baseastarquery.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/ipathfinderquery.h"
#include "gwnavruntime/navmesh/identifiers/navtriangleptr.h"
#include "gwnavruntime/querysystem/workingmemcontainers/navdatachangeindexingrid.h"
#include "gwnavruntime/queries/utils/pathfinderqueryutils.h"
#include "gwnavruntime/queries/utils/pathfinderquerytrycangomode.h"
#include "gwnavruntime/queries/utils/pathrefinercontext.h"
#include "gwnavruntime/queries/utils/pathclampercontext.h"
#include "gwnavruntime/queries/utils/traversalparams.h"
#include "gwnavruntime/queries/utils/pathrefinerconfig.h"
#include "gwnavruntime/queries/utils/cellfilter.h"
#include "gwnavruntime/channel/channelarraycomputerresult.h"

namespace Kaim
{

class Path;

enum AStarQueryResult
{
    ASTAR_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    ASTAR_NOT_PROCESSED   = QUERY_NOT_PROCESSED  , 

    ASTAR_PROCESSING_TRAVERSAL                   , 
    ASTAR_PROCESSING_TRAVERSAL_DONE              , 
    ASTAR_PROCESSING_ABSTRACT_PATH               , 
    ASTAR_PROCESSING_REFINING_INIT               , 
    ASTAR_PROCESSING_REFINING_RESETCOST          , 
    ASTAR_PROCESSING_REFINING                    , 
    ASTAR_PROCESSING_PATHCLAMPING_INIT           , 
    ASTAR_PROCESSING_PATHCLAMPING                , 
    ASTAR_PROCESSING_PATHBUILDING                , 
    ASTAR_PROCESSING_CHANNEL_INIT                , 
    ASTAR_PROCESSING_CHANNEL_COMPUTE             , 

    ASTAR_DONE_START_OUTSIDE                     , 
    ASTAR_DONE_START_NAVTAG_FORBIDDEN            , 
    ASTAR_DONE_END_OUTSIDE                       , 
    ASTAR_DONE_END_NAVTAG_FORBIDDEN              , 
    ASTAR_DONE_PATH_NOT_FOUND                    , 
    ASTAR_DONE_NAVDATA_CHANGED                   , 
    ASTAR_DONE_ERROR_LACK_OF_WORKING_MEMORY      , 
    ASTAR_DONE_COMPUTATION_ERROR                 , 
    ASTAR_DONE_CHANNELCONFIG_ERROR               , 
    ASTAR_DONE_CHANNELCOMPUTATION_ERROR          , 
    ASTAR_DONE_COMPUTATION_CANCELED              , 

    ASTAR_DONE_DEST_IS_START_NO_PATH             , 
    ASTAR_DONE_PATH_FOUND                          
};

inline const char* ToString(AStarQueryResult e)
{
    static const char* s_strs[] =
    {
        "ASTAR_NOT_INITIALIZED",
        "ASTAR_NOT_PROCESSED",

        "ASTAR_PROCESSING_TRAVERSAL",
        "ASTAR_PROCESSING_TRAVERSAL_DONE",
        "ASTAR_PROCESSING_ABSTRACT_PATH",
        "ASTAR_PROCESSING_REFINING_INIT",
        "ASTAR_PROCESSING_REFINING_RESETCOST",
        "ASTAR_PROCESSING_REFINING",
        "ASTAR_PROCESSING_PATHCLAMPING_INIT",
        "ASTAR_PROCESSING_PATHCLAMPING",
        "ASTAR_PROCESSING_PATHBUILDING",
        "ASTAR_PROCESSING_CHANNEL_INIT",
        "ASTAR_PROCESSING_CHANNEL_COMPUTE",

        "ASTAR_DONE_START_OUTSIDE",
        "ASTAR_DONE_START_NAVTAG_FORBIDDEN",
        "ASTAR_DONE_END_OUTSIDE",
        "ASTAR_DONE_END_NAVTAG_FORBIDDEN",
        "ASTAR_DONE_PATH_NOT_FOUND",
        "ASTAR_DONE_NAVDATA_CHANGED",
        "ASTAR_DONE_ERROR_LACK_OF_WORKING_MEMORY",
        "ASTAR_DONE_COMPUTATION_ERROR",
        "ASTAR_DONE_CHANNELCONFIG_ERROR",
        "ASTAR_DONE_CHANNELCOMPUTATION_ERROR",
        "ASTAR_DONE_COMPUTATION_CANCELED",

        "ASTAR_DONE_DEST_IS_START_NO_PATH",
        "ASTAR_DONE_PATH_FOUND"
    };
    const KyInt32 enumCount = ASTAR_DONE_PATH_FOUND + 1;
    static_assert(enumCount == sizeof(s_strs) / sizeof(const char*), "AStarQueryResult and its string array have not the same size");
    KyInt32 idx = (KyInt32)e;
    return idx >= 0 && idx < enumCount ? s_strs[idx] : "AStarQueryResult_UNKNOWN";
}

template <class OSTREAM>
inline OSTREAM& operator<<(OSTREAM& os, AStarQueryResult e) { os << ToString(e); return os; }


class BaseAStarQuery : public IPathFinderQuery
{
public:
    static  QueryType            GetStaticType() { return TypeAStar; }
    static Ptr<BaseBlobHandler>  CreateStaticQueryBlobHandler();

    // ------------------------------ IQuery implementation ------------------------------

    virtual QueryType            GetType() const { return TypeAStar; }
    virtual void                 BuildQueryBlob(BaseBlobHandler* blobHandler);
    virtual void                 InitFromQueryBlob(World* world, void* blob);
    virtual Ptr<BaseBlobHandler> CreateQueryBlobHandler() { return CreateStaticQueryBlobHandler(); }

    // ------------------------------ IPathFinderQuery implementation ------------------------------

    virtual void             GetPathFinderTextResult(String&)                         const;
    virtual void             DisplayPropagationBounds(DisplayList& displayList) const;
    virtual PathFinderResult GetPathFinderResult()                                    const;
    virtual const Vec3f*     GetDestination() const { return &m_destPos3f; }

    // ------------------------------ BindToDatabase ------------------------------

    void BindToDatabase(Database* database);

    // ------------------------------ inputs setters ------------------------------

    void Initialize(const Vec3f& startPos, const Vec3f& destPos);

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);

    void SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection startNavGraphEdgeDirection);

    void SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr);

    void SetDestTrianglePtr(const NavTrianglePtr& destTrianglePtr);

    void SetDestNavGraphEdgePtr(const NavGraphEdgePtr& destNavGraphEdgePtr, NavGraphEdgeDirection destNavGraphEdgeDirection);

    void SetDestNavGraphVertexPtr(const NavGraphVertexPtr& destNavGraphVertexPtr);

    // ------------------------------ configuration setters ------------------------------

    void SetTryCanGoMode(PathFinderQueryTryCanGoMode tryCanGoMode)                                      { m_tryCanGoMode          = tryCanGoMode;          }
    void SetPropagationBoxExtent(KyFloat32 propagationBoxExtent)                                        { m_propagationBoxExtent  = propagationBoxExtent;  }

    void SetFromOutsideNavMeshDistance(KyFloat32 fromOutsideNavMeshDistance)                            { m_traversalParams.m_fromOutsideNavMeshDistance = fromOutsideNavMeshDistance; }
    void SetToOutsideNavMeshDistance(KyFloat32 toOutsideNavMeshDistance)                                { m_traversalParams.m_toOutsideNavMeshDistance = toOutsideNavMeshDistance; }

    void SetAbstractGraphTraversalMode(PathFinderAbstractGraphTraversalMode abstractGraphTraversalMode) { m_abstractGraphTraversalMode = abstractGraphTraversalMode; }

    void SetComputeChannelMode(PathFinderQueryComputeChannelMode computeChannelMode)                    { m_computeChannelMode    = computeChannelMode;    }
    void SetChannelComputerConfig(const ChannelComputerConfig& channelComputerConfig)                   { m_channelComputerConfig = channelComputerConfig; }

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange) { m_traversalParams.m_positionSpatializationRange = positionSpatializationRange; }
    void SetNumberOfProcessedNodePerFrame(KyUInt32 numberOfProcessedNodePerFrame)                       { m_traversalParams.m_numberOfVisitedNodePerAdvance = numberOfProcessedNodePerFrame; }
    void SetPathClamperFlagMask(PathClamperFlagMask pathClamperFlagMask)                                { m_pathClamperFlagMask = pathClamperFlagMask; }

    // ------------------------------ results getter -----------------------------

    Path*                                GetPath()                          const { return m_path;                   }
    Path*                                GetAbstractPath()                  const { return m_abstractPath;           }
    AStarQueryResult                     GetResult()                        const { return m_result;                 }
    ChannelArrayComputerResult           GetChannelResult()                 const { return m_channelResult;          }

    // ------------------------------ inputs getters -----------------------------

    const Vec3f&                         GetStartPos()                      const { return IPathFinderQuery::GetStartPos(); }
    const NavTrianglePtr&                GetStartTrianglePtr()              const { return m_startTrianglePtr;       }
    const NavGraphEdgePtr&               GetStartNavGraphEdgePtr()          const { return m_startNavGraphEdgePtr;   }
    const NavGraphVertexPtr&             GetStartNavGraphVertexPtr()        const { return m_startNavGraphVertexPtr; }

    const Vec3f&                         GetDestPos()                       const { return m_destPos3f;              }
    const NavTrianglePtr&                GetDestTrianglePtr()               const { return m_destTrianglePtr;        }
    const NavGraphEdgePtr&               GetDestNavGraphEdgePtr()           const { return m_destNavGraphEdgePtr;    }
    const NavGraphVertexPtr&             GetDestNavGraphVertexPtr()         const { return m_destNavGraphVertexPtr;  }

    // ------------------------------ configuration getters ------------------------------

    PathFinderQueryTryCanGoMode          GetTryCanGoMode()                  const { return m_tryCanGoMode;           }
    KyFloat32                            GetPropagationBoxExtent()          const { return m_propagationBoxExtent;   }

    KyFloat32                            GetFromOutsideNavMeshDistance()    const { return m_traversalParams.m_fromOutsideNavMeshDistance;    }
    KyFloat32                            GetToOutsideNavMeshDistance()      const { return m_traversalParams.m_toOutsideNavMeshDistance;      }

    PathClamperFlagMask                  GetPathClamperFlagMask()           const { return m_pathClamperFlagMask;   }

    PathFinderAbstractGraphTraversalMode GetAbstractGraphTraversalMode()    const { return m_abstractGraphTraversalMode; }

    PathFinderQueryComputeChannelMode    GetComputeChannelMode()            const { return m_computeChannelMode;     }
    const ChannelComputerConfig&         GetChannelComputerConfig()         const { return m_channelComputerConfig;  }

    const PositionSpatializationRange&   GetPositionSpatializationRange()   const { return m_traversalParams.m_positionSpatializationRange; }
    KyUInt32                             GetNumberOfProcessedNodePerFrame() const { return m_traversalParams.m_numberOfVisitedNodePerAdvance;   }

public: // internal
    void ComputePathRefinerConfigInternals() { m_pathRefinerConfig.ComputeInternals(); }
    const PathRefinerConfig& GetPathRefinerConfig() const { return m_pathRefinerConfig; }

protected:
    BaseAStarQuery();
    virtual ~BaseAStarQuery() {}
    void SetResult(AStarQueryResult result) { m_result = result; }
    void InitTraversalParamsAndPropagationCellFilter();
    void ReplaceNodesOfShortestPathOnMiddleOfNavHalfEdge(WorkingMemory* workingMemory);

protected:
    // ------------------------------ start -----------------------------
    NavTrianglePtr        m_startTrianglePtr;           
    NavGraphEdgePtr       m_startNavGraphEdgePtr;       
    NavGraphEdgeDirection m_startNavGraphEdgeDirection; 
    NavGraphVertexPtr     m_startNavGraphVertexPtr;     

    // ------------------------------ destination -----------------------------
    Vec3f                 m_destPos3f;                  
    NavTrianglePtr        m_destTrianglePtr;            
    NavGraphEdgePtr       m_destNavGraphEdgePtr;        
    NavGraphEdgeDirection m_destNavGraphEdgeDirection;  
    NavGraphVertexPtr     m_destNavGraphVertexPtr;      

    // ------------------------------ configuration -----------------------------
    PathFinderQueryTryCanGoMode m_tryCanGoMode;                        
    PathRefinerConfig m_pathRefinerConfig;
    PathClamperFlagMask m_pathClamperFlagMask;                         
    PathFinderAbstractGraphTraversalMode m_abstractGraphTraversalMode; 
    KyFloat32 m_propagationBoxExtent; 

    // ------------------------------ computed -----------------------------
    Vec3f m_startInsidePos3f; 
    Vec3f m_destInsidePos3f;  
    bool m_isStartTriangleHooked;
    TraversalParameters m_traversalParams; // contains a mix of configuration and computed
    Ptr<CellFilter> m_propagationCellFilter;

    // ------------------------------ results -----------------------------
    Ptr<Path> m_abstractPath;  
    AStarQueryResult m_result; 
    ChannelArrayComputerResult m_channelResult;
};


KY_INLINE void BaseAStarQuery::SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr)
{
    m_startTrianglePtr = startTrianglePtr;
    m_startNavGraphEdgePtr.Invalidate();
    m_startNavGraphVertexPtr.Invalidate();
}

KY_INLINE void BaseAStarQuery::SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection startNavGraphEdgeDirection)
{
    m_startNavGraphEdgePtr     = startNavGraphEdgePtr;
    m_startNavGraphEdgeDirection = startNavGraphEdgeDirection;
    m_startTrianglePtr.Invalidate();
    m_startNavGraphVertexPtr.Invalidate();
}

KY_INLINE void BaseAStarQuery::SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr)
{
    m_startNavGraphVertexPtr = startNavGraphVertexPtr;
    m_startTrianglePtr.Invalidate();
    m_startNavGraphEdgePtr.Invalidate();
}

KY_INLINE void BaseAStarQuery::SetDestTrianglePtr(const NavTrianglePtr& destTrianglePtr)
{
    m_destTrianglePtr = destTrianglePtr;
    m_destNavGraphEdgePtr.Invalidate();
    m_destNavGraphVertexPtr.Invalidate();
}

KY_INLINE void BaseAStarQuery::SetDestNavGraphEdgePtr(const NavGraphEdgePtr& destNavGraphEdgePtr, NavGraphEdgeDirection destNavGraphEdgeDirection)
{
    m_destNavGraphEdgePtr      = destNavGraphEdgePtr;
    m_destNavGraphEdgeDirection = destNavGraphEdgeDirection;
    m_destTrianglePtr.Invalidate();
    m_destNavGraphVertexPtr.Invalidate();
}

KY_INLINE void BaseAStarQuery::SetDestNavGraphVertexPtr(const NavGraphVertexPtr& destNavGraphVertexPtr)
{
    m_destNavGraphVertexPtr = destNavGraphVertexPtr;
    m_destTrianglePtr.Invalidate();
    m_destNavGraphEdgePtr.Invalidate();
}


}