diskexpansionquery.h

Go to the documentation of this file.

/*
* 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/basediskexpansionquery.h"
#include "gwnavruntime/queries/utils/diskintersector.h"
#include "gwnavruntime/queries/utils/bestfirstsearchedgecollisionvisitor.h"
#include "gwnavruntime/queries/utils/bestfirstsearchtraversal.h"

namespace Kaim
{

template<class TraverseLogic>
class DiskExpansionQuery : public BaseDiskExpansionQuery
{
public:
    // ------------------------------ Functions -----------------------------

    DiskExpansionQuery();
    ~DiskExpansionQuery() {}

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

    void BindToDatabase(Database* database);

    void Initialize(const Vec3f& center, KyFloat32 radiusMax);

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

    void SetCenterTrianglePtr(const NavTrianglePtr& centerTrianglePtr);

    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput);

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

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);

    void SetSafetyDist(KyFloat32 safetyDist);

    void SetDynamicOutputMode(DynamicOutputMode savingMode);

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

    virtual void Advance(WorkingMemory* workingMemory);

    void PerformQuery(WorkingMemory* workingMemory = nullptr);

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

    DiskExpansionQueryResult GetResult()                  const;
    const Vec3f&             GetCenterPos()               const;
    const NavTrianglePtr&    GetCenterTrianglePtr()       const;
    KyFloat32                GetRadiusMax()               const;
    KyFloat32                GetResultRadius()            const;
    const Vec3f&             GetCollisionPos()            const;
    const NavHalfEdgePtr&    GetCollisionNavHalfEdgePtr() const;
    KyFloat32                GetSafetyDist()              const;
    DynamicOutputMode        GetDynamicOutputMode()       const;
    QueryDynamicOutput*      GetQueryDynamicOutput()      const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

public: // internal
    void PerformQueryWithInputCoordPos(WorkingMemory* workingMemory);
    void SetCenterIntegerPos(const WorldIntegerPos& centerIntegerPos);
    const WorldIntegerPos& GetCenterIntegerPos() const;
};

}

#include "gwnavruntime/queries/diskexpansionquery.inl"