itrianglecostmap.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/base/memory.h"
#include "gwnavruntime/kernel/SF_RefCount.h"
#include "gwnavruntime/navmesh/navmeshtypes.h"
#include "gwnavruntime/database/activenavfloorcollection.h"
#include "gwnavruntime/navmesh/identifiers/navtriangleptr.h"
#include "gwnavruntime/navmesh/identifiers/navtrianglerawptr.h"
#include "gwnavruntime/navmesh/identifiers/navhalfedgerawptr.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/database/activedata.h"
#include "gwnavruntime/math/box2iiterator.h"
#include "gwnavruntime/database/stitchdatamanagerutils.h"
#include "gwnavruntime/querysystem/workingmemcontainers/trianglestatusingrid.h"
#include "gwnavruntime/queries/utils/breadthfirstsearchtraversal.h"

namespace Kaim
{

class ActiveNavFloorCollection;
class NavTriangleRawPtr;
class TriangleCostInCell;
class Box2f;
class Database;

class ITriangleCostMap : public RefCountBase<ITriangleCostMap, MemStat_CostMap>
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_CostMap)
public:
    ITriangleCostMap();
    virtual ~ITriangleCostMap();

    // This function is called by the Database each time something changed in the cellBox
    // covered by the TriangleCostMap (NavData add/remove or dynamicNavmesh).
    // In Your implementation you have to called one of the InitCostMap function
    // before calling SetCostMultiplier on each triangle you want to set a custom costmultiplier
    // \Pre this triangleCostMap must have been bound to a Database first.
    virtual void Recompute() = 0;

protected:

    // ----- Helper Functions to be called in Recompute

    template<class CostMultiplierComputer>
    void InitAndBrowseAllTrianglesInBox3f(CostMultiplierComputer& compute, const Box3f& aabb);

    template<class CostMultiplierComputer>
    void InitAndPropagateInTrianglesFromPosInVolume(CostMultiplierComputer& compute, const Box3f& aabb, const Vec3f& inputPosition);

public:
    void BindToDatabase(Database* database);
    void UnbindFromDatabase();
    bool IsBindToADatabase() const { return m_database != nullptr; }

    void SetCostMultiplier(const NavTriangleRawPtr& triangle, KyFloat32 costMultiplier);
    KyFloat32 GetCostMultiplier(const NavTriangleRawPtr& triangle) const;

    const CellBox& GetCellBox() const { return m_cellBox; }

protected:
    // return true if the data structure is initialized and ready to use
    // returns false if the costMap was not bind to a database or if there is no triangle to set
    // a costMultiplier to (that can happen if your box in outside the data !)
    bool InitCostMapForBox3f(const Box3f& aabb);

    // test if the navFloor intersects the Box3f
    bool DoesNavFloorIntersectBox3f(NavFloor* navFloor, const Box3f& aabb) const;

protected:
    Database* m_database;
    char* m_bufferOfCostsInCell;
    KyUInt32 m_sizeOfBuffer; /*< For internal use. Do not modify. */
    CellBox m_cellBox;
public: // internal
    KyUInt32 ComputeBufferSizeForCellBox(KyUInt32 elementCountInBuffe) const;

    void InitFromNewCellBox();

    void InitBuffer(KyUInt32 newElementCount);

    void AllocateMemory(KyUInt32 newElementCount);
    void ReleaseMemory(); // Release the memory

    // for O(1) remove from database collections
    KyUInt32 GetIndexInCollection() const { return m_indexInCollection; }
    void SetIndexInCollection(KyUInt32 indexInCollection) { m_indexInCollection = indexInCollection; }
    KyUInt32 m_indexInCollection;         // for O(1) remove from database collections
};


}

#include "gwnavruntime/navmesh/itrianglecostmap.inl"