basebestgraphvertexpathfinderquery.h

Go to the documentation of this file.

/*
* 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/traversalparams.h"
#include "gwnavruntime/queries/utils/pathrefinerconfig.h"
#include "gwnavruntime/queries/utils/pathfinderqueryutils.h"
#include "gwnavruntime/queries/ipathfinderquery.h"

namespace Kaim
{

enum BestGraphVertexPathFinderQueryResult
{
    BESTGRAPHVERTEX_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    BESTGRAPHVERTEX_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    BESTGRAPHVERTEX_PROCESSING_TRAVERSAL,                    
    BESTGRAPHVERTEX_PROCESSING_TRAVERSAL_DONE,               
    BESTGRAPHVERTEX_PROCESSING_REFINING_INIT,                
    BESTGRAPHVERTEX_PROCESSING_REFINING,                     
    BESTGRAPHVERTEX_PROCESSING_PATHCLAMPING_INIT,            
    BESTGRAPHVERTEX_PROCESSING_PATHCLAMPING,                 
    BESTGRAPHVERTEX_PROCESSING_PATHBUILDING,                 
    BESTGRAPHVERTEX_PROCESSING_CHANNEL_INIT,                 
    BESTGRAPHVERTEX_PROCESSING_CHANNEL_COMPUTE,              

    BESTGRAPHVERTEX_DONE_START_OUTSIDE,                      
    BESTGRAPHVERTEX_DONE_START_NAVTAG_FORBIDDEN,             
    BESTGRAPHVERTEX_DONE_PATH_NOT_FOUND,                     
    BESTGRAPHVERTEX_DONE_NAVDATA_CHANGED,                    
    BESTGRAPHVERTEX_DONE_ERROR_LACK_OF_WORKING_MEMORY,       
    BESTGRAPHVERTEX_DONE_COMPUTATION_ERROR,                  
    BESTGRAPHVERTEX_DONE_CHANNELCONFIG_ERROR,                
    BESTGRAPHVERTEX_DONE_CHANNELCOMPUTATION_ERROR,           
    BESTGRAPHVERTEX_DONE_COMPUTATION_CANCELED,               

    BESTGRAPHVERTEX_DONE_PATH_FOUND,                         
};

class BaseBestGraphVertexPathFinderQuery : public IPathFinderQuery
{
public:
    static  QueryType        GetStaticType() { return TypeBestGraphVertexPathFinderQuery; }
    virtual QueryType        GetType() const { return TypeBestGraphVertexPathFinderQuery; }
    virtual void             BuildQueryBlob(BaseBlobHandler* blobHandler);
    virtual void             InitFromQueryBlob(World* world, void* blob);
    virtual Ptr<BaseBlobHandler> CreateQueryBlobHandler() { return CreateStaticQueryBlobHandler(); }
    static Ptr<BaseBlobHandler>  CreateStaticQueryBlobHandler();

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

    BestGraphVertexPathFinderQueryResult GetResult() const { return m_result; }
    KyFloat32                  GetPropagationRadius()             const { return m_propagationRadius; }
    KyFloat32                  GetFromOutsideNavMeshDistance()    const { return m_traversalParams.m_fromOutsideNavMeshDistance;    }
    KyFloat32                  GetToOutsideNavMeshDistance()      const { return m_traversalParams.m_toOutsideNavMeshDistance;      }
    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; }
    Path*                      GetPath()                          const { return m_path;              }
    KyUInt32                   GetNumberOfProcessedNodePerFrame() const { return m_traversalParams.m_numberOfVisitedNodePerAdvance;   }

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

    void ComputePathRefinerConfigInternals() { m_pathRefinerConfig.ComputeInternals();}
    const PathRefinerConfig& GetPathRefinerConfig() const { return m_pathRefinerConfig; }

    void SetPathClamperFlagMask(PathClamperFlagMask pathClamperFlagMask) { m_pathClamperFlagMask = pathClamperFlagMask; }

    void BindToDatabase(Database* database);
    void Initialize(const Vec3f& startPos);
    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr) { m_startTrianglePtr = startTrianglePtr;   }
    void SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode);
    void SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr);

    void SetComputeChannelMode(PathFinderQueryComputeChannelMode mode)  { m_computeChannelMode = mode;             }
    void SetChannelComputerConfig(const ChannelComputerConfig& config)  { m_channelComputerConfig = config;        }
    void SetPropagationRadius(KyFloat32 propagationRadius)              { m_propagationRadius = propagationRadius; }
    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange) { m_traversalParams.m_positionSpatializationRange = positionSpatializationRange; }
    void SetFromOutsideNavMeshDistance(KyFloat32 fromOutsideNavMeshDistance)                            { m_traversalParams.m_fromOutsideNavMeshDistance  = fromOutsideNavMeshDistance; }
    void SetToOutsideNavMeshDistance(KyFloat32 toOutsideNavMeshDistance)                                { m_traversalParams.m_toOutsideNavMeshDistance    = toOutsideNavMeshDistance; }
    void SetNumberOfProcessedNodePerFrame(KyUInt32 numberOfProcessedNodePerFrame)                       { m_traversalParams.m_numberOfVisitedNodePerAdvance = numberOfProcessedNodePerFrame; }
    void SetResult(BestGraphVertexPathFinderQueryResult result) { m_result = result; }

protected:
    BaseBestGraphVertexPathFinderQuery();
    virtual ~BaseBestGraphVertexPathFinderQuery() {}

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

    // configuration
    PathRefinerConfig m_pathRefinerConfig;
    PathClamperFlagMask m_pathClamperFlagMask;
    KyFloat32 m_propagationRadius;  // the propagation is limited to a 2d circle centered in startPos and with m_propagationRadius as radius

    // computed
    Vec3f m_startInsidePos3f; // if #m_startPos3f is slightly outside and we hook on the NavMesh, it is the computed inside pos, else it is equal to #m_startPos3f.
    TraversalParameters m_traversalParams;
    NavGraphVertexRawPtr m_currentVertex;
    AStarNodeIndex m_currentVertexNodeIdx;
    NavGraphVertexRawPtr m_bestVertex; // the best Vertex found so far.
    AStarNodeIndex m_bestVertexNodeIdx;
    Ptr<Path> m_rememberBestPathSoFar;

    // results
    BestGraphVertexPathFinderQueryResult m_result; 
};

KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetStartNavGraphEdgePtr(const NavGraphEdgePtr& startNavGraphEdgePtr, NavGraphEdgeDirection navGraphEdgePathfindMode)
{
    m_startNavGraphEdgePtr     = startNavGraphEdgePtr;
    m_startNavGraphEdgeDirection = navGraphEdgePathfindMode;
    KY_LOG_WARNING_IF(m_startTrianglePtr.IsValid(), ("You are setting a start NavGraphEdgePtr whereas a start NavTrianglePtr was set too."));
    KY_LOG_WARNING_IF(m_startNavGraphVertexPtr.IsValid(), ("You are setting a start NavGraphEdgePtr whereas a start NavGraphVertexPtr was set too."));
    m_startTrianglePtr.Invalidate();
    m_startNavGraphVertexPtr.Invalidate();
}

KY_INLINE void BaseBestGraphVertexPathFinderQuery::SetStartNavGraphVertexPtr(const NavGraphVertexPtr& startNavGraphVertexPtr)
{
    m_startNavGraphVertexPtr = startNavGraphVertexPtr;
    KY_LOG_WARNING_IF(m_startTrianglePtr.IsValid(), ("You are setting a start NavGraphVertexPtr whereas a start NavTrianglePtr was set too."));
    KY_LOG_WARNING_IF(m_startNavGraphEdgePtr.IsValid(), ("You are setting a start NavGraphVertexPtr whereas a start NavGraphEdgePtr was set too."));
    m_startTrianglePtr.Invalidate();
    m_startNavGraphEdgePtr.Invalidate();
}
}