baseraycangoquery.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/querysystem/iquery.h"
#include "gwnavruntime/database/positionspatializationrange.h"
#include "gwnavruntime/navmesh/worldintegerpos.h"
#include "gwnavruntime/queries/utils/queryutils.h"
#include "gwnavruntime/queries/utils/rayqueryutils.h"

namespace Kaim
{

class NavHalfEdgeRawPtr;
class RawNavTagSubSegment;
template <class T>
class WorkingMemArray;

enum RayCanGoQueryResult
{
    RAYCANGO_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    RAYCANGO_NOT_PROCESSED = QUERY_NOT_PROCESSED,     

    RAYCANGO_DONE_START_OUTSIDE,                 
    RAYCANGO_DONE_START_NAVTAG_FORBIDDEN,        
    RAYCANGO_DONE_COLLISION_DETECTED,            
    RAYCANGO_DONE_BORDER_DETECTED_WITHIN_MARGIN, 
    RAYCANGO_DONE_ARRIVAL_IN_WRONG_FLOOR,        
    RAYCANGO_DONE_LACK_OF_WORKING_MEMORY,        
    RAYCANGO_DONE_UNKNOWN_ERROR,                 

    RAYCANGO_DONE_SUCCESS 
};

class BaseRayCanGoQuery : public IAtomicQuery
{
public:
    static QueryType GetStaticType() { return TypeRayCanGo; }
    static Ptr<BaseBlobHandler> CreateStaticQueryBlobHandler();

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

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

    void BindToDatabase(Database* database);

    // ------------------------------ input setters -----------------------------

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

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr) { m_startTrianglePtr = startTrianglePtr; } 
    void SetDestTrianglePtr(const NavTrianglePtr& destTrianglePtr) { m_destTrianglePtr = destTrianglePtr; } 
    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput) { m_queryDynamicOutput = queryDynamicOutput; } 

    void SetStartIntegerPos(const WorldIntegerPos& startIntegerPos) { m_startIntegerPos = startIntegerPos; }
    void SetDestIntegerPos(const WorldIntegerPos& destIntegerPos) { m_destIntegerPos = destIntegerPos; }

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

    void SetPositionSpatializationRange(const PositionSpatializationRange& range) { m_positionSpatializationRange = range; } 
    void SetDynamicOutputMode(DynamicOutputMode dynamicOutputMode) { m_dynamicOutputMode = dynamicOutputMode; }              

    void SetMarginMode(RayCanGoMarginMode marginMode) { m_marginMode = marginMode; }                                         
    void SetComputeCostMode(ComputeCostMode computeCostMode) { m_computeCostMode = computeCostMode; }                        

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

    RayCanGoQueryResult    GetResult()             const { return m_result;             }
    QueryDynamicOutput*    GetQueryDynamicOutput() const { return m_queryDynamicOutput; }

    KyFloat32              GetComputedCost()       const { return m_cost; }

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

    const Vec3f&           GetStartPos()           const { return m_startPos3f;         }
    const Vec3f&           GetDestPos()            const { return m_destPos3f;          }

    const NavTrianglePtr&  GetStartTrianglePtr()   const { return m_startTrianglePtr;   }
    const NavTrianglePtr&  GetDestTrianglePtr()    const { return m_destTrianglePtr;    }

    WorldIntegerPos        GetStartIntegerPos()    const { return m_startIntegerPos;    }
    WorldIntegerPos        GetDestIntegerPos()     const { return m_destIntegerPos;     }

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

    DynamicOutputMode GetDynamicOutputMode() const { return m_dynamicOutputMode; }
    const PositionSpatializationRange& GetPositionSpatializationRange() const { return m_positionSpatializationRange; }

    ComputeCostMode GetComputeCostMode() const { return m_computeCostMode; }
    RayCanGoMarginMode GetMarginMode() const { return m_marginMode; }

protected:
    BaseRayCanGoQuery();
    virtual ~BaseRayCanGoQuery() {}
    void SetResult(RayCanGoQueryResult result) { m_result = result; }
    void RayCanGo_NoHit(const NavHalfEdgeRawPtr& lastHalfEdgeRawPtr, CompositeSubSegment& subSegment, ScopedDynamicOutput& scopedDynamicOutput);

protected:
    // ------------------------------ inputs -----------------------------
    // inputs members are cleared by BindToDatabase() and Initialize().

    Vec3f m_startPos3f;                
    NavTrianglePtr m_startTrianglePtr; 
    WorldIntegerPos m_startIntegerPos;

    Vec3f m_destPos3f;                
    NavTrianglePtr m_destTrianglePtr; 
    WorldIntegerPos m_destIntegerPos;

    // ------------------------------ configuration -----------------------------
    // configuration members are cleared by BindToDatabase() but not by Initialize().

    PositionSpatializationRange m_positionSpatializationRange;

    DynamicOutputMode m_dynamicOutputMode;

    RayCanGoMarginMode m_marginMode;

    ComputeCostMode m_computeCostMode;

    // ------------------------------ results -----------------------------
    // results members are cleared by BindToDatabase() and Initialize().

    RayCanGoQueryResult m_result;

    KyFloat32 m_cost;

    Ptr<QueryDynamicOutput> m_queryDynamicOutput;
};

}