luaNavJob.h

Go to the documentation of this file.

/*******************************************************************************
** Copyright (c) 2015 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include "vrfLua/vrfLuaDefines.h"
#include "vrfLua/luaAsyncJob.h"
#include "vrfutil/scriptGeometry.h"
#include "vrfutil/asciiSerializable.h"
#include "vrfutil/algorithmManager.h"
#include "vrfutil/localVertexList.h"
#include "vrfNavigation/navArea.h"
#include "vrfNavigation/coverPointFinder.h"
#include "vrfutil/rwUUID.h"
#include "vrfutil/movementModes.h"
#include <vrfobjcore/navInterfaceManager.h>

#include <luabind/luabind.hpp>

class DtSimObject;
class DtCoverPointFinder;
class DtActiveBotNavInterface;

class DT_DLL_vrfLua DtLuaNavJob : public DtLuaAsyncJob
{
public:
   typedef std::list<DtLocation3D> Points;

   DtLuaNavJob();

   virtual ~DtLuaNavJob() override;

   virtual luabind::object getObject(lua_State* L, int& index, std::string& message) override = 0;

   virtual luabind::object getDebugObject(lua_State* L) override { return luabind::newtable(L); };

   virtual void cancel(lua_State* L) override {};

   void addMessage(DtAlgorithmManager::Severity, std::string);


   virtual DtString serialize() override;
   virtual bool deserialize(const DtString&) override;

   virtual DtString objectType() const override = 0;

   //Tick the job.
   virtual void run(const DtAlgorithmManager& mgr = DtAlgorithmManager()) = 0;

   virtual bool complete();

protected:

   DtLuaNavJob(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      DtLocation3D accessPoint = DtLocation3D(DtVector::zero()),
      Points boundingArea = Points());

   //Initialize the job. This version must be called by derived start functions.
   virtual void start();

   virtual void taskComplete() = 0;

   //Common parameters for nav jobs.
   DtString myNavigationProfile;
   DtLocation3D myStartPoint;
   DtLocation3D myAccessPoint;
   Points myBoundingArea;

   std::string myMessage;
   bool myStarted = false;

   DtNavAreaQuery::Ptr myQuery;
};

class DT_DLL_vrfLua DtLuaNavRandomPointJob : public DtLuaNavJob
{
public:
   static std::shared_ptr<DtLuaNavRandomPointJob> Make(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      double minDistanceFromStart,
      double maxDistanceFromStart,
      DtLocation3D accessPoint = DtLocation3D(DtVector::zero()),
      Points boundingArea = Points(),
      int numberOfPoints = 1,
      double minDistanceBetweenPoints = 0.0,
      DtString placementRestriction = DtMovementModeFree,
      bool isStrict = true,
      bool tightlyPack = false,
      bool needLos = false,
      bool groundClamp = false,
      Points leftOfLine = Points(),
      const DtSimObject* parentObject = 0);

   DtLuaNavRandomPointJob();

   virtual ~DtLuaNavRandomPointJob() override;

   virtual luabind::object getObject(lua_State* L, int& index, std::string& message) override;

   virtual luabind::object getDebugObject(lua_State* L) override;

   virtual void cancel(lua_State* L) override;


   static DtAsciiSerializable* creator();

   //Returns LuaNavRandomPointJob
   virtual DtString objectType() const override { return DtLuaNavRandomPointJobType; };

   //Initialize the job.
   virtual void start() override;

   //Tick the job.
   virtual void run(const DtAlgorithmManager& mgr = DtAlgorithmManager()) override;

   virtual bool beginPointGeneration();

   //Returns true when the job is done.
   virtual bool complete() override;

   virtual void taskComplete() override;

protected:

   DtLuaNavRandomPointJob(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      double minDistanceFromStart,
      double maxDistanceFromStart,
      DtLocation3D accessPoint = DtLocation3D(DtVector::zero()),
      Points boundingArea = Points(),
      int numberOfPoints = 1,
      double minDistanceBetweenPoints = 0.0,
      DtString placementRestriction = DtMovementModeFree,
      bool isStrict = true,
      bool tightlyPack = false,
      bool needLos = false,
      bool groundClamp = false,
      Points leftOfLine = Points(),
      const DtSimObject* parentObject = 0);

   int myNumberOfPoints;
   double myMinDistanceFromStart;
   double myMaxDistanceFromStart;
   double myMinDistanceBetweenPoints;
   DtString myPlacementRestriction;
   bool myIsStrict;
   bool myTightlyPack;
   bool myNeedLos;
   bool myGroundClamp;
   Points myLeftOfLine;
   Points myResultPoints;
   Points myDebugPoints;
   const DtSimObject* myParentObject;
   bool myRanOnce;
   bool myGenerated;
   bool myDataAvailable;
   bool myNoNavArea;
   DtVector myLocalAccessPoint;
   DtLocalVertexList myBoundary;
   DtLocalVertexList myLeftOfLineVertices;
};

class DT_DLL_vrfLua DtLuaNavPointOfInterestJob : public DtLuaNavJob
{
public:
   static std::shared_ptr<DtLuaNavPointOfInterestJob> Make(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      DtUUID hostUuid,
      int navTag = -1);

   DtLuaNavPointOfInterestJob();

   virtual ~DtLuaNavPointOfInterestJob() override;

   virtual luabind::object getObject(lua_State* L, int& index, std::string& message) override;


   static DtAsciiSerializable* creator();

   //Returns LuaNavRandomPointJob
   virtual DtString objectType() const override { return DtLuaNavRandomPointJobType; };

   //Initialize the job.
   virtual void start() override;

   //Tick the job.
   virtual void run(const DtAlgorithmManager& mgr = DtAlgorithmManager()) override;

   virtual void taskComplete() override;

protected:

   DtLuaNavPointOfInterestJob(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      int navTag = -1);

   int myNavTag;
   DtLocation3D myResultPoint;
   bool myGenerated;
};

class DT_DLL_vrfLua DtLuaNavCoverPointJob : public DtLuaNavJob
{
public:
   static std::shared_ptr<DtLuaNavCoverPointJob> Make(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      DtLocation3D coverFromPoint,
      double threatRadius,
      double distanceFromThreat,
      double range,
      unsigned numberOfPoints,
      unsigned int queryQueuePriority);

   DtLuaNavCoverPointJob();

   virtual ~DtLuaNavCoverPointJob() override;

   virtual luabind::object getObject(lua_State* L, int& index, std::string& message) override;


   static DtAsciiSerializable* creator();

   //Returns LuaNavCoverPointJob
   virtual DtString objectType() const override { return DtLuaNavCoverPointJobType; };

   //Initialize the job.
   virtual void start() override;

   //Tick the job.
   virtual void run(const DtAlgorithmManager& mgr = DtAlgorithmManager()) override;

   virtual void taskComplete() override;

protected:

   DtLuaNavCoverPointJob(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      DtLocation3D startPoint,
      DtLocation3D threatPoint,
      double threatRadius,
      double distanceFromThreat,
      double range,
      unsigned numberOfPoints,
      unsigned int queryQueuePriority);

   double myThreatRadius;
   double myDistanceFromThreat;
   double myRange;
   DtLocation3D myThreatPoint;
   std::set<DtCoverPoint> myResultPoints;
   unsigned myNumberOfPoints;
   unsigned myQueryQueuePriority;
   bool myGenerated;

   std::shared_ptr<DtCoverPointFinder> myPendingCoverPointFinder;
};

struct DtLuaNavFindPathParameters
{
   bool useAbstractGraphs = true;
   bool useChannels = false;
   double channelRadius = 4.0;
   DtLocation3D avoidLocation;
   double avoidanceRadius = 0.0;
   DtString navigationProfile;
   DtActiveBotNavInterface* activeNavIf = nullptr;
   DtNavPathEvalFunction evalFcn = DtNavPathEvalFunction(0, 0);
};

class DT_DLL_vrfLua DtLuaNavFindPathJob : public DtLuaNavJob
{
public:
   static std::shared_ptr<DtLuaNavFindPathJob> Make(DtSimulationServices* mgr,
      DtLocation3D startPoint,
      DtLocation3D endPoint,
      DtLuaNavFindPathParameters& parameters);

   DtLuaNavFindPathJob();

   virtual ~DtLuaNavFindPathJob() override;

   virtual luabind::object getObject(lua_State* L, int& index, std::string& message) override;

   virtual luabind::object getDebugObject(lua_State* L) override;


   static DtAsciiSerializable* creator();

   //Returns LuaNavCoverPointJob
   virtual DtString objectType() const override { return DtLuaNavFindPathJobType; };

   //Initialize the job.
   virtual void start() override;

   //Tick the job.
   virtual void run(const DtAlgorithmManager& mgr = DtAlgorithmManager()) override;

   virtual void taskComplete() override;

protected:

   DtLuaNavFindPathJob(DtSimulationServices* mgr,
      DtLocation3D startPoint,
      DtLocation3D endPoint,
      DtLuaNavFindPathParameters& parameters);

   DtLocation3D myEndPoint;
   Points myPathPoints;
   bool myUseAbstractGraphs;
   bool myUseChannels;
   double myChannelRadius;
   DtLocation3D myAvoidLocation;
   double myAvoidanceRadius;
   DtActiveBotNavInterface* myNavIf;
   DtNavPathEvalFunction myPathEval;
   double myPathCost;
   bool myGenerated;

   Points myDebugPoints;
};

class DT_DLL_vrfLua DtLuaNavPlaceFormationJob : public DtLuaNavJob
{
public:
   static std::shared_ptr<DtLuaNavPlaceFormationJob> Make(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      std::vector<DtLocation3D> formationPoints, 
      double width);

   DtLuaNavPlaceFormationJob();

   virtual ~DtLuaNavPlaceFormationJob() override;

   virtual luabind::object getObject(lua_State* L, int& index, std::string& message) override;


   static DtAsciiSerializable* creator();

   //Returns LuaNavRandomPointJob
   virtual DtString objectType() const override { return DtLuaNavPlaceFormationJobType; };

   //Initialize the job.
   virtual void start() override;

   //Tick the job.
   virtual void run(const DtAlgorithmManager& mgr = DtAlgorithmManager()) override;

   virtual void taskComplete() override;

protected:

   DtLuaNavPlaceFormationJob(
      DtSimulationServices* mgr,
      DtString navigationProfile,
      std::vector<DtLocation3D> formationPoints,
      double width);

   std::vector<DtLocation3D> myStartPoints;
   std::vector<DtLocation3D> myResultPoints;
   double myWidth;
   bool myGenerated;
};

class DtLuaNavJobManager
{
public:
   DtLuaNavJobManager();
   ~DtLuaNavJobManager();
   virtual void tick();
   virtual void addJob(std::shared_ptr<DtLuaNavJob> job);
protected:
   std::list<std::shared_ptr<DtLuaNavJob> > myJobs;
};