tagvolume.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/world/worldelement.h"
#include "gwnavruntime/math/box3f.h"
#include "gwnavruntime/spatialization/tagvolumespatialization.h"
#include "gwnavruntime/dynamicnavmesh/tagvolumeexpander.h"

namespace Kaim
{

class TagVolumeBlob;
class BoxObstacle;
class CylinderObstacle;
class Color;
class Bot;

enum TagVolumeExtendOptions
{
    ExtendTagVolume_WithAltitudeTolerance_Above = 1,      
    ExtendTagVolume_WithAltitudeTolerance_Below = 1 << 1, 
    ExtendTagVolume_WithEntityHeight_Below      = 1 << 2, 
};

class TagVolumeInitConfig
{
public:
    // ---------------------------------- Main API Functions ----------------------------------

    TagVolumeInitConfig() { SetDefaults(); }

    void SetDefaults()
    {
        m_points.Clear();
        m_navTag.Clear();
        m_world = nullptr;
        m_databaseBinding = nullptr;
        m_altitudeMin = 0.0f;
        m_altitudeMax = 0.0f;
        m_extendOptions = ExtendTagVolume_WithAltitudeTolerance_Below;
    }

    // ---------------------------------- Initialization ----------------------------------

    void SetContour(const Vec2f* points, KyUInt32 pointCount);

    void InitFromTagVolumeBlob(const TagVolumeBlob& blob); 

    void Init4PointsContour(const Vec2f& center, const Vec2f& edge1, const Vec2f& edge2);

    void Init6PointsContour(const Vec2f& center, const Vec2f& edge1, const Vec2f& edge2, const Vec2f& edge3);

    void InitFromBox(const Transform& transform, const Vec3f& localCenter, const Vec3f& localHalfExtents, DatabaseBinding* databaseBinding);

    void SetAltitudeRange(KyFloat32 altitudeMin, KyFloat32 altitudeMax)
    {
        m_altitudeMin = altitudeMin;
        m_altitudeMax = altitudeMax;
    }

public:
    // ---------------------------------- Public Data Members ----------------------------------

    World* m_world;

    Ptr<DatabaseBinding> m_databaseBinding;

    DynamicNavTag m_navTag;

    KyArray<Vec2f> m_points;

    KyFloat32 m_altitudeMin;
    KyFloat32 m_altitudeMax;

    TagVolumeExtendOptions m_extendOptions;
};


class TagVolume : public WorldElement
{
    KY_DEFINE_NEW_DELETE_OPERATORS(MemStat_TagVolume)
    KY_CLASS_WITHOUT_COPY(TagVolume)

public:
    enum WorldStatus
    {
        WorldStatus_NotInit = 0,
        WorldStatus_Added,
        WorldStatus_NotAdded,
        WorldStatus_Unknown
    };

    enum IntegrationStatus
    {
        IntegrationStatus_NotIntegrated = 0,
        IntegrationStatus_ToBeIntegrated,
        IntegrationStatus_IntegrationInProcess,
        IntegrationStatus_Integrated,
        IntegrationStatus_ToBeDeintegrated,
        IntegrationStatus_DeintegrationInProcess
    };

    enum ObstacleType
    {
        ObstacleType_Undefined = 0,
        ObstacleType_BoxObstacle,
        ObstacleType_CylinderObstacle,
        ObstacleType_Bot,
    };

public:
    static  WorldElementType GetStaticType() { return TypeTagVolume; }
    virtual WorldElementType GetType() const { return TypeTagVolume; }

    virtual const char* GetTypeName() const { return "TagVolume"; }

    static const char* GetWorldStatusDescription(WorldStatus status);
    static const char* GetIntegrationStatusDescription(IntegrationStatus status);
    static const char* GetObstacleTypeName(ObstacleType obstacleType);

    TagVolume();
    ~TagVolume();

    KyResult Init(const TagVolumeInitConfig& initConfig);

    void AddToWorld();

    void RemoveFromWorld();


    // ---------------------------------- Getters ----------------------------------

    const Box3f& GetAABB() const { return m_aabb; }
    KyFloat32 GetAltitudeMin() const { return m_aabb.m_min.z; }
    KyFloat32 GetAltitudeMax() const { return m_aabb.m_max.z; }
    KyUInt32 GetPointCount() const { return m_points.GetCount(); }
    const Vec2f* GetPoints() const { return m_points.GetDataPtr(); }
    const Vec2f& GetPoint(KyUInt32 i) const { return m_points[i]; }
    const DynamicNavTag& GetNavTag() const { return m_navTag; }
    WorldStatus GetWorldStatus() const { return m_currentWorldStatus; }
    IntegrationStatus GetIntegrationStatus() const { return m_integrationStatus; }
    ObstacleType GetObstacleType() const { return m_obstacleType; }
    void* GetObstacleRawPtr() const { return m_obstacleRawPtr; }
    TagVolumeExtendOptions GetTagVolumeExtendOptions() const { return m_extendOptions; }
    const DatabaseBinding* GetDatabaseBinding() const { return GetTagVolumeDatabaseData().m_databaseBinding; }
    BoxObstacle* GetBoxObstacle() const { return ((m_obstacleType == ObstacleType_BoxObstacle) ? (BoxObstacle*)m_obstacleRawPtr : nullptr); }
    CylinderObstacle* GetCylinderObstacle() const { return ((m_obstacleType == ObstacleType_CylinderObstacle) ? (CylinderObstacle*)m_obstacleRawPtr : nullptr); }
    Bot* GetBot() const { return ((m_obstacleType == ObstacleType_Bot) ? (Bot*)m_obstacleRawPtr : nullptr); }


public: // internal
    virtual void DoSendVisualDebug(VisualDebugServer& server, VisualDebugSendChangeEvent changeEvent); // Inherited from WorldElement
    void SetObstacle(BoxObstacle* obstacle);
    void SetObstacle(CylinderObstacle* obstacle);
    void SetObstacle(Bot* bot);
    void ResetObstacle();

    void OnIntegrationStart();
    void OnDeIntegrationStart();

    void OnIntegrationDone();
    void OnDeIntegrationDone();

    void OnIntegrationCancelled();
    void OnDeIntegrationCancelled();

    const TagVolumeDatabaseData& GetTagVolumeDatabaseData() const { return m_tagVolumeDatabaseData; }
    TagVolumeDatabaseData& GetTagVolumeDatabaseData() { return m_tagVolumeDatabaseData; }

    KyResult GetExpandedContour(KyFloat32 radius, KyFloat32 mergePointDistance, KyArray<Vec2f>& expandedContour) const;

    void SetWorld(World* world) { m_world = world; } 

private:
    void SetContourFromInitConfigAccordingToWinding(const TagVolumeInitConfig& initConfig);

    // AABB & point array are private to force PushPoint(...) usage to ensure coherency.
    // AABB, point array and NavTag are private to trigger an update when modified.
    // TagVolumeSpatialization is private to force read-only access.
    Box3f m_aabb;
    KyArray<Vec2f, MemStat_TagVolume> m_points;
    DynamicNavTag m_navTag;

    TagVolumeDatabaseData m_tagVolumeDatabaseData;
    TagVolumeExtendOptions m_extendOptions;

    ObstacleType m_obstacleType;
    void* m_obstacleRawPtr;
    TagVolumeCylinderExpander m_cylinderExpander;
    TagVolumeBoxExpander m_boxExpander;

public: // For internal use only
    WorldStatus m_currentWorldStatus;
    WorldStatus m_nextWorldStatus;
    IntegrationStatus m_integrationStatus;

    // visual debug
    bool m_needToSendNewContextBlob;
    bool m_needToSendTagVolumeBlob;
};


} // namespace Kaim