botdisplay.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/visualsystem/color.h"
#include "gwnavruntime/world/bot.h"

namespace Kaim
{

class DisplayList;
class BotConfigBlob;
class LivePathBlob;
class PathFollowerBlob;
class SpatializationResultBlob;
class SpatializedCylinderConfigBlob;
class SpatializedCylinderBlob;
class PositionOnLivePathBlob;
class FrontDirectionBlob;
class TrajectoryBlob;


class BotColors
{
public:
    BotColors()
    {
        m_botColor_PathNotFound        = Color::Red;
        m_botColor_ComputingPath       = Color::Orange;
        m_botColor_NoPathSet           = Color::Green;
        m_botColor_FullPathFollower    = Color::Yellow;
        m_botColor_CustomFollowing     = Color::Blue;
    }

    // - path status
    Color m_botColor_PathNotFound;
    Color m_botColor_ComputingPath;
    Color m_botColor_NoPathSet;
    // - pathfollower status
    Color m_botColor_FullPathFollower;
    Color m_botColor_CustomFollowing;
};


// This class is used only in the NavigationLab to build a displayList from all the blob received from the visual debug
class VelocityDisplayConfig
{
public:
    VelocityDisplayConfig() : m_altitudeRatio(0.0f), m_headWidth(0.0f) {}
public:
    Vec3f m_velocity;
    ShapeColor m_color;
    KyFloat32 m_altitudeRatio;
    KyFloat32 m_headWidth;
};

class BotDisplay
{
public:
    BotDisplay(
        DisplayList* displayList,
        const BotConfigBlob* botConfigBlob,
        const FrontDirectionBlob* frontDirectionBlob,
        const SpatializedCylinderBlob* spatializedCylinderBlob,
        const SpatializedCylinderConfigBlob* spatializedCylinderConfigBlob,
        const PathFollowerBlob* pathFollowerBlob,
        const SpatializationResultBlob* spatializationResultBlob,
        const LivePathBlob* livePathBlob)
        : m_displayList(displayList)
        , m_botConfigBlob(botConfigBlob)
        , m_frontDirectionBlob(frontDirectionBlob)
        , m_spatializedCylinderBlob(spatializedCylinderBlob)
        , m_spatializedCylinderConfigBlob(spatializedCylinderConfigBlob)
        , m_pathFollowerBlob(pathFollowerBlob)
        , m_spatializationResultBlob(spatializationResultBlob)
        , m_livePathBlob(livePathBlob)
    {
    }

    Color GetBotRenderColor() const;

    Color GetProgressOnPathColor(const ProgressOnPathStatus status) const;

    void DisplayProgressOnPath(bool isLodMax) const;

    void DisplayPositionOnPath(const PositionOnLivePathBlob& positionOnLivePathBlob, Color lineColor, bool isLodMax) const;

    void DisplayStatus() const;

    void DisplayFrontDirection(bool displayWireframe) const;

    void DisplayBotInputVelocity(bool displayWireframe) const;

    void DisplayBotOutputVelocity(bool displayWireframe) const;

private:
    void DisplayBotVelocity(const VelocityDisplayConfig& velocityDisplayConfig) const;

private:
    DisplayList*                   m_displayList;
    const BotConfigBlob*                 m_botConfigBlob;
    const FrontDirectionBlob*            m_frontDirectionBlob;
    const SpatializedCylinderBlob*       m_spatializedCylinderBlob;
    const SpatializedCylinderConfigBlob* m_spatializedCylinderConfigBlob;
    const PathFollowerBlob*              m_pathFollowerBlob;
    const SpatializationResultBlob*      m_spatializationResultBlob;
    const LivePathBlob*                  m_livePathBlob;
    Kaim::BotColors                      m_botColors;
};

}