insideposfromoutsideposquerydisplaylistbuilder.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/visualsystem/displaylist.h"
#include "gwnavruntime/queries/blobs/insideposfromoutsideposqueryblob.h"
#include "gwnavruntime/queries/insideposfromoutsideposquery.h"
#include "gwnavruntime/queries/blobs/querydynamicoutputdisplaylistbuilder.h"

namespace Kaim
{

class InsidePosFromOutsidePosQueryDisplayListBuilder : public IDisplayListBuilder
{
private:
    void DrawSearchBox(const InsidePosFromOutsidePosQueryBlob* queryBlob, const Color& color, DisplayList* displayList)
    {
        Vec3f boxMax(queryBlob->m_inputPos3f);
        Vec3f boxMin(queryBlob->m_inputPos3f);
        boxMin.x -= queryBlob->m_horizontalTolerance;
        boxMin.y -= queryBlob->m_horizontalTolerance;
        boxMin.z -= queryBlob->m_positionSpatializationRange.m_rangeBelowPosition;

        boxMax.x += queryBlob->m_horizontalTolerance;
        boxMax.y += queryBlob->m_horizontalTolerance;
        boxMax.z += queryBlob->m_positionSpatializationRange.m_rangeAbovePosition;

        ShapeColor shapeColor;
        shapeColor.m_lineColor = color;
        displayList->PushBox(Box3f(boxMin, boxMax), shapeColor);
    }

    virtual void DoBuild(DisplayList* displayList, char* blob)
    {
        const InsidePosFromOutsidePosQueryBlob* query = (InsidePosFromOutsidePosQueryBlob*)blob;
        InsidePosFromOutsidePosQueryOutputBlob* output = query->m_queryOutput.Ptr();
        if (output == nullptr)
            return;

        const KyFloat32 radius = 0.1f;
        const bool useCast = (query->m_castDirection != Vec2f(KyFloat32MAXVAL, KyFloat32MAXVAL));
        Vec3f useCastPos;
        if (useCast)
            useCastPos = query->m_inputPos3f + Vec3f(query->m_castDirection * 2.f * query->m_horizontalTolerance);

        switch ((InsidePosFromOutsidePosQueryResult)output->m_result)
        {
        case INSIDEPOSFROMOUTSIDE_NOT_INITIALIZED:
            break;
        case INSIDEPOSFROMOUTSIDE_NOT_PROCESSED:
        {
            DrawSearchBox(query, Color::Orange, displayList);
            displayList->PushPoint(query->m_inputPos3f, radius, Color::White);
        }
        break;
        case INSIDEPOSFROMOUTSIDE_DONE_LACK_OF_WORKING_MEMORY:
        case INSIDEPOSFROMOUTSIDE_DONE_POS_NOT_FOUND:
        {
            DrawSearchBox(query, Color::Red, displayList);
            displayList->PushPoint(query->m_inputPos3f, radius, Color::Red);
            if (useCast)
                displayList->PushLine(query->m_inputPos3f, useCastPos, Color::Red);
        }
        break;
        case INSIDEPOSFROMOUTSIDE_DONE_POS_FOUND:
        {
            DrawSearchBox(query, Color::LightGreen, displayList);
            displayList->PushText(output->m_insidePos3f.OffsetZ(1.0f), Color::Green, "Inside pos");
            displayList->PushDisk(output->m_insidePos3f, query->m_distFromObstacle, Color::Green);
            displayList->PushPoint(query->m_inputPos3f, radius, Color::Green);
            displayList->PushArrowPyramid(query->m_inputPos3f, output->m_insidePos3f, Color::Green);
            if (useCast)
                displayList->PushLine(query->m_inputPos3f, useCastPos, Color::LightGreen);
        }
        break;
        }
    }
};

}