capsuleintersector.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/database/database.h"
#include "gwnavruntime/navmesh/intersections.h"
#include "gwnavruntime/navmesh/closestpoint.h"
#include "gwnavruntime/queries/utils/basediskcangoquery.h"
#include "gwnavruntime/queries/utils/basediskcastquery.h"

namespace Kaim
{

class CapsuleIntersector
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Query)

public:
    CapsuleIntersector(const Vec3f& startPos, const Vec3f& endPos, KyFloat32 radius, KyFloat32 integerPrecision)
        : m_integerPrecision(integerPrecision)
        , m_startCenter(startPos)
        , m_endCenter(endPos)
        , m_radius(radius)
    {

        Vec3f dir(m_endCenter - m_startCenter);
        dir.z = 0.f;
        m_dist = dir.Normalize();

        const Vec3f normalizedDir3D_ortho(-dir.y, dir.x, 0.f);
        const Vec3f box_a(m_startCenter - (normalizedDir3D_ortho * m_radius));

        m_orientedBox2d.Set(box_a, Vec2f(dir.x, dir.y), m_dist, m_radius * 2.f, 0.f);
    }

    CapsuleIntersector(const Vec3f& startPos, const Vec2f& normalizedDir2d, KyFloat32 dist, KyFloat32 radius, KyFloat32 integerPrecision)
        : m_integerPrecision(integerPrecision)
        , m_startCenter(startPos)
        , m_normalizedDir2d(normalizedDir2d)
        , m_dist(dist)
        , m_radius(radius)
    {
        const Vec3f normalizedDir3D_ortho(-m_normalizedDir2d.y, m_normalizedDir2d.x, 0.f);
        const Vec3f box_a(m_startCenter - (normalizedDir3D_ortho * m_radius));
        m_orientedBox2d.Set(box_a, m_normalizedDir2d, m_dist, m_radius * 2.f, 0.f);

        const Vec3f normalizedDir3D(m_normalizedDir2d.x, m_normalizedDir2d.y, 0.f);
        m_endCenter = m_startCenter + (normalizedDir3D * m_dist);
    }

    bool DoesIntersectEdge(const CoordPos64& startEdgeCoordPos, const CoordPos64& endEdgeCoordPos)
    {
        const Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
        const Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

        return Math::SegmentVsCapsule2f(startEdgePos, endEdgePos, m_orientedBox2d, m_startCenter, m_endCenter, m_radius);
    }

    void ComputeCollisionPosOnEdge(const CoordPos64& startEdgeCoordPos, const CoordPos64& endEdgeCoordPos, Vec3f& collisionPos, KyFloat32& squareDistToCollisionPos)
    {
        const Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
        const Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

        ClosestPoint::OnSegmentVsDiskCast2d(startEdgePos, endEdgePos, m_startCenter, m_radius, m_normalizedDir2d, m_dist, collisionPos, squareDistToCollisionPos);
    }

    void ComputeTriangleCost(const CoordPos64& v0CoordPos, const CoordPos64& v1CoordPos, const CoordPos64& v2CoordPos, KyFloat32& cost)
    {
        const Vec3f v0(v0CoordPos.x * m_integerPrecision, v0CoordPos.y * m_integerPrecision, 0.f);
        const Vec3f v1(v1CoordPos.x * m_integerPrecision, v1CoordPos.y * m_integerPrecision, 0.f);
        const Vec3f v2(v2CoordPos.x * m_integerPrecision, v2CoordPos.y * m_integerPrecision, 0.f);

        Vec3f unused;
        ClosestPoint::OnTriangleVsDiskCast2d(v0, v1, v2, m_startCenter, m_radius, m_normalizedDir2d, m_dist, unused, cost);
    }

private:
    KyFloat32 m_integerPrecision;

    Vec3f m_startCenter;
    Vec3f m_endCenter;
    Vec2f m_normalizedDir2d;
    KyFloat32 m_dist;
    KyFloat32 m_radius; //< the radius of the extremity disks

    OrientedBox2d m_orientedBox2d;
};


}