restrictedWanderTraversal.h

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#ifndef KY_DtRestrictedWanderTraversal_H
#define KY_DtRestrictedWanderTraversal_H

#include <bhaveSim/restrictedWanderTraversalConfig.h>

#include <kypathdata/generic/basetypes.h>
#include <kyruntime/graph/astartraversal.h>
#include <kyruntime/graph/pointinfo_vertexsafeptr.h>

#include <vrfobjcore/vrfObject.h>

namespace Kaim
{
   class WanderAgent;
   class World;
}

#include <bhaveSim/bhaveSimDefines.h>
namespace BHAVE
{
   class DT_DLL_bhaveSim DtRestrictedWanderTraversal: public Kaim::AstarTraversal
   {
   public:
      KY_DECLARE_TRAVERSAL(DtRestrictedWanderTraversal)


   public:
      DtRestrictedWanderTraversal();

      ~DtRestrictedWanderTraversal();

      KyResult Initialize(Kaim::TraversalManager& traversalManager, const DtRestrictedWanderTraversalConfig& config);

      virtual void Start();

      KyBool ComputeDestination();

      const Kaim::PointWrapper& GetDestination() const { return m_destination; }

      /* Not used. */
      virtual KyBool EvaluateEdge(const Kaim::GraphEdgePtr& edge, KyFloat32& cost);

      static KyUInt32 GetCallCounter();

      KyBool SetWanderDistance(KyFloat32 distance);

      KyFloat32 GetWanderDistance() const;

      void SetPropagationAngle(KyFloat32 angle);

      KyFloat32 GetPropagationAngle() const;

      DtVrfObject* wanderArea() const { return myWanderArea; }
      void setWanderArea(DtVrfObject* val);
      KyBool isInsideArea(const Kaim::Vec3f& position, DtVrfObject* areaObject) const;

   protected:
      virtual KyBool ProcessEdge(const Kaim::GraphEdgePtr& edge);

      virtual KyBool ProcessVertex(const Kaim::GraphVertexPtr& vertex);

      /* Increase the call counter */
      virtual void UpdateCallCounter();

      KyFloat32 ComputeScore(const Kaim::Vec3f& position, 
         KyBool pointIsInsideArea, KyFloat32 sqDistance) const;
      KyBool IsInCone(const Kaim::Vec3f& position) const;
      KyBool IsClearPosition(const Kaim::Vec3f& position) const;

      virtual bool isShapePolyClockwise( Kaim::Vec3f* polyLineVec, unsigned size ) const;

      virtual void reverseShapePolyline( Kaim::Vec3f* polyLineVec, unsigned size ) const;

      virtual KyFloat32 getAreaSizeEstimate();
   public:
      Kaim::PointWrapper m_destination; 
      Kaim::PointInfo_VertexSafePtr m_destinationSafePtr; 
      KyFloat32 m_destinationScore; 
      KyFloat32 m_distance; 
      KyFloat32 m_propagationCosAngle;
     
   protected:
      DtVrfObject* myWanderArea;
      Kaim::Vec3f myAreaCenter; 

      int myProcessVertexCount; 
   };


   class PropagationBias_RestrictedWander : public Kaim::PropagationBias
   {
   public:
      KY_DECLARE_PROPAGATIONBIAS(PropagationBias_RestrictedWander)

   public:
      virtual KyBool GetCost(Kaim::Bot* entity, const Kaim::GraphVertexPtr& position, KyFloat32& cost);

      const DtRestrictedWanderTraversal* m_traversal; 
   };

} 

#endif