dynamicnavfloorheightfield.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/math/vec3f.h"
#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavgeneration/common/generatormemory.h"
#include "gwnavgeneration/containers/tlsarray.h"

namespace Kaim
{

class GeneratorSystem;
class DynamicRasterCell;

enum NavFloorHeightFieldErrorUpdateStatus
{
    NavFloorHeightFieldErrorStatus_Updated,
    NavFloorHeightFieldErrorStatus_NoProjections
};

enum NavFloorHeightFieldPointStatus
{
    NavFloorHeightFieldPointStatus_Valid,
    NavFloorHeightFieldPointStatus_Disabled
};

typedef Vec2i HeighfieldQuadPos;
typedef Box2i HeighfieldQuadBox;

class NavFloorHeightFieldPoint
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    NavFloorHeightFieldPoint()
        : m_pos(0.0f,0.0f),
          m_minLocalAlt(KyFloat32MAXVAL),
          m_maxLocalAlt(-KyFloat32MAXVAL),
          m_error(0.0f),
          m_status(NavFloorHeightFieldPointStatus_Valid) {}

    NavFloorHeightFieldPoint(const Vec2f& pos, KyFloat32 alt)
        : m_pos(pos),
          m_minLocalAlt(alt),
          m_maxLocalAlt(alt),
          m_error(0.0f),
          m_status(NavFloorHeightFieldPointStatus_Valid) {}

public:
    Vec2f m_pos;
    KyFloat32 m_minLocalAlt;
    KyFloat32 m_maxLocalAlt;
    KyFloat32 m_error;
    NavFloorHeightFieldPointStatus m_status;
};

// 1 HeighfieldQuad can be 1x1 pixel, 2x2 pixels, 3x3 pixels ...
//     <---QUAD--> <---QUAD-->
//  ^ +-----+-----+-----+-----+
//  Q | pix | pix | pix | pix |
//  U | el  | el  | el  | el  |
//  A +-----+-----+-----+-----+
//  D | pix | pix | pix | pix |
//  v | el  | el  | el  | el  |
//    +-----+-----+-----+-----+

class NavFloorHeightField
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)
public:
    NavFloorHeightField(GeneratorSystem* sys, const PixelBox& navPixelBox);

    void AddPoint(const PixelPos& pixelPos, KyFloat32 alt);
    NavFloorHeightFieldErrorUpdateStatus UpdateErrors(const DynamicRasterCell* rasterCell);
    NavFloorHeightFieldPoint* GetWorstErrorPoint();
    NavFloorHeightFieldPoint* GetPointAtLocalHeightFieldPos(const HeighfieldQuadPos& heighfieldPixelPos);
    NavFloorHeightFieldPoint* GetPointAtAbsoluteHeightFieldPos(const HeighfieldQuadPos& heighfieldPixelPos);
    KyFloat32 ComputeQuadSizeInMeters() const;

public:
    GeneratorSystem* m_sys;
    PixelBox m_navPixelBox; // from the raster (exclusive + 1 pixel overlap)
    Coord m_pixelSize; // integer coordinates
    KyInt32 m_quadSizeInPixel; // typically 1 to 3
    Coord m_quadSize; // integer coordinates
    HeighfieldQuadBox m_heightFieldQuadBox; // in quads
    HeighfieldQuadBox m_heightFieldBoundingQuadBox; // updated when adding new point
    KyArrayTLS<NavFloorHeightFieldPoint> m_points;
    KyArrayTLS_POD<KyUInt32> m_grid; // [RowMajorIndex in m_heightFieldQuadBox] of point index
};

}