targetonpathcomputer.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/world.h"
#include "gwnavruntime/path/patheventlist.h"
#include "gwnavruntime/database/database.h"
#include "gwnavruntime/queries/raycangoquery.h"
#include "gwnavruntime/queries/findfirstvisiblepositiononpathquery.h"
#include "gwnavruntime/visualsystem/displaylist.h"
#include "gwnavruntime/containers/stringstream.h"
#include "gwnavruntime/spatialization/spatializedcylinder.h"
#include "gwnavruntime/world/bot.h"
#include "gwnavruntime/pathfollower/targetonpath.h"
#include "gwnavruntime/pathfollower/localcostawaretraverselogic.h"

namespace Kaim
{

enum ComputeTargetOnPathResult
{
    KeepCurrentTarget = 0,
    BetterTargetFound,
    NoBetterTargetFound
};

enum ComputeTargetOnPathSearchControl
{
    ContinueSearch = 0,
    StopSearch
};


// set to TargetOnPathNotReachable. No further action is done, you have to check the
template <class TraverseLogic>
class TargetOnPathComputer
{
public:
    // ------------------------------ Functions -----------------------------

    TargetOnPathComputer();

    // Used specifically by the ShortcutTrajectory in order to skip, cf. World::SetNumberOfFramesForShortcutTrajectoryPeriodicUpdate()
    static bool IsComputationRequiredThisFrame(Bot* bot, KyFloat32 timeToNextUpdate, const TargetOnPath& targetOnPath);

    // Must be called before ComputeTargetOnPath
    void SetupShortcutTrajectoryConfig(const ShortcutTrajectoryConfig& config);
    KyResult ComputeTargetOnPath(Bot* bot, TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, ComputeTargetOnPathSearchControl forwardSearchControl);
    void Clear(Bot* bot);

protected:

    enum ValidationResult
    {
        CandidateIsValid = 0,
        InvalidCandidate_CanGoArrivedInWrongFloor,
        InvalidCandidate_CanGoFailure,
        InvalidCandidate_TooFarFromBot
    };

    KyResult ComputeWhenNotOnMesh(Bot* bot, TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, ComputeTargetOnPathSearchControl forwardSearchControl);
    KyResult ComputeWhenOnMesh(const Bot* bot, TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, KyFloat32 costFromBotToTOP, PathEdgeType currentEdgeType, ComputeTargetOnPathSearchControl forwardSearchControl);

    ComputeTargetOnPathResult Shortcut(const Bot* bot, TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, KyFloat32 costFromBotToTOP, PathEdgeType currentEdgeType);
    KyResult MakeSureTargetOnPathIsVisibleAndGetCostFromBotToTOP(const Bot* bot, TargetOnPath& targetOnPath, KyFloat32& costFromBotToTOP);
    KyResult CheckTargetOnPathIsVisibleAndGetCostFromBotToTOP(const Bot* bot, TargetOnPath& targetOnPath, KyFloat32& costFromBotToTOP);
    KyResult FindVisibleTargetOnPathBackwardWithCost(const Bot* bot, TargetOnPath& targetOnPath, KyFloat32& costFromBotToTOP);
    ComputeTargetOnPathSearchControl ShortcutOnNextSample(const Bot* bot, DisplayList& displayList, TargetOnPath& candidate, TargetOnPath& bestCandidate, KyFloat32& costToBest);
    ValidationResult ValidateCandidateAndGetCost(const Bot* bot, DisplayList& displayList, const Vec3f& candidatePosition, RayCanGoMarginMode rayCanGoMarginMode, KyFloat32& cost);
    bool TestCanGoWithCost(RayCanGoQuery<LocalCostAwareTraverseLogic<TraverseLogic> >& canGoQuery, DisplayList& displayList,
        const Vec3f& start, const NavTrianglePtr& startTriangle, const Vec3f& dest, KyFloat32& cost);

public: //internal
    // This disregards backward edge type, it only check forward edge type that must be on NavMesh and bot must have a valid triangle
    KyResult ComputeTargetOnPathOnNavMeshOnly(const Bot* bot, TargetOnPath& targetOnPath, KyFloat32 simulationTimeInSeconds, ComputeTargetOnPathSearchControl forwardSearchControl);

private:
    ShortcutTrajectoryConfig m_config;
    LocalCostAwareTraverseLogicData m_localCostAwareTraverseLogicData;
};

} // namespace Kaim


#include "gwnavruntime/pathfollower/targetonpathcomputer.inl"