segmentcastquery.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/basesegmentcastquery.h"
#include "gwnavruntime/queries/raycastquery.h"
#include "gwnavruntime/queries/utils/rectangleintersector.h"
#include "gwnavruntime/queries/utils/bestfirstsearchedgecollisionvisitor.h"
#include "gwnavruntime/queries/utils/bestfirstsearchtraversal.h"

namespace Kaim
{

template <class TraverseLogic>
class SegmentCastQuery : public BaseSegmentCastQuery
{
public:
    // ------------------------------ Functions -----------------------------

    SegmentCastQuery();
    virtual ~SegmentCastQuery() {}

    // ---------------------------------- Functions to set up the query ----------------------------------

    void BindToDatabase(Database* database);

    void Initialize(const Vec3f& startPos, KyFloat32 radius, const Vec2f& normalizedDir2d, KyFloat32 maxDist);

    // ---------------------------------- write accessors for query inputs ----------------------------------

    void SetStartTrianglePtr(const NavTrianglePtr& startTrianglePtr);

    void SetQueryDynamicOutput(QueryDynamicOutput* queryDynamicOutput);

    // ---------------------------------- write accessors for query parameters ----------------------------------

    void SetPositionSpatializationRange(const PositionSpatializationRange& positionSpatializationRange);

    void SetSafetyDist(KyFloat32 safetyDist);

    void SetDynamicOutputMode(DynamicOutputMode savingMode);

    // ---------------------------------- Query framework functions ----------------------------------

    virtual void Advance(WorkingMemory* workingMemory);

    void PerformQuery(WorkingMemory* workingMemory = nullptr);

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

    SegmentCastQueryResult GetResult()                  const;
    const Vec3f&           GetStartPos()                const;
    const Vec3f&           GetCollisionPos()            const;
    const Vec3f&           GetArrivalPos()              const;
    const Vec2f&           GetNormalizedDir2d()         const;
    const NavTrianglePtr&  GetStartTrianglePtr()        const;
    const NavTrianglePtr&  GetArrivalTrianglePtr()      const;
    const NavHalfEdgePtr&  GetCollisionNavHalfEdgePtr() const;
    KyFloat32              GetRadius()                  const;
    KyFloat32              GetMaxDist()                 const;
    KyFloat32              GetSafetyDist()              const;
    DynamicOutputMode      GetDynamicOutputMode()       const;
    QueryDynamicOutput*    GetQueryDynamicOutput()      const;

    const PositionSpatializationRange& GetPositionSpatializationRange() const;

public: // internal
    void PerformQueryWithInputCoordPos(WorkingMemory* workingMemory);
    void SetStartIntegerPos(const WorldIntegerPos& startIntegerPos);
    const WorldIntegerPos& GetStartIntegerPos() const;
    const WorldIntegerPos& GetArrivalIntegerPos() const;
};

}

#include "gwnavruntime/queries/segmentcastquery.inl"