dynamicnavmeshquery.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/querysystem/iquery.h"
#include "gwnavruntime/queries/utils/queryutils.h"
#include "gwnavruntime/world/tagvolume.h"
#include "gwnavruntime/navmesh/blobs/navhalfedge.h"
#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavruntime/navmesh/blobs/navfloorblob.h"
#include "gwnavruntime/blob/blobhandler.h"
#include "gwnavruntime/dynamicnavmesh/dynamicnavmeshquerytypes.h"
#include "gwnavruntime/dynamicnavmesh/dynamicnavmeshquerystats.h"
#include "gwnavruntime/querysystem/workingmemcontainers/workingmemarray.h"


namespace Kaim
{
class TriangulatorOutput;
class DisplayList;
class TagVolume;
class SweepLineOutput;
class TriangulatorOutput;
class DynamicNavFloor;

typedef Collection<Ptr<TagVolume>, MemStat_NavData> TagVolumeCollection;

enum MergerDebugDisplayListType
{
    MERGER_DEBUG_DISPLAYLIST_INPUT_TAGVOLUMES,
    MERGER_DEBUG_DISPLAYLIST_ROUND_SNAPPING,
    MERGER_DEBUG_DISPLAYLIST_EDGE_CULLING,
    MERGER_DEBUG_DISPLAYLIST_POLYGON_SCAN_INPUT,
    MERGER_DEBUG_DISPLAYLIST_POLYGON_SCAN_OUTPUT,
    MERGER_DEBUG_DISPLAYLIST_TRIANGULATION,
    MERGER_DEBUG_DISPLAYLIST_COUNT
};

enum DynamicNavMeshQueryResult
{
    DYNNAVMESH_NOT_INITIALIZED = QUERY_NOT_INITIALIZED, 
    DYNNAVMESH_NOT_PROCESSED   = QUERY_NOT_PROCESSED,   

    DYNNAVMESH_COLLECT_TAGVOLUME_FOR_NAVFLOOR,   // 2
    DYNNAVMESH_EXTRACTING_ALL_NAVTAGS,           // 3
    DYNNAVMESH_EXTRACTING_TAGVOLUMES_CONTOURS,   // 4
    DYNNAVMESH_EXTRACTING_NAVFLOOR_CONTOUR,      // 5
    DYNNAVMESH_ROUND_SNAPPING,                   // 6
    DYNNAVMESH_SWEEP_LINE_SORT_INPUT,            // 7
    DYNNAVMESH_SWEEP_LINE_SCAN,                  // 8
    DYNNAVMESH_SWEEP_LINE_SORT_OUTPUT,           // 9
    DYNNAVMESH_BUILD_POLYGONS_INIT,              // 10
    DYNNAVMESH_BUILD_POLYGONS_PROCESS,           // 11
    DYNNAVMESH_TRIANGULATE_POLYGONS_INIT,        // 12
    DYNNAVMESH_TRIANGULATE_POLYGONS_PROCESS,     // 13
    DYNNAVMESH_BUILD_DYNAMIC_NAVFLOOR,           // 14
    DYNNAVMESH_BUILD_FIX_VERTEX_ALTITUDES,       // 15
    DYNNAVMESH_BUILD_NAVFLOORBLOB,               // 16

    DYNNAVMESH_NAVFLOOR_INVALID,                        
    DYNNAVMESH_LACK_OF_WORKING_MEMORY,                  
    DYNNAVMESH_INTERSECTION_COMPUTATION_ERROR,          
    DYNNAVMESH_SWEEPLINE_COMPUTATION_ERROR,             
    DYNNAVMESH_POLYGON_COMPUTATION_ERROR,               
    DYNNAVMESH_TRIANGULATION_COMPUTATION_ERROR,         
    DYNNAVMESH_ALTITUDE_COMPUTATION_ERROR,              
    DYNNAVMESH_NAVFLOOR_INDICES_OUT_OF_BOUNDS,          
    DYNNAVMESH_UNKNOWN_ERROR,                           

    DYNNAVMESH_DONE_SUCCESS,                            
};

class DynamicNavMeshQuery : public ITimeSlicedQuery
{
public:
    // ------------------------------ Functions -----------------------------

    static  QueryType GetStaticType() { return TypeDynamicNavMesh; }
    virtual QueryType GetType() const { return TypeDynamicNavMesh; }

    DynamicNavMeshQuery();
    virtual ~DynamicNavMeshQuery();

    void BindToDatabase(Database* database);

    void Initialize(NavCell* navCell, const TagVolumeCollection* integratedTagVolumesAtCellPos, const TagVolumeCollection* newTagVolumes);

    virtual void Advance(WorkingMemory* workingMemory);

    virtual void ReleaseWorkingMemoryOnCancelDuringProcess(WorkingMemory* workingMemory = nullptr);

    const PixelPos& GetCellOriginPixel() const { return m_cellOriginPixel; }

    DynamicNavMeshQueryResult GetResult() const { return m_result; };
    void SetResult(DynamicNavMeshQueryResult result) { m_result = result; };

    // ------------------------------ debug and profile -----------------------------
    void SetDebugDisplayLists(KyArray<DisplayList*> displayLists) { m_debugDisplayLists = displayLists; }
    const DynamicNavMeshQueryStats& GetStats() const { return m_stats; }

private:
    // Main function
    // does the following:
    // 0. ExtractInputDataFromNavFloor
    // 1. BreakEdgeIntersections
    // 2. TagAndCullEdges
    // 3. TriangulatePolygonWithHoles
    // 4. ComputeVerticesAltitudesFromNavFloor
    // 5. BuildNavFloorFromTriangulatorOutput

    // And here are the signatures

    // Core functions
    KyResult TagAndCullEdges(WorkingMemory* workingMemory);
    KyResult SortSweepLineOutput(WorkingMemory* workingMemory);

    enum InitBuildPolygonResult { InitBuildPolygonResult_ReadyToBuild, InitBuildPolygonResult_NothingToDo } ;
    KyResult InitBuildPolygon(WorkingMemory* workingMemory, InitBuildPolygonResult& initBuildPolygonResult);
    enum BuildPolygonResult { BuildPolygonsResult_Finish, BuildPolygonsResult_InProcess} ;
    KyResult BuildPolygon(WorkingMemory* workingMemory, BuildPolygonResult& buildPolygonsResult);

    KyResult InitPolygonTriangulation(WorkingMemory* workingMemory);

    KyResult PreparePolygonWithHolesTriangulation(WorkingMemory* workingMemory);

    enum TriangulatePoygonResult { TriangulatePoygonResult_Finish, TriangulatePoygonResult_GoOn } ;
    KyResult TriangulatePoygon(WorkingMemory* workingMemory, TriangulatePoygonResult& triangulatePoygonResult);

    KyResult ComputeVerticesAltitudes(WorkingMemory* workingMemory);
    KyResult FillDynamicNavFloorFromTriangulatorOutputs(WorkingMemory* workingMemory, KyArrayPOD<const SweepLineOutputEdgePiece*>& edgesForEdges);
    KyResult FixHalfEdgeTypeInDynamicNavFloor(WorkingMemory* workingMemory, const KyArrayPOD<const SweepLineOutputEdgePiece*>& edgesForEdges);

    // Output build
    KyResult BuildNavFloorFromTriangulatorOutput(WorkingMemory* workingMemory);

    KyResult BuildFinalBlobFromDynamicNavFloor(WorkingMemory* workingMemory);

    // local accessors and utilities
    enum CollectTagVolumeResult { CollectTagVolume_NothingToDo, CollectTagVolume_NeedToComputeDynamicNavFloor, CollectTagVolume_NeedToRestoreStaticNavFloor };
    KyResult CollectTagVolumesImpactingNavCell(WorkingMemArray<TagVolume*>& allTagVolumes, CollectTagVolumeResult& collectTagVolumeResult);
    KyResult CollectTagVolumesToIntegrateImpactingNavCell(WorkingMemArray<TagVolume*>& allTagVolumes, const CellPos& cellPos, KyUInt32& newTagVolumeCount);
    KyResult CollectTagVolumesToRemoveImpactingNavCell(WorkingMemArray<TagVolume*>& allTagVolumes, KyUInt32& tagVolumeToRemoveCount);

    void SetResultAndFinish(DynamicNavMeshQueryResult result, WorkingMemory* workingMemory)
    {
        SetResult(result);
        SetFinish(workingMemory);
    }

    void SetFinish(WorkingMemory* workingMemory);

public: // internal
    DisplayList* GetDisplayList(KyUInt32 index) const;

public:
    // input Data
    NavCell* m_navCell;
    PixelPos m_cellOriginPixel;
    const TagVolumeCollection* m_integratedTagVolumesAtCellPos;
    const TagVolumeCollection* m_newTagVolumes;

    KyArray<Ptr<BlobHandler<NavFloorBlob> > > m_resultNavfloorHandlers;

private:
    DynamicNavMeshQueryResult m_result; 

    // debug and profile
    KyArray<DisplayList*> m_debugDisplayLists;
    DynamicNavMeshQueryStats m_stats;
};

KY_INLINE DisplayList* DynamicNavMeshQuery::GetDisplayList(KyUInt32 index) const
{
#if defined(KY_CONFIG_DEBUG_OR_DEV)
    return m_debugDisplayLists.GetCount() > index  ? m_debugDisplayLists[index] : nullptr;
#else
    KY_UNUSED(index);
    return nullptr;
#endif
}
}