database.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/world/worldelement.h"
#include "gwnavruntime/database/databasegenmetrics.h"
#include "gwnavruntime/database/databasegeometrybuildingmanager.h"
#include "gwnavruntime/database/idatabasechangebroadcaster.h"
#include "gwnavruntime/containers/collection.h"
#include "gwnavruntime/blob/baseblobhandler.h"
#include "gwnavruntime/database/positionspatializationrange.h"
#include "gwnavruntime/kernel/SF_Std.h"
#include "gwnavruntime/querysystem/iquery.h"
#include "gwnavruntime/database/databasechange.h"

namespace Kaim
{

class AbstractGraphCellGrid;
class NavMeshGenParameters;
class NavMeshElementManager;
class NavGraphManager;
class ITriangleCostMap;
class WorkingMemory;
class ActiveData;
class NavCellGrid;
class NavData;
class Bot;
class DisplayListManager;
class PerformQueryStatistics;

enum RayCanGoMarginMode
{
    NoMargin = 0,            
    DiagonalStripMargin,     
    ChannelMargin,           
    PathMargin,              
    IdealTrajectoryMargin,   
    MinimalTrajectoryMargin, 
    MoveOnNavMeshMargin,     

    RayCanGoMarginModeCount // internal
};

class Database : public WorldElement
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_WorldFwk)
    KY_CLASS_WITHOUT_COPY(Database)

public:
    static  WorldElementType GetStaticType()       { return TypeDatabase; }
    virtual WorldElementType GetType()       const { return TypeDatabase; }
    virtual const char*      GetTypeName()   const { return "Database";   }

    // ------------------------------ Functions -----------------------------

    KyUInt32 GetDatabaseIndex() const { return m_databaseIndex; }

    const DatabaseGenMetrics& GetDatabaseGenMetrics() const { return m_generationMetrics; }

    DatabasePositionSpatializationRange&       GetDatabasePositionSpatializationRange()       { return m_positionSpatializationRange; }
    const DatabasePositionSpatializationRange& GetDatabasePositionSpatializationRange() const { return m_positionSpatializationRange; }
    const PositionSpatializationRange&         GetPositionSpatializationRange()         const { return m_positionSpatializationRange.GetPositionSpatializationRange(); }

    KyResult SetSpatializationRange(KyFloat32 abovePosition, KyFloat32 belowPosition) { return m_positionSpatializationRange.SetSpatializationRange(abovePosition, belowPosition); }

    bool IsClear() const { return m_generationMetrics.IsClear(); }

    bool IsCompatibleWith(const NavData& navData) const;

    void RemoveAllNavDataImmediate();
    KyUInt32 GetAliveNavDataCount() const { return m_navDatas.GetCount() + m_navDataToBeRemoved.GetCount() + m_navDataBeeingRemoved.GetCount(); }

    void RemoveAllBots();

    KyUInt32 GetBotsCount() const { return m_bots.GetCount(); }
    Bot* GetBot(KyUInt32 index) const { return m_bots[index]; }

    //  to access this explicitly except for modifying the memory size limit of this WorkingMemory.
    WorkingMemory* GetWorkingMemory() const { return m_workingMemory; }

    DisplayListManager* GetDisplayListManager() const;

    VisualDebugServer* GetVisualDebugServer() const;

    // Get changes in database that happened since last call to ResetLastChanges()
    // To track Database changes, you may use AddChangeListener() instead.
    const DatabaseChange& GetChangesSinceLastReset() const { return m_lastChange; }
    void ResetLastChanges() { return m_lastChange.ClearChange(); }

    void AddChangeListener(const Ptr<IDatabaseChangeListener>& changeListener)    { m_databaseChangeListeners.PushBackUnique(changeListener); }
    void RemoveChangeListener(const Ptr<IDatabaseChangeListener>& changeListener) { m_databaseChangeListeners.RemoveFirstOccurrence(changeListener); }

public: // internal
    Database(World* world, KyUInt32 databaseIndex);
    virtual ~Database();

    void Clear(); 

    virtual void DoSendVisualDebug(VisualDebugServer& visualDebugServer, VisualDebugSendChangeEvent changeEvent);

    PerformQueryStatistics* GetPerformQueryStatistics() { return m_queryStatistics; }

    void SetEventBroadcaster(IDatabaseChangeBroadcaster* eventBroadCaster);
    void UpdateImmediate();

    // ---------------------------------- Internally used by the NavigationLab for Database Visual Representation ----------------------------------

    void SetVisualGeometryFactory(Ptr<IVisualGeometryFactory> factory) { GetDatabaseGeometryBuildingManager().SetVisualGeometryFactory(factory); }

    void SetVisualGeometry(Ptr<IVisualGeometry> geometry) { GetDatabaseGeometryBuildingManager().SetVisualGeometry(geometry); }

    void BuildVisualGeometry(bool forceRebuildAll = false) { m_geometryBuildingManager.BuildGeometry(forceRebuildAll); }

    // by this object for rendering. By default, navMesh, navGraph and abstractGraph are built. It can be changed
    void BuildVisualGeometry(Ptr<IVisualGeometry> geometry, const DatabaseVisualGeometryBuilderConfig& config = DatabaseVisualGeometryBuilderConfig());

    DatabaseGeometryBuildingManager& GetDatabaseGeometryBuildingManager() { return m_geometryBuildingManager; }

    IVisualGeometry* GetVisualGeometry() const { return m_geometryBuildingManager.GetVisualGeometry(); }

    IVisualGeometryFactory* GetVisualGeometryFactory() const { return m_geometryBuildingManager.GetVisualGeometryFactory(); }

    // ---------------------------------- Called by various components, World, Queries ----------------------------------

    ActiveData* GetActiveData() const { return m_activeData; }

    void RecomputeAllTriangleCostMapInBox(const CellBox& cellBox);

    // AddRemoveNavData Update phase
    void StartNavDataAddRemoveUpdate(QueryProcessMode processMode);
    bool IsThereNavDataAddRemovePending() const { return m_navDataToBeAdded.GetCount() + m_navDataToBeRemoved.GetCount() != 0; } // called by World::Update
    bool IsDoingNavDataAddRemoveUpdate() const { return m_navDataBeeingAdded.GetCount() + m_navDataBeeingRemoved.GetCount() != 0; } // called by World::Update
    void FinalizeNavDataAddRemoveUpdate(); // called by World::Update

    // TagVolumeIntegration Update phase
    void FinalizeTagVolumeIntegrationUpdate(const CellBox& tagVolumeChangeCellBox);

    void UpdateBotsPathFollowing(KyFloat32 simulationTimeInSeconds); // call by World::Update
    void UpdateBotsGenMetrics();

    KyUInt32 GetRayCanGoMarginInt(RayCanGoMarginMode marginMode);
    KyFloat32 GetRayCanGoMarginFloat(RayCanGoMarginMode marginMode) { return GetRayCanGoMarginInt(marginMode) * GetDatabaseGenMetrics().m_integerPrecision; }

    void SetupGenerationMetrics(const NavMeshGenParameters& navMeshGenParameters); // called by internal members

    KyUInt32 GetActiveNavMeshChangeIdx()       const { return m_activeChangeIdx.m_navMeshChangeIdx; }
    KyUInt32 GetActiveNavGraphChangeIdx()      const { return m_activeChangeIdx.m_navGraphChangeIdx; }
    KyUInt32 GetActiveAbstractGraphChangeIdx() const { return m_activeChangeIdx.m_abstractGraphChangeIdx; }
    KyUInt32 GetActiveDatabaseChangeIdx()      const { return m_activeChangeIdx.m_anyChangeIdx; }

private:
    friend class DatabaseUpdateManager;
    friend class NavMeshElementManager;

    void IncrementNavDataChangeIndex();

    // AddRemoveNavData Update phase
    void TakeSnapShotOfNavDataAddRemoveToUpdate();  // in StartNavDataAddRemoveUpdate()
    void ClearSnapShotOfNavDataAddRemoveToUpdate(); // in FinalizeNavDataAddRemoveUpdate()

    bool AreNavGraphsBeeingAdded();                 // in StartNavDataAddRemoveUpdate()
    void RemoveNavGraphsOfNavDataBeeingRemoved();   // in FinalizeNavDataAddRemoveUpdate()
    void AddNavGraphsOfNavDataBeeingAdded();        // in FinalizeNavDataAddRemoveUpdate()

    bool AreAbstractGraphBeeingAdded();                     // in StartNavDataAddRemoveUpdate()
    void StartAbstractGraphInsertionOfNavDataBeeingAdded(); // in StartNavDataAddRemoveUpdate()
    void InsertAbstractGraphOfNavDataBeeingAdded();         // in FinalizeNavDataAddRemoveUpdate()
    void RemoveAbstractGraphOfNavDataBeeingRemoved();       // in FinalizeNavDataAddRemoveUpdate()

    void StartNavMeshInsertionOfNavDataBeeingAdded(); // in StartNavDataAddRemoveUpdate()
    void StartNavMeshRemovalOfNavDataBeeingRemoved(); // in StartNavDataAddRemoveUpdate()
    void RemoveNavMeshOfNavDataBeeingRemoved();       // in FinalizeNavDataAddRemoveUpdate()

    void ComputeCellNextActivenessStatus(QueryProcessMode queryProcessMode);
    void UpdateStitchOneToOneAndLaunchRuntimeStitchQueries(QueryProcessMode queryProcessMode);

    void ForceSendAllDynamicFloorsAtCellPos(VisualDebugServer &visualDebugServer);

    void FinalizeChange();

    enum CompatibilityStatus
    {
        Compatibility_Untested,
        Compatibility_Error,
        Compatibility_Success,
    };
    CompatibilityStatus IsCompatibleWith(const NavData& navData, const TrackedCollection<Ptr<NavData>, MemStat_WorldFwk>& navDataCollection) const;

public: // internal
    KyUInt32 m_frameIdx; // mainly to be accessed by queries to check if consecutive calls to Advance occur during the same frame

    DatabasePositionSpatializationRange m_positionSpatializationRange;
    DatabaseGenMetrics m_generationMetrics;          

    ActiveData*             m_activeData;            
    NavCellGrid*            m_navCellGrid;           
    NavMeshElementManager*  m_navMeshElementManager; 
    NavGraphManager*        m_navGraphManager;       
    AbstractGraphCellGrid*  m_abstractGraphCellGrid;
    WorkingMemory*          m_workingMemory;

    TrackedCollection<Ptr<Bot>, MemStat_WorldFwk> m_bots;

    TrackedCollection<Ptr<ITriangleCostMap>, MemStat_WorldFwk> m_triangleCostMaps;

    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataToBeAdded;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataBeeingAdded;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDatas;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataToBeRemoved;
    TrackedCollection<Ptr<NavData>, MemStat_WorldFwk> m_navDataBeeingRemoved;

    Ptr<IDatabaseChangeBroadcaster> m_eventBroadCaster;

    DatabaseGeometryBuildingManager m_geometryBuildingManager;

    bool m_needToSendActiveNavData;                                
    Collection<Ptr<BaseBlobHandler> > m_visualDebugBlobCollection; 

    PerformQueryStatistics* m_queryStatistics;

    KyUInt32 m_databaseIndex; // Index of the Database in the world, set once and for all in the constructor

    // DatabaseChange management
    DatabaseChangeInProgress m_changeInProgress; // changes being done in the current update phase
    DatabaseChangeIdx m_activeChangeIdx;         // changeIdx of the active data in the database
    DatabaseChange m_lastChange;                 // aggregated changes since last call to ResetLastChanges();
    Collection<Ptr<IDatabaseChangeListener> > m_databaseChangeListeners;
};

KY_INLINE KyUInt32 Database::GetRayCanGoMarginInt(RayCanGoMarginMode rayCanGoMarginMode)
{
    static const KyUInt32 marginValues[RayCanGoMarginModeCount] = {  //   PixelSize | 5 cm | 10 cm | 20 cm | 30 cm
        0,  // UInt32 value for NoMargin.                            // ------------+------+-------+-------+-------
        10, // UInt32 value for DiagonalStripMargin                  // value in cm |      |       |       |       // Just a bit less than ChannelMargin
        15, // UInt32 value for ChannelMargin                        // value in cm |      |       |       |       // Very small to prevent polygon shrinking errors
        45, // UInt32 value for PathMargin.                          // value in cm | 1.76 |  3.52 |  7.03 | 10.55
        35, // UInt32 value for IdealTrajectoryMargin.               // value in cm | 1.37 |  2.73 |  5.47 |  8.20
        30, // UInt32 value for MinimalTrajectoryMargin.             // value in cm | 1.17 |  2.34 |  4.69 |  7.03
        10  // UInt32 value for MoveOnNavMeshMargin.                 // value in cm | 0.39 |  0.78 |  1.56 |  2.34
    };
    return marginValues[rayCanGoMarginMode];
}

} // namespace Kaim