baseraycastquery.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/queries/utils/rayqueryutils.h"
#include "gwnavruntime/queries/utils/queryutils.h"
#include "gwnavruntime/navmesh/worldintegerpos.h"
#include "gwnavruntime/navmesh/identifiers/navhalfedgeptr.h"
#include "gwnavruntime/database/positionspatializationrange.h"

namespace Kaim
{

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

enum RayCastQueryResult
{
    RAYCAST_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    RAYCAST_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    RAYCAST_DONE_START_OUTSIDE,                      
    RAYCAST_DONE_START_NAVTAG_FORBIDDEN,             
    RAYCAST_DONE_CANNOT_MOVE,                        
    RAYCAST_DONE_COLLISION_FOUND_ARRIVAL_ERROR,      
    RAYCAST_DONE_LACK_OF_WORKING_MEMORY,             
    RAYCAST_DONE_QUERY_TOO_LONG,                     
    RAYCAST_DONE_UNKNOWN_ERROR,                      

    RAYCAST_DONE_ARRIVALPOS_FOUND_MAXDIST_REACHED,   
    RAYCAST_DONE_ARRIVALPOS_FOUND_WITH_COLLISION,    
    RAYCAST_DONE_ARRIVALPOS_FOUND_AFTER_COLLISION = RAYCAST_DONE_ARRIVALPOS_FOUND_WITH_COLLISION 
};

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


    // ---------------------------------- Main API Functions ----------------------------------

    RayCastQueryResult     GetResult()                  const;
    const Vec3f&           GetStartPos()                const;
    const Vec3f&           GetCollisionPos()            const;
    const Vec3f&           GetArrivalPos()              const;
    const Vec2f&           GetMaxMove2D()               const;
    const NavTrianglePtr&  GetStartTrianglePtr()        const;
    const NavTrianglePtr&  GetArrivalTrianglePtr()      const;
    const NavHalfEdgePtr&  GetCollisionNavHalfEdgePtr() const;
    DynamicOutputMode      GetDynamicOutputMode()       const;
    QueryDynamicOutput*    GetQueryDynamicOutput()      const;
    const WorldIntegerPos& GetStartIntegerPos()         const;
    const WorldIntegerPos& GetArrivalIntegerPos()       const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

    static CoordPos64 ResolveCollisionPointWhenPointsAreAligned(const CoordPos64& edgeStartPos,  const CoordPos64& edgeEndPos,  const CoordPos64& startCoordPos64,  const CoordPos64& destCoordPos64);
public: // internal
    BaseRayCastQuery();
    virtual ~BaseRayCastQuery() {}

    void BindToDatabase(Database* database);
    void Initialize(const Vec3f& startPos, const Vec2f& maxMove2D);

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);
    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);
    void SetDynamicOutputMode(DynamicOutputMode dynamicOutputMode);
    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput);
    void SetStartIntegerPos(const WorldIntegerPos& startIntegerPos);
    void SetResult(RayCastQueryResult result);

protected:
    void RayCast_NoHit(const NavHalfEdgeRawPtr& lastHalfEdgeRawPtr, const WorldIntegerPos& destIntegerPos, const Vec3f& destPos3f,
        CompositeSubSegment& subSegment, ScopedDynamicOutput& scopedDynamicOutput);

    KyResult ComputeCollisionPosition(const NavHalfEdgeRawPtr& halfEdgeIdRawPtrHit, const CoordPos64& startCoordPos64, const CoordPos64& destCoordPos64,
        CoordPos64& collisionCoordPos64, Vec3f& edgeStartPos3f, Vec3f& edgeEndPos3f, Vec3f& edgeThirdPos3f);
protected:
    WorldIntegerPos m_startIntegerPos;
    WorldIntegerPos m_arrivalIntegerPos;

    Vec3f m_startPos3f;      
    Vec3f m_collisionPos3f;  

    Vec3f m_arrivalPos3f;

    Vec2f m_maxMove2D;

    NavTrianglePtr m_startTrianglePtr;

    PositionSpatializationRange m_positionSpatializationRange;

    NavTrianglePtr m_arrivalTrianglePtr;

    NavHalfEdgePtr m_collisionHalfEdgePtr;

    RayCastQueryResult m_result; 

    DynamicOutputMode m_dynamicOutputMode; 

    Ptr<QueryDynamicOutput> m_queryDynamicOutput;
};

}

#include "gwnavruntime/queries/utils/baseraycastquery.inl"