include/bhaveSim/pieIntersector.h

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/*******************************************************************************
** Copyright (c) 2009 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/


#pragma once

#include "bhaveSim/kynapseCollisionTests.h"
#include "kypathdata/navmesh/navmeshtypes.h"
#include "kypathdata/generic/memory.h"
#include "kypathdata/math/vec3f.h"
#include "kypathdata/navmesh/closestpoint.h"

#include "bhaveSim/pieCollisionQuery.h"

namespace BHAVE
{

/*
class PieIntersector
*/
class DtPieIntersector
{
   KY_DEFINE_NEW_DELETE_OPERATORS

public:
   DtPieIntersector(const DtPieCollisionQuery& query, const Kaim::ActiveNavCellGrid& activeNavCellGrid, KyFloat32 startingRadian, KyFloat32 endingRadian) :
      m_integerPrecision(activeNavCellGrid.m_integerPrecision),
    myStartingRadian(startingRadian), myEndingRadian(endingRadian), 
    m_center3f(query.m_centerPos3f), m_radius(query.m_radius) {}

   KY_FORCE_INLINE bool DoesIntersectEdge(const Kaim::CoordPos64& startEdgeCoordPos, const Kaim::CoordPos64& endEdgeCoordPos)
   {
      const Kaim::Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
      const Kaim::Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

      return SegmentVsPie2d(startEdgePos, endEdgePos, m_center3f, m_radius, myStartingRadian, myEndingRadian);
   }

   KY_FORCE_INLINE void ComputeCollisionPosOnEdge(const Kaim::CoordPos64& startEdgeCoordPos, const Kaim::CoordPos64& endEdgeCoordPos, Kaim::Vec3f& collisionPos, KyFloat32& squareDistToCollisionPos)
   {
      const Kaim::Vec3f startEdgePos(startEdgeCoordPos.x * m_integerPrecision, startEdgeCoordPos.y * m_integerPrecision, 0.f);
      const Kaim::Vec3f endEdgePos(endEdgeCoordPos.x * m_integerPrecision, endEdgeCoordPos.y * m_integerPrecision, 0.f);

      Kaim::ClosestPoint::OnSegmentVsPoint2d(startEdgePos, endEdgePos, m_center3f, collisionPos, squareDistToCollisionPos);
   }

   KY_FORCE_INLINE void ComputeTriangleCost(const Kaim::CoordPos64& v0CoordPos, const Kaim::CoordPos64& v1CoordPos, const Kaim::CoordPos64& v2CoordPos, KyFloat32& cost)
   {
      const Kaim::Vec3f v0(v0CoordPos.x * m_integerPrecision, v0CoordPos.y * m_integerPrecision, 0.f);
      const Kaim::Vec3f v1(v1CoordPos.x * m_integerPrecision, v1CoordPos.y * m_integerPrecision, 0.f);
      const Kaim::Vec3f v2(v2CoordPos.x * m_integerPrecision, v2CoordPos.y * m_integerPrecision, 0.f);

      Kaim::Vec3f unused;
      Kaim::ClosestPoint::OnTriangleVsPoint2d(v0, v1, v2, m_center3f, unused, cost);
   }

private:
   KyFloat32 m_integerPrecision;

   Kaim::Vec3f m_center3f;
   KyFloat32 myStartingRadian;
   KyFloat32 myEndingRadian;

   KyFloat32 m_radius;
};

}