circlearcsplineturn.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/math/vec3f.h"
#include "gwnavruntime/channel/bubble.h"
#include "gwnavruntime/containers/sharedpoollist.h"


//#define CircleArcSplineBubbleData_MaintainGateAndRadiusRange


namespace Kaim
{

class CircleArcSplineComputer;
class CircleArcSplineTurn;
class Channel;


// Internal: Class used to enrich Bubbles with some data useful for
// CircleArcSpline computation.
class CircleArcSplineBubbleData
{
public:
    CircleArcSplineBubbleData() { Reset(); }

    BubbleType   GetBubbleType()           const { return m_bubbleType;           }

#ifdef CircleArcSplineBubbleData_MaintainGateAndRadiusRange
    KyUInt32     GetFirstGateIndex()       const { return m_firstGateIndex;       }
    KyUInt32     GetLastGateIndex()        const { return m_lastGateIndex;        }
    KyFloat32    GetMinRadius()            const { return m_minRadius;            }
    KyFloat32    GetMaxRadius()            const { return m_maxRadius;            }
#endif // CircleArcSplineBubbleData_MaintainGateAndRadiusRange

    const Vec3f& GetMidPoint()             const { return m_midPoint;             }
    const Vec2f& GetMedianTurnAxis()       const { return m_medianTurnAxis;       }
    const Vec3f& GetEntryPos()             const { return m_entryPos;             }
    const Vec3f& GetExitPos()              const { return m_exitPos;              }
    KyUInt32     GetEntrySectionIdx()      const { return m_entrySectionIdx;      }
    KyUInt32     GetExitSectionIdx()       const { return m_exitSectionIdx;       }
    const Vec2f& GetEntryDir()             const { return m_entryDir;             }
    const Vec2f& GetExitDir()              const { return m_exitDir;              }
    KyUInt32     GetRadiusIndexInProfile() const { return m_radiusIndexInProfile; }
    bool         HasRangeBeenDefined()     const { return m_hasRangeBeenDefined;  }

    void Reset()
    {
        m_bubbleType = UndefinedBubbleType;
        m_radiusIndexInProfile = KyUInt32MAXVAL;

#ifdef CircleArcSplineBubbleData_MaintainGateAndRadiusRange
        m_firstGateIndex = KyUInt32MAXVAL;
        m_lastGateIndex = KyUInt32MAXVAL;
        m_minRadius = KyFloat32MAXVAL;
        m_maxRadius = 0.0f;
#endif // CircleArcSplineBubbleData_MaintainGateAndRadiusRange

        m_hasRangeBeenDefined = false;
        m_entrySectionIdx = KyUInt32MAXVAL;
        m_exitSectionIdx = KyUInt32MAXVAL;
    }

private:
    friend class CircleArcSplineTurn;
    BubbleType m_bubbleType;
    KyUInt32 m_radiusIndexInProfile;

#ifdef CircleArcSplineBubbleData_MaintainGateAndRadiusRange
    // Both are inclusive. Used to update min and max radius values.
    KyUInt32 m_firstGateIndex;
    KyUInt32 m_lastGateIndex;

    // The range of radius of the Bubbles with same center that do not cross any
    // channel borders within the firstGate/lastGate range.
    KyFloat32 m_minRadius;
    KyFloat32 m_maxRadius;
#endif // CircleArcSplineBubbleData_MaintainGateAndRadiusRange

    bool m_hasRangeBeenDefined;
    Vec2f m_medianTurnAxis; // The axis bisecting incoming border and outgoing border
    Vec3f m_midPoint; // The point at MedianTurnAxis and Bubble circle intersection. We try to keep this position on the Bubble when optimizing the spline.

    Vec3f m_entryPos;
    KyUInt32 m_entrySectionIdx;
    Vec2f m_entryDir;

    Vec3f m_exitPos;
    KyUInt32 m_exitSectionIdx;
    Vec2f m_exitDir;
};



// Internal: Class aggregating all useful information about a turn when building
// a CircleArcSpline.
class CircleArcSplineTurn
{
public:
    CircleArcSplineTurn() : m_channel(nullptr) {}
    CircleArcSplineTurn(const Channel* channel) : m_channel(channel) {}
    CircleArcSplineTurn(const CircleArcSplineTurn& other) { *this = other; }

    void operator=(const CircleArcSplineTurn& other)
    {
        m_channel = other.m_channel;
        m_bubble = other.m_bubble;
        m_bubbleData = other.m_bubbleData;
    }

    void Reset();

    const Bubble&                    GetBubble()     const { return m_bubble;     }
    const CircleArcSplineBubbleData& GetBubbleData() const { return m_bubbleData; }

    void SetBubble(const Bubble& bubble, BubbleType bubbleType);

    void SetRadiusIndexInProfile(KyUInt32 radiusIndexInProfile) { m_bubbleData.m_radiusIndexInProfile = radiusIndexInProfile; }
    void UpdateDataAsSinglePoint(const Vec3f& position, KyUInt32 sectionIdx);
    void UpdateDataAsSinglePoint(const Vec3f& position, KyUInt32 sectionIdx, const Vec2f& entryDir, const Vec2f& exitDir);
    void UpdateData(const Vec3f& entryPos, KyUInt32 entrySectionIdx, const Vec3f& exitPos, KyUInt32 exitSectionIdx);
    void UpdateData(const Vec3f& entryPos, KyUInt32 entrySectionIdx, const Vec3f& exitPos, KyUInt32 exitSectionIdx, const Vec2f& entryDir, const Vec2f& exitDir);

#ifdef CircleArcSplineBubbleData_MaintainGateAndRadiusRange
    KyFloat32 GetMinDistLeft() const;
    KyFloat32 GetMinDistRight() const;
#endif // CircleArcSplineBubbleData_MaintainGateAndRadiusRange

    bool IsASmallTurn(KyFloat32 fullTurnToleranceSin) const;

private:
    void ComputeMedianTurnAxis();
#ifdef CircleArcSplineBubbleData_MaintainGateAndRadiusRange
    void ComputeRadiusRange();
#endif // CircleArcSplineBubbleData_MaintainGateAndRadiusRange

private:
    friend class CircleArcSplineComputer;
    const Channel* m_channel;
    Bubble m_bubble;
    CircleArcSplineBubbleData m_bubbleData;
};


typedef SharedPoolList<CircleArcSplineTurn> TurnList;


} // namespace Kaim