CGraphQuery.h

/*
!@
MIT License
 
Copyright (c) 2024 Skylicht Technology CO., LTD
 
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files
(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify,
merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
This file is part of the "Skylicht Engine".
https://github.com/skylicht-lab/skylicht-engine
!#
*/
 
#pragma once
 
#include "RenderMesh/CRenderMeshData.h"
#include "ObstacleAvoidance/CObstacleAvoidance.h"
#include "WalkingMap/CWalkingTileMap.h"
 
namespace Skylicht
{
    namespace Graph
    {
        class COctreeNode
        {
        public:
            core::aabbox3df Box;
            core::aabbox3df OctreeBox;
 
            int Level;
 
            COctreeNode* Parent;
            COctreeNode* Childs[8];
 
            core::array<core::triangle3df> Triangles;
            CObstacleAvoidance Obstacle;
 
            COctreeNode();
 
            virtual ~COctreeNode();
        };
 
        struct SDistanceTile
        {
            float Distance;
            STile* Tile;
        };
 
        class CDistancePriorityQueue
        {
        protected:
            core::array<SDistanceTile> m_queue;
 
        public:
            CDistancePriorityQueue();
 
            virtual ~CDistancePriorityQueue();
 
            void push(const SDistanceTile& d);
 
            void pop();
 
            inline bool empty()
            {
                return m_queue.empty();
            }
 
            const SDistanceTile& top();
        };
 
        class CGraphQuery
        {
        protected:
            COctreeNode* m_root;
 
            u32 m_minimalPolysPerNode;
 
        public:
            CGraphQuery();
 
            virtual ~CGraphQuery();
 
            void release();
 
            void buildIndexNavMesh(CMesh* navMesh, CObstacleAvoidance* obstacle);
 
            inline COctreeNode* getRootNode()
            {
                return m_root;
            }
 
            bool getCollisionPoint(
                const core::line3d<f32>& ray,
                f32& outBestDistanceSquared,
                core::vector3df& outIntersection,
                core::triangle3df& outTriangle);
 
            void getTriangles(const core::aabbox3df& box, core::array<core::triangle3df*>& result);
 
            void getObstacles(const core::aabbox3df& box, CObstacleAvoidance& obstacle);
 
            bool findPath(CWalkingTileMap* map, STile* from, STile* to, core::array<STile*>& result);
 
        protected:
 
            void constructOctree(COctreeNode* node);
 
            void getTrianglesFromOctree(
                core::array<core::triangle3df*>& listTriangle,
                COctreeNode* node,
                const core::vector3df& midLine,
                const core::vector3df& lineVect,
                float halfLength);
 
            void getTrianglesFromOctree(
                core::array<core::triangle3df*>& listTriangle,
                COctreeNode* node,
                const core::aabbox3df& box);
 
            void getObstacleFromOctree(
                CObstacleAvoidance& obstacle,
                COctreeNode* node,
                const core::aabbox3df& box);
        };
    }
}