baseshortcuttrajectory.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/targetonpathcomputer.h"
#include "gwnavruntime/pathfollower/iavoidancecomputer.h"
#include "gwnavruntime/world/worldelement.h"

namespace Kaim
{

class VisualDebugServer;
class Bot;
class Trajectory;
class TargetOnPath;

enum ShortcutMode
{
    ShortcutMode_MustUpdateTargetOnPath, // classical shortcut, update TargetOnPath
    ShortcutMode_UseCurrentTargetOnPath, // classical shortcut, no need to update the TargetOnPath
    ShortcutMode_SnapOnPath,             // snap on path
};

class BaseShortcutTrajectory : public RefCountBase<BaseShortcutTrajectory, MemStat_PathFollowing>
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_PathFollowing)
    KY_CLASS_WITHOUT_COPY(BaseShortcutTrajectory)
public:
    // ------------------------------ Functions -----------------------------
    BaseShortcutTrajectory(Trajectory* trajectory);

    virtual ~BaseShortcutTrajectory() = 0;

    void Compute(KyFloat32 simulationTimeInSeconds, KyUInt32 worldUpdateIdx);

    void Clear(); // fully clear the trajectory and default its config
    void ClearTrajectory(); // only clear the current computed trajectory

    const Vec3f& GetTrajectoryTarget() const { return m_target; }

    void ForceTargetToTargetOnPath() { m_useTargetProvidedByUser = false; }
    void ForceTargetToPosition(const Vec3f& forcedTarget);

public: // internal
    Bot* GetBot() const;

    void SendVisualDebugBlob(VisualDebugServer& visualDebugServer, VisualDebugSendChangeEvent changeEvent);
    void RemoveAllVisualDebugBeforeTrajectoryChange(VisualDebugServer& visualDebugServer);

    void InitTargetOnPathIfNeeded();
    void UpdateTarget(KyFloat32 simulationTimeInSeconds, KyUInt32 worldUpdateIdx); //< InitTargetOnPathIfNeeded() must have been called before calling UpdateTarget()

    ShortcutMode GetShortcutMode(KyUInt32 worldUpdateIdx);
    bool CanUseTargetOnPath() const;

    virtual KyResult ComputeTargetOnPath(KyFloat32 simulationTimeInSeconds) = 0;

    // Used in Trajectory::CanResetTrajectory to instantiate a TargetOnPathComputer and compute a TargetOnPath calling ComputeTargetOnPathOnNavMeshOnly
    // which disregards backward edge type, it only check forward edge type that must be on NavMesh and bot must have a valid triangle
    virtual KyResult ComputeTargetOnPathOnNavMeshOnly(TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, ComputeTargetOnPathSearchControl forwardSearchControl) const = 0;

    bool WillUpdatePathFollowThisFrame(KyFloat32 simulationTimeInSeconds, KyUInt32 worldUpdateIdx, KyUInt32 updatePeriod)
    {
        bool willUpdate = WillUpdatePathFollowThisFrame_(simulationTimeInSeconds, worldUpdateIdx, updatePeriod);
        if (willUpdate)
            m_updateLastUpdateIdx = worldUpdateIdx;
        return willUpdate;
    }

private:
    void UpdateShortcutMode(KyUInt32 worldUpdateIdx);
    void ComputeStraightTrajectory(KyFloat32 simulationTimeInSeconds);
    void ComputeAvoidanceTrajectory(KyFloat32 simulationTimeInSeconds);
    void ComputeSnapOnPathTrajectory(KyFloat32 simulationTimeInSeconds);

    virtual bool WillUpdatePathFollowThisFrame_(KyFloat32 simulationTimeInSeconds, KyUInt32 worldUpdateIdx, KyUInt32 updatePeriod) = 0;

    ShortcutMode ComputeShortcutMode() const;

public: // internal
    Trajectory*              m_trajectory;
    ShortcutTrajectoryConfig m_config;
    Ptr<IAvoidanceComputer>  m_avoidanceComputer;
    TargetOnPath             m_targetOnPath;
    Vec3f                    m_target;
    KyUInt32                 m_updateLastUpdateIdx;
    ShortcutMode             m_shortcutMode;
    ShortcutMode             m_prevShortcutMode;
    KyUInt32                 m_trajectoryComputeModeLastUpdateIdx;
    bool m_useTargetProvidedByUser;
    bool m_useMinimalTargetUpdate; // when TargetOnPath is updated only when the bot reaches the TargetOnPath, or if it becomes necessary to update it e.g. when avoiding other entities.
    bool m_visualDebugBlobSent;
};


} // namespace Kaim