coordsystem.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/base/memory.h"
#include "gwnavruntime/math/vec3f.h"
#include "gwnavruntime/math/vec2f.h"
#include "gwnavruntime/math/box3f.h"
#include "gwnavruntime/navdata/navdatablobcategory.h"
#include "gwnavruntime/math/matrix3x3f.h"
#include "gwnavruntime/math/transform.h"
#include "gwnavruntime/math/triangle3f.h"


namespace Kaim
{

class BlobFieldsMapping;
class BlobAggregate;


enum CoordSystemClientAxis
{
    CLIENT_X       = 0, 
    CLIENT_MINUS_X = 1, 
    CLIENT_Y       = 2, 
    CLIENT_MINUS_Y = 3, 
    CLIENT_Z       = 4, 
    CLIENT_MINUS_Z = 5  
};


class CoordSystemConfig
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    CoordSystemConfig()
    {
        m_oneMeterInClientUnits = 1.0f;
        m_clientAxisForNavigationX = (KyUInt32)CLIENT_X;
        m_clientAxisForNavigationY = (KyUInt32)CLIENT_Y;
        m_clientAxisForNavigationZ = (KyUInt32)CLIENT_Z;
    }

    void Init_Zup(KyFloat32 oneMeterInClientUnits = 1.0f)
    {
        Init(oneMeterInClientUnits, CLIENT_X, CLIENT_Y, CLIENT_Z);
    }

    void Init_Yup(KyFloat32 oneMeterInClientUnits = 1.0f)
    {
        Init(oneMeterInClientUnits, CLIENT_X, CLIENT_MINUS_Z, CLIENT_Y);
    }

    void Init(
        KyFloat32 oneMeterInClientUnits,
        CoordSystemClientAxis clientAxisForNavigationX,
        CoordSystemClientAxis clientAxisForNavigationY,
        CoordSystemClientAxis clientAxisForNavigationZ)
    {
        m_oneMeterInClientUnits = oneMeterInClientUnits;
        m_clientAxisForNavigationX = (KyUInt32)clientAxisForNavigationX;
        m_clientAxisForNavigationY = (KyUInt32)clientAxisForNavigationY;
        m_clientAxisForNavigationZ = (KyUInt32)clientAxisForNavigationZ;
    }

    //void AddMapping(BlobFieldsMapping& mapping);

    bool operator==(const CoordSystemConfig& other) const
    {
        return m_oneMeterInClientUnits    == other.m_oneMeterInClientUnits
            && m_clientAxisForNavigationX == other.m_clientAxisForNavigationX
            && m_clientAxisForNavigationY == other.m_clientAxisForNavigationY
            && m_clientAxisForNavigationZ == other.m_clientAxisForNavigationZ;
    }

    bool operator!=(const CoordSystemConfig& other) const { return !operator==(other); }

public:
    KyFloat32 m_oneMeterInClientUnits;
    KyUInt32 m_clientAxisForNavigationX;
    KyUInt32 m_clientAxisForNavigationY;
    KyUInt32 m_clientAxisForNavigationZ;
};


// internal
inline void SwapEndianness(Endianness::Target e, CoordSystemConfig& self)
{
    SwapEndianness(e, self.m_oneMeterInClientUnits);
    SwapEndianness(e, self.m_clientAxisForNavigationX);
    SwapEndianness(e, self.m_clientAxisForNavigationY);
    SwapEndianness(e, self.m_clientAxisForNavigationZ);
}


class CoordSystem
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    typedef CoordSystemClientAxis ClientAxis;

    static const ClientAxis CLIENT_X        = Kaim::CLIENT_X;       
    static const ClientAxis CLIENT_MINUS_X  = Kaim::CLIENT_MINUS_X; 
    static const ClientAxis CLIENT_Y        = Kaim::CLIENT_Y;       
    static const ClientAxis CLIENT_MINUS_Y  = Kaim::CLIENT_MINUS_Y; 
    static const ClientAxis CLIENT_Z        = Kaim::CLIENT_Z;       
    static const ClientAxis CLIENT_MINUS_Z  = Kaim::CLIENT_MINUS_Z; 


public:
    CoordSystem() { Setup(1.0f, CLIENT_X, CLIENT_Y, CLIENT_Z); }

    void Setup(KyFloat32 oneMeterInClientUnits, ClientAxis clientAxisForNavigationX, ClientAxis clientAxisForNavigationY, ClientAxis clientAxisForNavigationZ);

    void Setup(const CoordSystemConfig& config);

    void SetOneMeterInClientUnits(KyFloat32 oneMeter);

    void SetClientAxisForNavigationX(ClientAxis clientAxisForNavigationX);

    void SetClientAxisForNavigationY(ClientAxis clientAxisForNavigationY);

    void SetClientAxisForNavigationZ(ClientAxis clientAxisForNavigationZ);

    ClientAxis GetClientAxisForNavigationX() const;

    ClientAxis GetClientAxisForNavigationY() const;

    ClientAxis GetClientAxisForNavigationZ() const;

public:
    // ------------------ Client <-> Autodesk Navigation: Distances ------------------

    KyFloat32 ClientToNavigation_Dist(KyFloat32 clientDist) const;  // Dist

    KyFloat32 NavigationToClient_Dist(KyFloat32 navigationDist) const; // Dist


    // ------------------ Client <-> Autodesk Navigation: Square Distances ------------------

    KyFloat32 ClientToNavigation_SquareDist(KyFloat32 clientSquareDist) const;  // SquareDist

    KyFloat32 NavigationToClient_SquareDist(KyFloat32 navigationSquareDist) const; // SquareDist


    // ------------------ Client <-> Autodesk Navigation: Position Vectors ------------------

    void ClientToNavigation_Pos(const Vec3f& clientPos, Vec3f& navigationPos) const;

    void NavigationToClient_Pos(const Vec3f& navigationPos, Vec3f& clientPos) const;

    Vec3f ClientToNavigation_Pos(const Vec3f& clientPos) const;

    Vec3f NavigationToClient_Pos(const Vec3f& navigationPos) const;

    // ------------------ Client <-> Autodesk Navigation: Normal Vectors ------------------

    void ClientToNavigation_Normal(const Vec3f& clientNormal, Vec3f& navigationNormal) const;

    void NavigationToClient_Normal(const Vec3f& navigationNormal, Vec3f& clientNormal) const;

    Vec3f ClientToNavigation_Normal(const Vec3f& clientNormal) const;

    Vec3f NavigationToClient_Normal(const Vec3f& navigationNormal) const;

    // ------------------ Client <-> Autodesk Navigation: Angular Velocity Vectors ------------------

    void ClientToNavigation_AngularVelocity(const Vec3f& clientAngularVelocity, Vec3f& navigationAngularVelocity) const;

    void NavigationToClient_AngularVelocity(const Vec3f& navigationAngularVelocity, Vec3f& clientAngularVelocity) const;

    Vec3f ClientToNavigation_AngularVelocity(const Vec3f& clientAngularVelocity) const;

    Vec3f NavigationToClient_AngularVelocity(const Vec3f& navigationAngularVelocity) const;


    // ------------------ Client <-> Autodesk Navigation: Extents Vectors ------------------

    void ClientToNavigation_Extents(const Vec3f& clientExtents, Vec3f& navigationExtents) const;

    void NavigationToClient_Extents(const Vec3f& navigationExtents, Vec3f& clientExtents) const;

    Vec3f ClientToNavigation_Extents(const Vec3f& clientExtents) const;

    Vec3f NavigationToClient_Extents(const Vec3f& navigationExtents) const;


    // ------------------ Client <-> Autodesk Navigation: Triangle ------------------

    void ClientToNavigation_Triangle(const Triangle3f& clientTriangle, Triangle3f& navigationTriangle) const;

    void NavigationToClient_Triangle(const Triangle3f& navigationTriangle, Triangle3f& clientTriangle) const;


    // ------------------ Client <-> Autodesk Navigation: Boxes ------------------

    void ClientToNavigation_Box(const Vec3f& clientMin, const Vec3f& clientMax, Box3f& navigationBox) const;

    void ClientToNavigation_Box(const Box3f& clientBox, Box3f& navigationBox) const;

    void NavigationToClient_Box(const Box3f& navigationBox, Vec3f& clientMin, Vec3f& clientMax) const;

    void NavigationToClient_Box(const Box3f& navigationBox, Box3f& clientBox) const;


    // ------------------ Client <-> Autodesk Navigation: Matrixes & Transforms ------------------

    void ClientToNavigation_Matrix(const Matrix3x3f& clientMatrix, Matrix3x3f& navigationMatrix) const;

    void NavigationToClient_Matrix(const Matrix3x3f& navigationMatrix, Matrix3x3f& clientMatrix) const;


    void ClientToNavigation_Transform(const Transform& clientTransform, Transform& navigationTransform) const;

    void NavigationToClient_Transform(const Transform& navigationTransform, Transform& clientTransform) const;

    bool operator==(const CoordSystem& other) const;

    bool operator!=(const CoordSystem& other) const;

    bool IsRightHanded() const;

public:
    // Client axis <=> Autodesk Navigation axis
    // navigation_x = m_navigationX_sign * clientPos[m_navigationX_idx];
    // clientPos[m_navigationX_idx] = m_navigationX_sign * navigation_x;
    KyInt32 m_navigationX_idx; 
    KyFloat32 m_navigationX_sign; 

    KyInt32 m_navigationY_idx; 
    KyFloat32 m_navigationY_sign; 

    KyInt32 m_navigationZ_idx; 
    KyFloat32 m_navigationZ_sign; 

    // client dist <=> navigation dist
    KyFloat32 m_oneMeter; 
    KyFloat32 m_inv_oneMeter; 

};

inline void SwapEndianness(Endianness::Target e, CoordSystem& self)
{
    SwapEndianness(e, self.m_navigationX_idx);
    SwapEndianness(e, self.m_navigationX_sign);

    SwapEndianness(e, self.m_navigationY_idx);
    SwapEndianness(e, self.m_navigationY_sign);

    SwapEndianness(e, self.m_navigationZ_idx);
    SwapEndianness(e, self.m_navigationZ_sign);

    SwapEndianness(e, self.m_oneMeter);
    SwapEndianness(e, self.m_inv_oneMeter);
}


}

#include "gwnavruntime/basesystem/coordsystem.inl"