE KyFloat32 GetHeuristicFromDistanceToDest(void* /*traverseLogicUserData*/, KyFloat32 distance3DToDestination) { return distance3DToDestination; }

    static KY_INLINE bool CanEnterNavTag(void* /*traverseLogicUserData*/, const NavTag& /*exitNavTag*/, const NavTag& /*enterNavTag*/,
        const Vec3f& /*pos*/) { return true; }

private:
    // ----- Obsolete Functions -----

    static bool CanTraverse(void*, const Kaim::NavTag&) 
    { KY_LOG_ERROR(("Obsolete Function should never be called")); KY_DEBUG_BREAK; return false; }

    static KyFloat32 GetCostMultiplier(void*, const Kaim::NavTag&) 
    { KY_LOG_ERROR(("Obsolete Function should never be called")); KY_DEBUG_BREAK; return 0.f; }

    static bool CanTraverseGraphEdgeAndGetCost(void*, const Kaim::Vec3f&, const Kaim::Vec3f&, const Kaim::NavTag&, KyFloat32&)
    { KY_LOG_ERROR(("Obsolete Function should never be called")); KY_DEBUG_BREAK; return false; }
};


class DefaultTraverseLogic : public SimpleTraverseLogic<LogicDoNotUseCanEnterNavTag>
{
};




template <class TCanEnterNavTagMode>
class TraverseLogicWithCostMultiplerPerNavTag
{
    KY_TRAVERSE_LOGIC(TraverseLogicWithCostMultiplerPerNavTag, LogicWithCostMultiplerPerNavTag, TCanEnterNavTagMode)
public:

    static KY_INLINE bool CanTraverseNavTag(void* /*traverseLogicUserData*/, const NavTag& /*navTag*/, KyFloat32* /*costMultiplier*/) { return true; }

    static KY_INLINE KyFloat32 GetHeuristicFromDistanceToDest(void* /*traverseLogicUserData*/, KyFloat32 distance3DToDestination) { return distance3DToDestination; }

    static KY_INLINE bool CanEnterNavTag(void* /*traverseLogicUserData*/, const NavTag& /*exitNavTag*/, const NavTag& /*enterNavTag*/,
        const Vec3f& /*pos*/) { return true; }

private:
    // ----- Obsolete Functions -----
};



template <class TCanEnterNavTagMode>
class TraverseLogicWithCostPerTriangle
{
    KY_TRAVERSE_LOGIC(TraverseLogicWithCostPerTriangle, LogicWithCostMultiplerPerTriangle, TCanEnterNavTagMode)
public:
    static KY_INLINE bool CanTraverseNavTriangle (void* /*traverseLogicUserData*/,  const NavTriangleRawPtr&  /*triangle*/, KyFloat32* /*costmultiplier*/) { return true; }
    static KY_INLINE bool CanTraverseNavGraphEdge(void* /*traverseLogicUserData*/, const NavGraphEdgeRawPtr& /*graphEdge*/, KyFloat32* /*costMultiplier*/) { return true; }

    static KY_INLINE KyFloat32 GetHeuristicFromDistanceToDest(void* /*traverseLogicUserData*/, KyFloat32 distance3DToDestination) { return distance3DToDestination; }

    static KY_INLINE bool CanEnterNavTag(void* /*traverseLogicUserData*/, const NavTag& /*exitNavTag*/, const NavTag& /*enterNavTag*/,
        const Vec3f& /*pos*/) { return true; }

private:
    // ----- Obsolete Functions -----
};


}

#endif