astarquery.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/queries/utils/baseastarquery.h"
#include "gwnavruntime/queries/utils/astartraversal.h"
#include "gwnavruntime/queries/utils/astartraversalcontext.h"
#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/path/path.h"
#include "gwnavruntime/channel/channelarraycomputer.h"
#include "gwnavruntime/path/pathdisplay.h"

namespace Kaim
{



template<class TraverseLogic>
class AStarQuery : public BaseAStarQuery
{
public:
    AStarQuery();
    virtual ~AStarQuery() {}

    virtual void Advance(WorkingMemory* workingMemory);

    virtual void ReleaseWorkingMemoryOnCancelDuringProcess(WorkingMemory* workingMemory = nullptr);

public: // internal
    bool TraversalHasVisitedNavDataChanged();

protected:
    void Advance_(WorkingMemory* workingMemory);

    void SetFinish(WorkingMemory* workingMemory);
    KyResult ComputeStartGraphEdgeOrGraphVertexOrTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeStartTriangle(PathFinderQueryUtils& queryUtils);
    KyResult ComputeDestTriangleIfNeeded(PathFinderQueryUtils& queryUtils);
    KyResult InitializeContextAndStartNode(PathFinderQueryUtils& queryUtils);
    KyResult InitDestinationNode();
    KyResult InitDestinationNodeFromDestNavGraphEdge();
    KyResult InitDestinationNodeFromDestNavGraphVertex();
    KyResult InitDestinationNodeFromDestNavTriangle();
    KyResult InitTraversalFromStartNode(PathFinderQueryUtils& queryUtils);
    void InitPropagationBounds();

    KyResult CheckNavDataChangeDuringTraversal(WorkingMemory* workingMemory);
    KyResult CheckNavDataChangeAfterTraversal(WorkingMemory* workingMemory);
    bool HasExplorationReachedDestNode();

    bool ShouldReturnAfterTryingCanGo(WorkingMemory* workingMemory);

    KyUInt32 CountAbstractGraphNodes(WorkingMemory* workingMemory, AStarNodeIndex& concreteDestinationNodeIdx);
    void BuildAbstractPath(WorkingMemory* workingMemory, AStarNodeIndex& concreteDestAStarNodeIndex);

protected:
    class TraversalCustomizer
    {
    public:
        typedef TraverseLogic TLogic;

        TraversalCustomizer() : m_astarQuery(nullptr), m_traverseLogicUserData(nullptr) {}

        bool CanTraverse(const NavTriangleRawPtr& triangleRawPtr, KyFloat32* costMultiplier)       { return triangleRawPtr.CanBeTraversed<TLogic>(m_traverseLogicUserData, costMultiplier); }
        bool CanTraverse(const NavGraphEdgeRawPtr& edgeRawPtr, KyFloat32* costMultiplier)          { return edgeRawPtr.CanBeTraversed<TLogic>(m_traverseLogicUserData, costMultiplier); }
        bool CanEnterNavTag(const NavTag& exitNavTag, const NavTag& enterNavTag, const Vec3f& pos) { return TLogic::CanEnterNavTag(m_traverseLogicUserData, exitNavTag, enterNavTag, pos); }
        KyFloat32 GetHeuristicFromNodePosition(const Vec3f& nodePosition) { return TLogic::GetHeuristicFromDistanceToDest(m_traverseLogicUserData, Distance(nodePosition, m_astarQuery->m_destInsidePos3f)); }

        void* GetTraverseLogicUserData() const { return m_traverseLogicUserData; }
        bool ShouldVisitNode(AStarTraversalContext* aStarTraversalContext, AStarNodeIndex nodeIndex);
        bool IsNodeOutsidePropagationBounds(AStarTraversalContext* aStarTraversalContext, AStarNodeIndex nodeIndex);
        bool ShouldOpenHalfEdgeNode(const NavHalfEdgeRawPtr& halfEdge, NavHalfEdgeRawPtr& pairHalfEdgeOfNewNode);
        bool ShouldOpenGraphVertexNode(const NavGraphVertexRawPtr& ) { return true; }
        bool ShouldOpenAbstractGraphNode(const AbstractGraphNodeRawPtr& ) { return true; }
        bool ShouldOpenNavTriangleUnderAbstractGraphNode(const AbstractGraphNodeRawPtr& abstractGraphNodeRawPtr);
        Vec3f ComputeNodePositionOnHalfEdge(AStarTraversalContext* aStarTraversalContext, const Vec3f& startPosOfEdge, const Vec3f& endPosOfEdge, AStarNodeIndex predecessorNodeIndex);
        KyResult OnNavTriangleExplored(AStarTraversalContext* aStarTraversalContext, const NavTriangleRawPtr& navTriangleRawPtr, AStarNodeIndex currentNodeIndex);
        KyResult OnNavGraphEdgeExplored(AStarTraversalContext* aStarTraversalContext, const NavGraphEdgeRawPtr& navGraphEdgeRawPtr, AStarNodeIndex currentNodeIndex);

        OrientedBox2d m_propagationBox;
        AStarQuery<TraverseLogic>* m_astarQuery;
        NavTriangleRawPtr m_destTriangleRawPtr;
        NavGraphEdgeRawPtr m_destNavGraphEdgeRawPtr[2];
        void* m_traverseLogicUserData;
    };

    AStarTraversal<TraversalCustomizer> m_traversal;
};

}

#include "gwnavruntime/queries/astarquery.inl"