30 template<
class TraverseLogic,
class EdgeIntersector>
31 class BestFirstSearch2dBorderCollector
36 BestFirstSearch2dBorderCollector(
void* traverseLogicUserData, EdgeIntersector& edgeIntersector);
38 bool IsSearchFinished();
40 bool ShouldVisitNeighborTriangle(const NavTriangleRawPtr& triangleRawPtr,
KyUInt32 indexOfNeighborTriangle);
41 bool ShouldVisitTriangle(const NavTriangleRawPtr& triangleRawPtr);
42 void ComputeTriangleCost(const NavTriangleRawPtr& triangleRawPtr,
KyFloat32& cost);
44 NavTriangleRawPtr GetNeighborTriangle(const NavTriangleRawPtr& triangleRawPtr,
KyUInt32 indexOfNeighborTriangle);
46 void Visit(const NavTriangleRawPtr& triangleRawPtr,
KyFloat32 cost, const TriangleStatusInGrid& triangleStatus);
49 EdgeIntersector* m_edgeIntersector;
50 void* m_traverseLogicUserData;
51 bool m_collisionFound;
55 NavHalfEdgeRawPtr m_intersectedHalfEdgeRawPtr;
58 bool m_shouldVisitNeighborTriangle[3];
59 NavTriangleRawPtr m_neighborTriangle[3];
62 template<class TraverseLogic, class EdgeIntersector>
63 KY_INLINE BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::BestFirstSearch2dBorderCollector(
void* traverseLogicUserData, EdgeIntersector& edgeIntersector) :
64 m_edgeIntersector(&edgeIntersector), m_traverseLogicUserData(traverseLogicUserData), m_collisionFound(false),
67 m_shouldVisitNeighborTriangle[0] =
true;
68 m_shouldVisitNeighborTriangle[1] =
true;
69 m_shouldVisitNeighborTriangle[2] =
true;
72 template<
class TraverseLogic,
class EdgeIntersector>
73 KY_INLINE
bool BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::IsSearchFinished() {
return false; }
75 template<
class TraverseLogic,
class EdgeIntersector>
76 KY_INLINE
bool BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::ShouldVisitNeighborTriangle(
const NavTriangleRawPtr& ,
KyUInt32 indexOfNeighborTriangle)
78 return m_shouldVisitNeighborTriangle[indexOfNeighborTriangle];
81 template<
class TraverseLogic,
class EdgeIntersector>
82 KY_INLINE
bool BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::ShouldVisitTriangle(
const NavTriangleRawPtr& ) {
return true; }
84 template<
class TraverseLogic,
class EdgeIntersector>
85 KY_INLINE NavTriangleRawPtr BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::GetNeighborTriangle(
const NavTriangleRawPtr& ,
KyUInt32 indexOfNeighborTriangle)
87 return m_neighborTriangle[indexOfNeighborTriangle];
90 template<
class TraverseLogic,
class EdgeIntersector>
91 void BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::ComputeTriangleCost(
const NavTriangleRawPtr& triangleRawPtr,
KyFloat32& cost)
94 triangleRawPtr.GetVerticesCoordPos64(v0, v1, v2);
95 m_edgeIntersector->ComputeTriangleCost(v0, v1, v2, cost);
98 template<
class TraverseLogic,
class EdgeIntersector>
99 void BestFirstSearch2dBorderCollector<TraverseLogic, EdgeIntersector>::Visit(
const NavTriangleRawPtr& triangleRawPtr,
const KyFloat32 ,
100 const TriangleStatusInGrid& triangleStatus)
103 CoordPos64* vertex[4] = { &v0, &v1, &v2, &v0};
104 NavHalfEdgeRawPtr halfEdgeRawPtr[3];
105 NavHalfEdge halfEdge[3];
106 bool isACrossableEdges[3];
107 bool isVisibleEdges[3];
108 bool neighborTriangleAlreadyVisited[3];
111 NavFloor* navFloor = triangleRawPtr.GetNavFloor();
114 halfEdgeRawPtr[i].Set(navFloor, firstNavHalfEdgeIdx + i);
116 triangleRawPtr.GetVerticesCoordPos64(v0, v1, v2);
118 const NavFloorBlob& navFloorBlob = *navFloor->GetNavFloorBlob();
119 const NavHalfEdge* m_navHalfEdges = navFloorBlob.m_navHalfEdges.GetValues();
122 halfEdge[i] = m_navHalfEdges[firstNavHalfEdgeIdx + i];
124 NavHalfEdgeRawPtr pairHalfEdgeRawPtr;
127 isACrossableEdges[i] = halfEdgeRawPtr[i].IsHalfEdgeCrossable<TraverseLogic>(m_traverseLogicUserData, halfEdge[i], &navFloorBlob, pairHalfEdgeRawPtr);
128 if (isACrossableEdges[i])
134 neighborTriangleAlreadyVisited[i] = triangleStatus.IsTriangleOpen_Unsafe(m_neighborTriangle[i]);
136 neighborTriangleAlreadyVisited[i] = triangleStatus.IsTriangleOpen(m_neighborTriangle[i]);
140 neighborTriangleAlreadyVisited[i] =
false;
145 isVisibleEdges[i] = neighborTriangleAlreadyVisited[i] || m_edgeIntersector->IsEdgeVisible(*vertex[i], *vertex[i+1], halfEdgeRawPtr[i], isACrossableEdges[i]);
149 m_shouldVisitNeighborTriangle[i] = neighborTriangleAlreadyVisited[i]==
false && isVisibleEdges[i] && isACrossableEdges[i];
#define KyFloat32MAXVAL
KyFloat32 max value
Definition: types.h:71
std::uint32_t KyUInt32
uint32_t
Definition: types.h:29
KyUInt32 NavHalfEdgeIdx
An index that uniquely identifies a single edge of a triangle within the set of edges owned by a NavF...
Definition: navmeshtypes.h:84
Indicates that another NavHalfEdge in the same NavFloor but in different Connex lies adjacent to the ...
Definition: navmeshtypes.h:57
static NavHalfEdgeIdx NavTriangleIdxToFirstNavHalfEdgeIdx(NavTriangleIdx idx)
Retrieves the first NavHalfEdgeIdx of NavTriangle specified by the input NavTriangleIdx.
Definition: navfloorblob.inl:23
#define KY_DEFINE_NEW_DELETE_OPERATORS(MemStat)
This macro defines new and delete operators.
Definition: memory.h:132
Vec2LL CoordPos64
A type that represents the position of a point within the 2D integer grid.
Definition: navmeshtypes.h:16
The Autodesk Navigation namespace.
Definition: gamekitcrowddispersion.cpp:17
static NavTriangleIdx NavHalfEdgeIdxToTriangleIdx(NavHalfEdgeIdx idx)
Retrieves the index of the triangle that contains the edge specified the input NavHalfEdgeIdx.
Definition: navfloorblob.inl:22
Indicates that another NavHalfEdge in the same Connex lies adjacent to the NavHalfEdge.
Definition: navmeshtypes.h:58
float KyFloat32
float
Definition: types.h:32