polylinecasthelper.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/queries/utils/queryutils.h"
#include "gwnavruntime/queries/utils/bestfirstsearch2dbordercollector.h"
#include "gwnavruntime/queries/utils/bestfirstsearchtraversal.h"
#include "gwnavruntime/queries/utils/polylinecastintersector.h"


namespace Kaim
{
class WorkingMemory;
class Vec3f;
class NavTrianglePtr;

class PolylineCastHelper
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_Query)

public:
    static KyResult RetrieveTriangleFromStartToEnd(WorkingMemory* workingMemory, Database* database, const Vec3f& start, const Vec3f& end, NavTrianglePtr& io_startTrianglePtr,
                                                   NavTrianglePtr& o_endTrianglePtr, Ptr<QueryDynamicOutput>& dynOutput);

    template <class TLogic>
    static KyResult RunPolylineCastInTrapeze(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                             PolylineCastIntersector& intersector, const Vec3f& startO, const Vec3f& endO, const Vec3f& startL, const Vec3f& endL,
                                             const Vec3f& startR, const Vec3f& endR);

    template <class TLogic>
    static KyResult RunPolylineCastInTriangle(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                              PolylineCastIntersector& intersector, const Vec3f& startO, const Vec3f& endO, const Vec3f& startL, const Vec3f& startR,
                                              const Vec3f& endL, const Vec3f& endR);

    template <class TLogic>
    static KyResult RunPolylineCastInTriangleOnLeft(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                                    PolylineCastIntersector& intersector, const Vec3f& startO, const Vec3f& endO, const Vec3f& startL, const Vec3f& startR,
                                                    const Vec3f& endR);

    template <class TLogic>
    static KyResult RunPolylineCastInTriangleOnRight(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                                     PolylineCastIntersector& intersector, const Vec3f& startO, const Vec3f& endO, const Vec3f& startL, const Vec3f& endL,
                                                     const Vec3f& endR);

    template <class TLogic>
    static KyResult RunPolylineCast(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                    PolylineCastIntersector& intersector);
};

template <class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTrapeze(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                                             PolylineCastIntersector& intersector, const Vec3f& startO, const Vec3f& endO,
                                                             const Vec3f& startL, const Vec3f& endL, const Vec3f& startR,
                                                             const Vec3f& endR)
{
    intersector.InitTrapezoid(startO, endO, startL, endL, startR, endR, database->GetDatabaseGenMetrics());
    return RunPolylineCast<TLogic>(workingMemory, database, traverseLogicUserData, dynOutput, intersector);
}

template <class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTriangle(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                                              PolylineCastIntersector& intersector, const Vec3f& startO, const Vec3f& endO,
                                                              const Vec3f& startL, const Vec3f& startR, const Vec3f& endL,
                                                              const Vec3f& endR)
{
    KY_ASSERT(startL == endL || startR == endR);
    if (startL == endL)
        return RunPolylineCastInTriangleOnLeft<TLogic>(workingMemory, database, traverseLogicUserData, dynOutput, intersector, startO, endO,
                                                       startL, startR, endR);
    else
        return RunPolylineCastInTriangleOnRight<TLogic>(workingMemory, database, traverseLogicUserData, dynOutput, intersector, startO, endO,
                                                        startL, startR, endL);
}

template <class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTriangleOnLeft(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
                                                                    QueryDynamicOutput* dynOutput, PolylineCastIntersector& intersector, const Vec3f& startO,
                                                                    const Vec3f& endO, const Vec3f& startL, const Vec3f& startR,
                                                                    const Vec3f& endR)
{
    intersector.InitTriangleAroundLeft(startO, endO, startL, startR, endR, database->GetDatabaseGenMetrics());
    return RunPolylineCast<TLogic>(workingMemory, database, traverseLogicUserData, dynOutput, intersector);
}

template <class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCastInTriangleOnRight(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData,
                                                                     QueryDynamicOutput* dynOutput, PolylineCastIntersector& intersector, const Vec3f& startO,
                                                                     const Vec3f& endO, const Vec3f& startL, const Vec3f& startR,
                                                                     const Vec3f& endL)
{
    intersector.InitTriangleAroundRight(startO, endO, startL, endL, startR, database->GetDatabaseGenMetrics());
    return RunPolylineCast<TLogic>(workingMemory, database, traverseLogicUserData, dynOutput, intersector);
}

template <class TLogic>
inline KyResult PolylineCastHelper::RunPolylineCast(WorkingMemory* workingMemory, Database* database, void* traverseLogicUserData, QueryDynamicOutput* dynOutput,
                                                    PolylineCastIntersector& intersector)
{
    if (dynOutput == nullptr || dynOutput->GetNavTrianglePtrCount() == 0)
        return KY_ERROR;

    QueryUtils queryUtils(database, workingMemory, traverseLogicUserData);

    typedef BestFirstSearch2dBorderCollector<TLogic, PolylineCastIntersector> Visitor;
    Visitor edgeIntersectionVisitor(traverseLogicUserData, intersector);

    BestFirstSearchTraversal<Visitor> traversal(queryUtils, database->GetActiveData()->GetCellBox(), edgeIntersectionVisitor);

    if (traversal.IsInitialized() == false)
        return KY_ERROR;

    for (KyUInt32 i = 0; i < dynOutput->GetNavTrianglePtrCount(); ++i)
    {
        const NavTrianglePtr& triangle = dynOutput->GetNavTrianglePtr(i);
        if (traversal.SetStartTriangle(triangle.GetRawPtr()) != TraversalResult_DONE)
            return KY_ERROR;
    }

    if (traversal.Search() != TraversalResult_DONE)
        return KY_ERROR;

    return KY_SUCCESS;
}

}