traverselogic.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/math/vec3f.h"
#include "gwnavruntime/basesystem/logger.h"
#include "gwnavruntime/containers/kyarray.h"
#include "gwnavruntime/database/navtag.h"

#define KY_TRAVERSE_LOGIC(className_, costMode_, canEnterMode_)  \
private:                                                         \
    className_();                                                \
    KY_CLASS_WITHOUT_COPY(className_)                            \
    typedef className_<canEnterMode_> BaseClass;                 \
public:                                                          \
    typedef costMode_     CostMultiplierUsage;                   \
    typedef canEnterMode_ CanEnterNavTagMode;                    \
private:

namespace Kaim
{

class NavTriangleRawPtr;
class NavGraphEdgeRawPtr;

class LogicDoNotUseCanEnterNavTag { public: LogicDoNotUseCanEnterNavTag() {} };

class LogicDoUseCanEnterNavTag    { public: LogicDoUseCanEnterNavTag() {} };

class LogicWithNoCustomCost { public: LogicWithNoCustomCost() {} };

class LogicWithCostPerNavTag { public: LogicWithCostPerNavTag() {} };

class LogicWithCostPerTriangle { public: LogicWithCostPerTriangle() {} };

template <class TCanEnterNavTagMode = LogicDoNotUseCanEnterNavTag>
class SimpleTraverseLogic
{
    KY_TRAVERSE_LOGIC(SimpleTraverseLogic, LogicWithNoCustomCost, TCanEnterNavTagMode)
public:
    static bool CanTraverseNavTag(void* /*traverseLogicUserData*/, const NavTag& /*navTag*/) { return true; }

    static KyFloat32 GetHeuristicFromDistanceToDest(void* /*traverseLogicUserData*/, KyFloat32 distance3dToDestination) { return distance3dToDestination; }

    static bool CanEnterNavTag(void* /*traverseLogicUserData*/, const NavTag& /*exitNavTag*/, const NavTag& /*enterNavTag*/, const Vec3f& /*pos*/) { return true; }
};

class DefaultTraverseLogic : public SimpleTraverseLogic<LogicDoNotUseCanEnterNavTag>
{
};


template <class TCanEnterNavTagMode>
class TraverseLogicWithCostPerNavTag
{
    KY_TRAVERSE_LOGIC(TraverseLogicWithCostPerNavTag, LogicWithCostPerNavTag, TCanEnterNavTagMode)
public:
    static bool CanTraverseNavTag(void* /*traverseLogicUserData*/, const NavTag& /*navTag*/, KyFloat32* /*costMultiplier*/) { return true; }

    static KyFloat32 GetHeuristicFromDistanceToDest(void* /*traverseLogicUserData*/, KyFloat32 distance3dToDestination) { return distance3dToDestination; }

    static bool CanEnterNavTag(void* /*traverseLogicUserData*/, const NavTag& /*exitNavTag*/, const NavTag& /*enterNavTag*/, const Vec3f& /*pos*/) { return true; }
};


template <class TCanEnterNavTagMode>
class TraverseLogicWithCostPerTriangle
{
    KY_TRAVERSE_LOGIC(TraverseLogicWithCostPerTriangle, LogicWithCostPerTriangle, TCanEnterNavTagMode)
public:
    static bool CanTraverseNavTriangle(void* /*traverseLogicUserData*/, const NavTriangleRawPtr& /*triangle*/, KyFloat32* /*costMultiplier*/) { return true; }

    static bool CanTraverseNavGraphEdge(void* /*traverseLogicUserData*/, const NavGraphEdgeRawPtr& /*graphEdge*/, KyFloat32* /*costMultiplier*/) { return true; }

    static KyFloat32 GetHeuristicFromDistanceToDest(void* /*traverseLogicUserData*/, KyFloat32 distance3dToDestination) { return distance3dToDestination; }

    static bool CanEnterNavTag(void* /*traverseLogicUserData*/, const NavTag& /*exitNavTag*/, const NavTag& /*enterNavTag*/, const Vec3f& /*pos*/) { return true; }
};


}