circlearccangoinchannel.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/channel/channelsectionptr.h"

namespace Kaim
{

class Channel;

class CircleArcCanGoInChannel
{
public:
    // pre-condition : circle arc start and end positions are in the channel and their sectionIdx are correct
    static bool Perform(const Channel* channel, const Bubble& bubble,
        const Vec3f& arcStartPos, const Vec3f& arcEndPos, KyUInt32 startSectionIdx, KyUInt32 endSectionIdx);

protected:
    enum CircleArcCanGoResult
    {
        CircleArcCanGoResult_NoIntersection,
        CircleArcCanGoResult_CollisionWithBorder,
        CircleArcCanGoResult_CollisionWithSectionStartGate,
        CircleArcCanGoResult_CollisionWithSectionEndGate,
        CircleArcCanGoResult_Error
    };
    class CWCircleArc
    {
    public:
        CWCircleArc() {}

        Vec2f m_center;
        Vec2f m_arcStart;
        Vec2f m_arcEnd;
        KyFloat32 m_radius;
        KyFloat32 m_squareRadius;
        KyUInt32 m_startSectionIdx;
        KyUInt32 m_endSectionIdx;
        bool m_arcStartCloseToSegmentInSection[4];
        bool m_arcEndCloseToSegmentInSection[4];
    };


    class SegmentVsCircleData
    {
        KY_CLASS_WITHOUT_COPY(SegmentVsCircleData)
    public:
        enum SegmentType { Gate, Border, Undefined };
        SegmentVsCircleData();
        void Compute(const Vec3f& segmentStart, const Vec3f& segmentEnd, const CWCircleArc& cWCircleArc, SegmentType segmentType);
        void BuildReverse(const SegmentVsCircleData& other)
        {
            m_segmentStart  = other.m_segmentEnd;
            m_segmentEnd  = other.m_segmentStart;
            m_closestPoint  = other.m_closestPoint;
            m_intersectionCount  = other.m_intersectionCount;
            m_segmentType  = other.m_segmentType;
            m_startPosIsStrictlyInsideCircle  = other.m_endPosIsStrictlyInsideCircle;
            m_endPosIsStrictlyInsideCircle  = other.m_startPosIsStrictlyInsideCircle;
        }
        void Reverse()
        {
            Alg::Swap(m_segmentStart, m_segmentEnd);
            Alg::Swap(m_startPosIsStrictlyInsideCircle, m_startPosIsStrictlyInsideCircle);
        }
    public:
        Vec2f m_segmentStart;
        Vec2f m_segmentEnd;
        Vec2f m_closestPoint;
        KyUInt8 m_intersectionCount;
        SegmentType m_segmentType;
        bool m_startPosIsStrictlyInsideCircle;
        bool m_endPosIsStrictlyInsideCircle;
    };

    class SectionData
    {
    public:
        enum SectionType { Quad, TurnLeft, TurnRight, PreSection, PostSection };

        const SegmentVsCircleData& GetEndGateSegmentData() const
        {
            KY_ASSERT(m_type != PostSection);
            switch (m_type)
            {
            case Quad       :
            case TurnRight  : return m_segmentVsCircleData[2];
            case TurnLeft   : return m_segmentVsCircleData[1];
            case PreSection :
            default         : return m_segmentVsCircleData[0];
            }
        }
        const SegmentVsCircleData& GetStartGateSegmentData() const { KY_ASSERT(m_type != PreSection); return m_segmentVsCircleData[0]; }

        SectionType m_type;
        KyUInt32 m_sectionIdx;
        SegmentVsCircleData m_segmentVsCircleData[4];
    };

    static CircleArcCanGoResult InitCircleArcCanGo(const Channel* channel, CWCircleArc& cwCircleArc, SectionData& currentSectionData);


    static void BuildCWCircleArc(const Channel* channel, const Bubble& bubble, const Vec3f& arcStartPos, const Vec3f& arcEndPos,
        KyUInt32 startSectionIdx, KyUInt32 endSectionIdx, CWCircleArc &cwCircleArc);
    static void ComputeArcExtremityLocationInSection(const Channel* channel, const Vec2f& pos, KyUInt32 sectionIdx, bool* posCloseToSegmentInSection);

    static CircleArcCanGoResult InitCircleArcCanGo_InSection(const Channel* channel, const CWCircleArc& cwCircleArc, SectionData& currentSectionData);
    static CircleArcCanGoResult InitCircleArcCanGo_GenericForPolylineSection(const CircleArcCanGoInChannel::CWCircleArc& cwCircleArc,
        const SectionData& currentSectionData, const KyArray<Vec2f>& polyline);

    static CircleArcCanGoResult ProcessNextSectionAlongArc(const Channel* channel, const CWCircleArc& cwCircleArc, SectionData& currentSectionData,
        KyUInt32 nextSectionIdx, CircleArcCanGoResult previousResult);
    static CircleArcCanGoResult ProcessNextSectionAlongArc_InSection(const Channel* channel, const CWCircleArc& cwCircleArc, SectionData& currentSectionData, KyUInt32 currentSectionIdx, CircleArcCanGoResult previousResult);
    static CircleArcCanGoResult ProcessNextSectionAlongArc_GenericForPolylineSection(const CWCircleArc& cwCircleArc, const SectionData& currentSectionData,
        const KyArray<Vec2f>& polyline);

    static bool IsArcTangenteAlmostColinearWithSegment(const Vec2f& segmentStart, const Vec2f& segmentEnd, const Vec2f& center, const Vec2f& arcStart);
    static bool DoesCircleArcIntersectPolyline(const KyArray<Vec2f>& polyline, const Vec2f& circleCenter, KyFloat32 radius,
        const Vec2f& circleArcStart, const Vec2f& circleArcEnd);
    static bool DoesArcGoAwayFromSegment(const SegmentVsCircleData& segmentData, const CWCircleArc& cwCircleArc);
    static bool IsArcEndBetweenArcStartAndExitPos(const CWCircleArc& cwCircleArc, const SegmentVsCircleData& segmentData, KyUInt32 segmentIdx);
    static void InitSectionData(const Channel* channel, const CWCircleArc& cwCircleArc, KyUInt32 currentSectionIdx,
        SectionData& currentSectionData, KyUInt32& segmentCount);
    static void UpdateSectionData(const Channel* channel, const CWCircleArc& cwCircleArc, KyUInt32 newSectionIdx,
        SectionData& currentSectionData, KyUInt32& segmentCount);
};


} // namespace Kaim