navBot.h

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



#pragma once

#include "vrfNavigation/vrfNavigationDefines.h"
#include <vrfNavigation/navDataTag.h>
#include <string>
#include "matrix/vlVector.h"

#include <vrfutil/rwBinaryData.h>

class DtNavArea;

struct DtNavTagAndLocation
{
   DtNavTag navTag;
   DtVector location;

   DtNavTagAndLocation(const DtNavTag& t, const DtVector& l) : navTag(t), location(l) {}
   DtNavTagAndLocation() : navTag(0,0), location() {}
};
typedef std::vector<DtNavTagAndLocation> DtNavTagAndLocationList;
typedef unsigned int DtNavigationPriorityType;

class DT_DLL_vrfNavigation DtNavBot
{
public:
   enum NavigationMethod
   {
      NavigationMethodShortcut = 0,
      NavigationMethodSpline = 1
   };

   struct NavigationConfiguration
   {
      NavigationConfiguration()
         : myNavigationMethod(NavigationMethodShortcut)
         , myUseAbstractGraph(true)
         , myMinAbstractGraphReplanDistance(100.)
         , myPropagationBoxExtent(200.)
         , myRadiusFactor(1.0)
         , myEnablePathPlanTiming(false)
      {}

      NavigationMethod myNavigationMethod;
      bool myUseAbstractGraph;
      double myMinAbstractGraphReplanDistance;
      double myPropagationBoxExtent;
      double myRadiusFactor;
      bool myEnablePathPlanTiming;
   };

   struct CollisionAvoidanceConfiguration
   {
      CollisionAvoidanceConfiguration() 
         : myEnableAvoidance(true)
         , myEnableStop(true)
         , myEnableSlowDown(true)
         , myEnablePushThrough(false)
         , myEnableNavigation(true)
         , myCollisionLookaheadTime(15.)
         , myCollisionDetectionRadius(15.)
         , myAngleEvalSpan(120)
         , myNumAngleSamples(30)
         , mySafetyDistance((float)0.1)
         , myCollisionAvoidanceInfluence((float)0.8)
      {}

      bool myEnableAvoidance;
      bool myEnableStop;
      bool myEnableSlowDown;
      bool myEnablePushThrough;
      bool myEnableNavigation;
      float myCollisionLookaheadTime;
      float myCollisionDetectionRadius;
      float myAngleEvalSpan;
      int myNumAngleSamples;
      float mySafetyDistance;
      float myCollisionAvoidanceInfluence;
   };

   typedef DtNavBot* (*DtNavBotCreatorFcn)();

   static DtNavBot* create();
   static void setNavBotCreatorFcn(DtNavBotCreatorFcn fcn);

   virtual ~DtNavBot() {};        

   virtual void init(DtNavArea* world, const DtString& profile, double radius, double height, DtNavigationPriorityType queryQueuePriority,
      NavigationConfiguration navConfig = NavigationConfiguration(),
      CollisionAvoidanceConfiguration collAvoidConfig = CollisionAvoidanceConfiguration()) = 0;

   virtual void setPosition(const DtVector& localPos) = 0;
   virtual void setPositionInvalid() = 0;
   virtual void setQueryQueuePriority(const DtNavigationPriorityType& queryQueuePriority) = 0;
   virtual void botUpdate(const DtVector& localPos, double dT) = 0;

   virtual void setDestination(const DtVector& localPos, bool forceOutsideArea = false) = 0;
   virtual void setDesiredSpeed(double speed) = 0;
   virtual void clearFollowedPath() = 0;
   virtual void clearDestination() = 0;
   virtual DtVector currentDestination() const = 0;

   virtual void resetDestination() = 0;

   virtual int getTriangleIndex() const = 0;
   virtual void getTriangleVertices(DtVector& corner1, DtVector& corner2, DtVector& corner3) const = 0;
   virtual DtVector getPointOnTriangle(const DtVector& localLocation) const = 0;

   virtual DtVector getOutputVelocity() = 0;

   typedef bool (*NavBotPathLocationEvalFcn)(const DtNavTag& navTag, float slope, float elevationChange, float* costMultiplier, void* userData);

   virtual void setPathEvalFcn(NavBotPathLocationEvalFcn fcn, void* user) = 0;

   enum PathStatus
   {
      PathStatusInactive,     
      PathStatusComputing,    
      PathStatusHasPath,      
      PathStatusArrived,      
      PathStatusNoValidPath,  
      PathStatusLeavingArea,  
      PathStatusFindingTransitionPoint, 
      PathStatusNoValidPathDestOutside,  
      PathStatusNoValidPathStartOutside, 
   };

   virtual PathStatus pathStatus(double atDistance) = 0;
   virtual DtString pathStatusString() = 0;

   virtual bool hasArrived(double arrivalDistance) = 0;

   virtual bool currentPath(std::vector<DtVector>& path) = 0;
   virtual bool abstractPath(std::vector<DtVector>& path) = 0;

   virtual bool currentPathEdge(DtVector& edgeStart, DtVector& edgeEnd) = 0;

   virtual void getNavPathAsRw(DtRwBinaryData&) = 0;

   virtual bool setPath(DtRwBinaryData&) = 0;

   virtual unsigned currentAbstractPathIndex() = 0;

   virtual void setUseAbstractGraph(bool yesNo) = 0;

   virtual void resetUseAbstractGraph() = 0;

   virtual bool usingAbstractGraph() const = 0;

   virtual DtNavTag navTagAtPosition(const DtVector& localPos) const = 0;

   virtual DtNavTag upcomingNavTagOnPath() const = 0;

   virtual void upcomingNavTagsOnPath(double distance, DtNavTagAndLocationList& navTags) const = 0;

   virtual void setCollisionAvoidanceEnabled(bool enable) = 0;

   virtual void setNavigationMethod(NavigationMethod navMethod) = 0;
   virtual NavigationMethod navigationMethod() const = 0;

   virtual DtVector performMovement(double dt) = 0;

   virtual DtVector groundClamp(const DtVector& localPos, DtVector& normal) = 0;

protected:
   static DtNavBotCreatorFcn theNavBotCreatorFcn;
};