diskcangoquery.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/queries/utils/basediskcangoquery.h"
#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/queries/raycastquery.h"
#include "gwnavruntime/queries/diskcollisionquery.h"
#include "gwnavruntime/queries/utils/capsuleintersector.h"
#include "gwnavruntime/queries/utils/crossedsectioncapsuleintersector.h"
#include "gwnavruntime/queries/utils/breadthfirstsearchedgecollisionvisitor.h"
#include "gwnavruntime/queries/utils/breadthfirstsearchtraversal.h"

namespace Kaim
{

class NavTriangleRawPtr;

template<class TraverseLogic>
class DiskCanGoQuery : public BaseDiskCanGoQuery
{
public:
    virtual void Advance(WorkingMemory* workingMemory)
    {
        PerformQuery(workingMemory);
        m_processStatus = QueryDone;
    }

    void PerformQuery(WorkingMemory* workingMemory = nullptr);

    void PerformQueryWithInputCoordPos(WorkingMemory* workingMemory);

private:
    void ForceDiskCanGo(WorkingMemory* workingMemory, const CellBox& cellBox, const NavTriangleRawPtr& startTriangleRawPtr);

    KyResult RayCastQueryFromStartOnTheRigth(WorkingMemory* workingMemory, const Vec2f& normalizedDir2d, RayCastQuery<TraverseLogic>& rayCastQuery,
                                             RayCastQueryResult& queryOnRightResult, KyFloat32& borderDistOnRight);

    KyResult RayCastQueryFromStartOnTheLeft(WorkingMemory* workingMemory, const Vec2f& normalizedDir2d, RayCastQuery<TraverseLogic>& rayCastQuery,
                                            RayCastQueryResult& queryOnLeftResult, KyFloat32& borderDistOnLeft);
};

}

#include "gwnavruntime/queries/diskcangoquery.inl"