diskcastquery.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/basediskcastquery.h"
#include "gwnavruntime/queries/raycastquery.h"
#include "gwnavruntime/queries/utils/capsuleintersector.h"
#include "gwnavruntime/queries/utils/crossedsectioncapsuleintersector.h"
#include "gwnavruntime/queries/utils/bestfirstsearchedgecollisionvisitor.h"
#include "gwnavruntime/queries/utils/bestfirstsearchtraversal.h"

namespace Kaim
{

class NavTriangleRawPtr;

template<class TraverseLogic>
class DiskCastQuery : public BaseDiskCastQuery
{
public:
    // ------------------------------ Functions -----------------------------

    DiskCastQuery();
    virtual ~DiskCastQuery() {}


    // ---------------------------------- Functions to set up the query ----------------------------------

    void BindToDatabase(Database* database);

    void Initialize(const Vec3f& startPos, KyFloat32 radius, const Vec2f& normalizedDir2d, KyFloat32 maxDist);

    // ---------------------------------- write accessors for query inputs ----------------------------------

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);

    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput);

    // ---------------------------------- write accessors for query parameters ----------------------------------

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);

    void SetSafetyDist(KyFloat32 safetyDist);

    void SetQueryType(DiskCastQueryType queryType);

    void SetDynamicOutputMode(DynamicOutputMode savingMode);

    // ---------------------------------- Query framework functions ----------------------------------

    virtual void Advance(WorkingMemory* workingMemory);

    void PerformQuery(WorkingMemory* workingMemory = nullptr);

    // ---------------------------------- Accessors ----------------------------------

    DiskCastQueryResult   GetResult()                  const;
    const Vec3f&          GetStartPos()                const;
    const Vec3f&          GetCollisionPos()            const;
    const Vec3f&          GetArrivalPos()              const;
    const Vec2f&          GetNormalizedDir2d()         const;
    const NavTrianglePtr& GetStartTrianglePtr()        const;
    const NavTrianglePtr& GetArrivalTrianglePtr()      const;
    const NavHalfEdgePtr& GetCollisionNavHalfEdgePtr() const;
    KyFloat32             GetRadius()                  const;
    KyFloat32             GetMaxDist()                 const;
    KyFloat32             GetSafetyDist()              const;
    DiskCastQueryType     GetQueryType()               const;
    DynamicOutputMode     GetDynamicOutputMode()       const;
    QueryDynamicOutput*   GetQueryDynamicOutput()      const;
    const PositionSpatializationRange& GetPositionSpatializationRange() const;

public: // internal
    void PerformQueryWithInputCoordPos(WorkingMemory* workingMemory);
    void SetStartIntegerPos(const WorldIntegerPos& startIntegerPos);
    const WorldIntegerPos& GetStartIntegerPos() const;
    const WorldIntegerPos& GetArrivalIntegerPos() const;

private:
    void ForceDiskCast(WorkingMemory* workingMemory, const CellBox& cellBox, const NavTriangleRawPtr& startTriangleRawPtr, WorkingMemArray<NavTriangleRawPtr>& visitedTriangles);
    KyResult RayCastQueryFromStartOnTheRigth(WorkingMemory* workingMemory, RayCastQuery<TraverseLogic>& rayCastQuery,
        RayCastQueryResult& queryOnRightResult, KyFloat32& borderDistOnRight);
    KyResult RayCastQueryFromStartOnTheLeft(WorkingMemory* workingMemory, RayCastQuery<TraverseLogic>& rayCastQuery,
        RayCastQueryResult& queryOnLeftResult, KyFloat32& borderDistOnLeft);
    KyResult FindDistReachedFromCollisionPos(const NavHalfEdgeRawPtr& intersectedHalfEdgeRaw, const Vec3f& collisionPos, KyFloat32& distReached);
};

}

#include "gwnavruntime/queries/diskcastquery.inl"