basenavigationprofile.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/pathfollower/trajectory.h"
#include "gwnavruntime/pathfollower/basepathprogresscomputer.h"
#include "gwnavruntime/queries/utils/baseastarquery.h"
#include "gwnavruntime/queries/utils/basebestgraphvertexpathfinderquery.h"
#include "gwnavruntime/path/ipatheventlistobserver.h"
#include "gwnavruntime/pathfollower/ipositiononpathvalidator.h"
#include "gwnavruntime/pathfollower/iavoidancecomputer.h"
#include "gwnavruntime/pathfollower/iavoidancesolver.h"
#include "gwnavruntime/pathfollower/iavoidancefilter.h"

namespace Kaim
{

class Bot;

class BaseNavigationProfile : public RefCountBase<BaseNavigationProfile, MemStat_Bot>
{
public:
    BaseNavigationProfile() : m_profileId(KyUInt32MAXVAL) {}

    void SetProfileId(KyUInt32 profileId) { m_profileId = profileId; }
    KyUInt32 GetProfileId() const { return m_profileId; }

    // ------------------------ PathFinding ------------------------
    virtual Ptr<BaseAStarQuery> CreateAStarQuery() = 0;

    // ------------------------ PathProgress ------------------------

    virtual Ptr<BasePathProgressComputer> GetSharedPathProgressComputer() = 0;

    virtual Ptr<IPathEventListObserver> GetSharedPathEventListObserver() = 0;

    virtual Ptr<IPositionOnPathValidator> GetSharedPositionOnPathValidator() = 0;

    // ------------------------ Trajectory ------------------------

    virtual Ptr<Trajectory> CreateTrajectory(Bot* bot) = 0;

    virtual Ptr<IAvoidanceComputer> GetSharedAvoidanceComputer() = 0;

    virtual Ptr<IAvoidanceSolver> GetSharedAvoidanceSolver() = 0;

    virtual Ptr<IAvoidanceFilter> GetSharedAvoidanceFilter() = 0;

    // ------------------------ Queries ------------------------
    virtual Ptr<BaseRayCanGoQuery> CreateRayCanGoQuery() = 0;

    // ------------------------ Bot Queries ------------------------
    virtual Vec3f ComputeMoveOnNavMesh(Bot* bot, const Vec3f& velocity, KyFloat32 simulationTimeInSeconds) = 0;

protected:
    KyUInt32 m_profileId;
};


class BotNavigation : public RefCountBase<BotNavigation, MemStat_Bot>
{
public:
    BotNavigation() : m_navigationProfileId(KyUInt32MAXVAL), m_navigationProfile(nullptr) {}

    void Init(BaseNavigationProfile* navigationProfile);

    KyUInt32               GetProfileId() { return m_navigationProfile->GetProfileId(); }
    BaseNavigationProfile* GetProfile()   { return m_navigationProfile; }

    Ptr<BaseAStarQuery>           GetOrCreateAStarQuery();
    Ptr<BasePathProgressComputer> GetOrCreatePathProgessComputer();
    Ptr<Trajectory>               GetOrCreateTrajectory(Bot* bot);

    Vec3f ComputeMoveOnNavMesh(Bot* bot, const Vec3f& velocity, KyFloat32 simulationTimeInSeconds);

private:
    KyUInt32 m_navigationProfileId;
    BaseNavigationProfile* m_navigationProfile;

    Ptr<BaseAStarQuery>           m_aStarQuery;
    Ptr<BasePathProgressComputer> m_pathProgressComputer;
    Ptr<Trajectory>               m_trajectory;
};

class BotNavigationCollection
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Bot)

public:
    BotNavigationCollection() : m_navigationProfiles(nullptr) {}

    // initialized with World::m_navigationProfiles
    void Init(KyArray<Ptr<BaseNavigationProfile> >* navigationProfiles) { m_navigationProfiles = navigationProfiles; }

    Ptr<BaseAStarQuery>           GetOrCreateAStarQuery(KyUInt32 navigationProfileId);
    Ptr<BasePathProgressComputer> GetOrCreatePathProgessComputer(KyUInt32 navigationProfileId);
    Ptr<Trajectory>               GetOrCreateTrajectory(KyUInt32 navigationProfileId, Bot* bot);

    Vec3f ComputeMoveOnNavMesh(KyUInt32 navigationProfileId, Bot* bot, const Vec3f& velocity, KyFloat32 simulationTimeInSeconds);

private:
    bool CanUseNavigationProfileId(KyUInt32 navigationProfileId)
    {
        return m_navigationProfiles != nullptr && navigationProfileId < m_navigationProfiles->GetCount();
    }

    Ptr<BotNavigation> GetOrCreateBotNavigation(KyUInt32 navigationProfileId);

private:
    KyArray<Ptr<BaseNavigationProfile> >* m_navigationProfiles;
    KyArray<Ptr<BotNavigation> > m_botNavigations;
};


}