pathfinderqueryutils.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/queries/utils/queryutils.h"
#include "gwnavruntime/queries/utils/pathrefinercontext.h"
#include "gwnavruntime/queries/utils/pathclampercontext.h"
#include "gwnavruntime/queries/utils/coneintersector.h"
#include "gwnavruntime/queries/utils/bestfirstsearchedgecollisionvisitor.h"
#include "gwnavruntime/queries/utils/bestfirstsearchtraversal.h"
#include "gwnavruntime/queries/utils/pathrefinerconfig.h"
#include "gwnavruntime/queries/utils/highercostlimitlogic.h"

#include "gwnavruntime/queries/insideposfromoutsideposquery.h"
#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/queries/monodirectionalraycangoquery.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/navgraph/navgraphlink.h"
#include "gwnavruntime/path/path.h"


namespace Kaim
{
class LogicWithNoCustomCost;
class LogicWithCostPerNavTag;
class LogicWithCostPerTriangle;
class QueryDynamicOutput;

class PathFinderQueryUtils : public QueryUtils
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    PathFinderQueryUtils() {}
    PathFinderQueryUtils(Database* database, WorkingMemory* workingMemory, void* traverseLogicUserData)
    {
        Init(database, workingMemory, traverseLogicUserData);
    }

    void Init(Database* database, WorkingMemory* workingMemory, void* traverseLogicUserData)
    {
        QueryUtils::Init(database, workingMemory, traverseLogicUserData);
    }
private:
    enum NearestCornerType
    {
        NearestCornerType_Undefined,
        NearestCornerType_PrevNode,
        NearestCornerType_InnerCorner,
        NearestCornerType_NextNode
    };

public:
    template<class TraverseLogic>
    KyResult InsideFromOutside(const Vec3f& inputOutsidePos, const PositionSpatializationRange& positionSpatializationRange,
        KyFloat32 horizontalHookingMaxDist, KyFloat32 distFromObstacle, Vec3f& outputInsidePos, NavTrianglePtr& outputNavTrianglePtr);

    KyResult RecomputeCostOnNavMesh(KyUInt32 processedNodeCount);

    template <class TraverseLogic>
    KyResult RefineOneNode(const CellBox& cellBox, const PositionSpatializationRange& positionSpatializationRange, const PathRefinerConfig& pathRefinerConfig, KyUInt32& cangoTestDone);

    template <class TraverseLogic>
    Ptr<Path> ComputePathFromPathClamperContext(const Vec3f& realStartPos, const Vec3f& realEndPos, const PositionSpatializationRange& positionSpatializationRange);

    void BindAndSetRayCastQueryParameters(BaseRayCastQuery& rayCast, const PositionSpatializationRange& positionSpatializationRange, void* traverseLogicUserData);
    void InitRayCanGoWithCost(BaseRayCanGoQuery& rayCanGo, const Vec3f& startPos, const NavTrianglePtr& startTrianglePtr, const Vec3f& destPos,
        const WorldIntegerPos& stratIntegerPos, const WorldIntegerPos& destIntegerPos);

    void BindAndSetRayCanGoQueryParameters(const         LogicWithNoCustomCost&, BaseRayCanGoQuery& canGo, const PositionSpatializationRange& spatializationRange, void* traverseLogicUserData);
    void BindAndSetRayCanGoQueryParameters(const   LogicWithCostPerNavTag&, BaseRayCanGoQuery& canGo, const PositionSpatializationRange& spatializationRange, void* traverseLogicUserData);
    void BindAndSetRayCanGoQueryParameters(const LogicWithCostPerTriangle&, BaseRayCanGoQuery& canGo, const PositionSpatializationRange& spatializationRange, void* traverseLogicUserData);
    void BindAndSetRayCanGoQueryParameters_Impl(BaseRayCanGoQuery& canGo, const PositionSpatializationRange& spatializationRange, void* traverseLogicUserData);

    static KyFloat32 GetMaxCostMultiplierFromCanGo(const         LogicWithNoCustomCost&, QueryDynamicOutput* /*queryDynamicOutput*/) { return 1.f; }
    static KyFloat32 GetMaxCostMultiplierFromCanGo(const   LogicWithCostPerNavTag&, QueryDynamicOutput* queryDynamicOutput) { return GetMaxCostMultiplierFromCanGo_Impl(queryDynamicOutput); }
    static KyFloat32 GetMaxCostMultiplierFromCanGo(const LogicWithCostPerTriangle&, QueryDynamicOutput* queryDynamicOutput) { return GetMaxCostMultiplierFromCanGo_Impl(queryDynamicOutput); }
    static KyFloat32 GetMaxCostMultiplierFromCanGo_Impl(QueryDynamicOutput* queryDynamicOutput);

    void ComputeRefinerNodeCost(RefinerNode* currentNode);
    KyResult UpdateNodeInBinaryHeap(RefinerNodeIndex nodeIdx, RefinerNode* currentNode);
    KyResult BuildRefinerBinaryHeap();

    KyUInt32 ClampOneEdge(KyUInt32& intersectionTestCount);

    void DisplayListRefining(const char* queryName);
    void DisplayListPropagation(const char* queryName);
    void DisplayListShortestpath(const char* queryName, AStarNodeIndex destNodeIndex = AStarNodeIndex_DestNode);

    void DisplayConeCastInput(const NavTriangleRawPtr& propagationStartTriangleRawPtr, const Vec3f& currentNodePos, const Vec3f& coneCornerPos,
        const Vec2f& bissectorAxis, const Vec2f& coneCornerRelativePos, KyFloat32 coneLength);

    void DisplayConeCastOutput(const Vec3f& currentNodePos, const Vec3f& nearestCorner, NearestCornerType nearestCornerType,
        KyFloat32 minDist, WorkingMemArray<NavTriangleRawPtr>* visitedNodes);

    void DisplayRefineOutput(const Vec3f& start, const Vec3f& end, KyFloat32 zOffset, Color color);
};





}

#include "gwnavruntime/queries/utils/pathfinderqueryutils.inl"