abstractgraph.h

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/*
* Copyright 2016 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.
*/

#pragma once

//#include "gwnavruntime/abstractgraph/blobs/abstractgraphblob.h"
#include "gwnavruntime/abstractgraph/identifiers/loadedabstractgraphnodeidx.h"
#include "gwnavruntime/abstractgraph/identifiers/loadedabstractgraphcellidx.h"
#include "gwnavruntime/containers/kyarray.h"
#include "gwnavruntime/base/memory.h"
#include "gwnavruntime/containers/collection.h"
#include "gwnavruntime/kernel/SF_RefCount.h"

namespace Kaim
{

class AbstractGraphCellGrid;
class AbstractGraphBlob;
class AbstractGraphCellBlob;
class AbstractGraph;
class Database;
class DisplayList;
class Color;
class MemoryHeap;
class LoadedAbstractGraphCellIdx;

class AbstractGraphNodeLink
{
public:
    enum NavMeshLinkStatus
    {
        NavMeshLink_NoNavMesh = 0,   // No Navmesh is loaded underneath, i.e. no ActiveCell at the CellPos of the node
        NavMeshLink_Inside    = 1,   // A NavMesh is loaded, and the Node is on the NavMesh

        NavMeshLink_Undefined = KyUInt32MAXVAL,   // Link Status is undefined yet
    };

public:
    AbstractGraphNodeLink()
        : m_navMeshLinkStatus(NavMeshLink_Undefined)
    {}

    bool CanTraverse() const { return m_pairedNodeIdx.IsValid(); }

public:
    LoadedAbstractGraphNodeIdx m_pairedNodeIdx; //< gives the node in a neighbor graph, this node is paired to
    NavMeshLinkStatus m_navMeshLinkStatus;
};


class AbstractGraph
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_NavData)
    KY_CLASS_WITHOUT_COPY(AbstractGraph)
    KY_REFCOUNT_MALLOC_FREE(AbstractGraph)

public:
    static Ptr<AbstractGraph> Create(AbstractGraphBlob* abstractGraphBlob, Database* database, MemoryHeap* pheap = nullptr);

    KyUInt32 GetNodeCount() const;

    Vec3f GetNodePosition(const LoadedAbstractGraphNodeIdx& node) const;  
    Vec3f GetNodePosition(AbstractGraphNodeIdx nodeIdx) const;

    // -------------------- Access to Neighbors Nodes ------------------

    KyFloat32 GetNeighborCost(AbstractGraphNodeIdx fromGraphNodeIdx, AbstractGraphNodeIdx toGraphNodeIdx) const;

    const AbstractGraphCellBlob* GetAbstractGraphCellBlob(const LoadedAbstractGraphCellIdx& cellIdx) const;
    AbstractGraphCellGrid* GetAbstractGraphCellGrid() const;
    Database* GetDatabase() const;

public: // internal
    KyUInt32 GetIndexInCollection() const { return m_abstractGraphIdx; }
    void SetIndexInCollection(KyUInt32 indexInCollection);

    bool IsNodePaired(const LoadedAbstractGraphNodeIdx& node) const;  
    bool IsNodePaired(AbstractGraphNodeIdx nodeIdx) const;

    // Debug-only, used in tests, not needed otherwise, the VisualDebug uses Blobs instead of DisplayLists
    enum DebugDisplay
    {
        DebugDisplay_AbstractEdges    = 1 << 0,
        DebugDisplay_CellBoxCoverage  = 1 << 1,
        DebugDisplay_All = KyUInt32MAXVAL
    };
    void Display(DisplayList& displayList, const Color& color, DebugDisplay debugDisplay = DebugDisplay_All);

public:
    Database* m_database;
    const AbstractGraphBlob* m_blob;
    AbstractGraphNodeLink* m_links; // for each graph nodes gives link information about the node in the neighbor AbstractGraph, and the Navmesh
    AbstractGraphIdx m_abstractGraphIdx;      
};

}