queryutils.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/database/activedata.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/database/querystatistics.h"
#include "gwnavruntime/navmesh/closestpoint.h"
#include "gwnavruntime/navmesh/intersections.h"
#include "gwnavruntime/queries/querydynamicoutput.h"
#include "gwnavruntime/queries/trianglefromposandtriangleseedquery.h"

namespace Kaim
{
class Box2f;
class NavTrianglePtr;
class NavTriangleRawPtr;
class NavHalfEdgePtr;
class NavHalfEdgeRawPtr;
class TriangleFromPosAndTriangleSeedQuery;
class ThinCapsuleWithExtentOffset;

class QueryUtils
{
    KY_DEFINE_NEW_DELETE_OPERATORS(Stat_Default_Mem)

public:
    QueryUtils() : m_database(nullptr), m_workingMemory(nullptr), m_traverseLogicUserData(nullptr), m_performQueryStat(PerformQueryStat_Unspecified) {}
    QueryUtils(Database* database, WorkingMemory* workingMemory, void* traverseLogicUserData);
    void Init(Database* database, WorkingMemory* workingMemory, void* traverseLogicUserData);
    void SetPerformQueryStat(PerformQueryStat performQueryStat);

    // ------------------------------ Accessors -----------------------------------

    Database* GetDatabase() { return m_database; }
    WorkingMemory* GetWorkingMemory() { return m_workingMemory; }
    void* GetTraverseLogicUserData() { return m_traverseLogicUserData; }

    // ------------------------------ Update Spatialization -----------------------------

    bool FindTriangleFromPositionIfNotValid(NavTrianglePtr& navTrianglePtr, const Vec3f& pos, const PositionSpatializationRange& range);

    bool FindTriangleFromPositionIfNotValid(NavTrianglePtr& navTrianglePtr, const Vec3f& pos, const PositionSpatializationRange& range, WorldIntegerPos& outputIntegerPos);

    bool FindTriangleFromPositionIfNotValid(NavTrianglePtr& navTrianglePtr, const Vec3f& pos, const WorldIntegerPos& integerPos, const PositionSpatializationRange& range);

    template <class TLogic>
    bool IsHalfEdgeCompatibleWithThinCapsule(const NavHalfEdgeRawPtr& halfEdge, ThinCapsuleWithExtentOffset& capsuleParams);

public: // internal
    // Provides the next HalEdge (CW) starting from the provided HalEdge start vertex.
    void GetNextHalfEdgeAroundStartVertex(const NavHalfEdgeRawPtr& currentHalfEdge, NavHalfEdgeRawPtr& nextHalfEdge);

    // Provides the previous HalEdge (CCW) ending at the provided HalEdge end vertex.
    void GetPrevHalfEdgeAroundDestVertex(const NavHalfEdgeRawPtr& currentHalfEdge, NavHalfEdgeRawPtr& prevHalfEdge);

    template <class TLogic>
    KyResult FindValidPositionFromIntegerIntersection(const Vec3f& collisionPos3f, const NavHalfEdgePtr& halfEdgePtrHit, WorldIntegerPos& arrivalIntegerPos,
                                                      NavTrianglePtr& arrivalTrianglePtr);

    template <class TLogic, class BorderHalfEdgeProcessor>
    KyResult BrowseAndProcessAllBorderNavHalfEdgeInBox(BorderHalfEdgeProcessor& borderHalfEdgeProcessor);

private:
    class CheckIfCurrentIntegerPositionIsValidParam
    {
    public:
        CoordPos64 m_start;
        CoordPos64 m_end;
        CoordPos64 m_third;
        CoordPos64 m_startToEnd;
        CoordPos64 m_endToThird;
        CoordPos64 m_thirdTostart;
        WorldIntegerPos m_currentArrivalIntegerPos;
    };

    template <class TraverseLogic>
    KyResult CheckIfCurrentIntegerPositionIsValid(const CheckIfCurrentIntegerPositionIsValidParam& params, TriangleFromPosAndTriangleSeedQuery& triangleFromPosAndTriangleSeedQuery,
                                                  WorldIntegerPos& arrivalIntegerPos, NavTrianglePtr& arrivalTrianglePtr);

public:
    Database* m_database;           
    WorkingMemory* m_workingMemory; 
    void* m_traverseLogicUserData;
    PerformQueryStat m_performQueryStat;
};

class ThinCapsuleWithExtentOffset
{
public:
    ThinCapsuleWithExtentOffset(const CoordPos64& capsuleStartCoordPos, const CoordPos64& capsuleEndCoordPos, KyUInt64 capsuleSquareRadius, KyUInt32 recoveryDistance)
    {
        m_capsuleStartCoordPos = capsuleStartCoordPos;
        m_capsuleEndCoordPos = capsuleEndCoordPos;
        m_capsuleSquareRadius = capsuleSquareRadius;
        m_recoveryDistance = recoveryDistance;

        CoordPos64 capsule = m_capsuleEndCoordPos - m_capsuleStartCoordPos;
        m_capsuleSquareLength = capsule.GetSquareLength();
        // m_offset will be computed lazily (only if needed)
        m_offset.x = KyInt64MAXVAL;
    }

    CoordPos64 GetOffset(); 

public:
    CoordPos64 m_capsuleStartCoordPos;
    CoordPos64 m_capsuleEndCoordPos;
    KyUInt64 m_capsuleSquareRadius;
    KyUInt32 m_recoveryDistance;

    KyUInt64 m_capsuleSquareLength;

private:
    CoordPos64 m_offset;
};
}

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