AIEntity.h

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/*
   Copyright (c) 2018 DIVIDE-Studio
   Copyright (c) 2009 Ionut Cava
 
   This file is part of DIVIDE Framework.
 
   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.
 
 */
#pragma once
#ifndef DVD_AI_ENTITY_H_
#define DVD_AI_ENTITY_H_
 
#include "AI/Sensors/Headers/VisualSensor.h"
 
struct dtCrowdAgent;
 
namespace Divide {
 
class SceneGraphNode;
 
class NPC;
namespace AI {
class AITeam;
class AIProcessor;
class Order;
enum class AIMsg : U8; 
 
namespace Navigation {
    class DivideRecast;
    class DivideDtCrowd;
}
 
namespace Attorney {
    class AIEntityAITeam;
}
 
class AIEntity final : public GUIDWrapper {
    friend class Attorney::AIEntityAITeam;
   public:
    enum class PresetAgentRadius : U8 {
        AGENT_RADIUS_SMALL = 0,
        AGENT_RADIUS_MEDIUM = 1,
        AGENT_RADIUS_LARGE = 2,
        AGENT_RADIUS_EXTRA_LARGE = 3,
        COUNT
    };
 
    AIEntity( NPC* parent, const vec3<F32>& currentPosition, std::string_view name);
    ~AIEntity() override;
 
    void load( const vec3<F32>& currentPosition );
    void unload();
 
    [[nodiscard]] bool addSensor(SensorType type);
    [[nodiscard]] bool setAndSurrenderAIProcessor(AIProcessor* processor);
 
    void sendMessage(AIEntity& receiver, AIMsg msg, const std::any& msg_content);
    void receiveMessage(AIEntity& sender, AIMsg msg, const std::any& msg_content);
    void processMessage(AIEntity& sender, AIMsg msg, const std::any& msg_content);
 
    [[nodiscard]] Sensor* getSensor(SensorType type);
 
    [[nodiscard]] AITeam* getTeam() const noexcept { return _teamPtr; }
    [[nodiscard]] U32 getTeamID() const;
    [[nodiscard]] const string& name() const noexcept { return _name; }
 
    [[nodiscard]] NPC* getUnitRef() const noexcept { return _unitRef; }
 
    [[nodiscard]] I32 getAgentID() const noexcept { return _agentID; }
    [[nodiscard]] const dtCrowdAgent* getAgent() const noexcept { return _agent; }
    [[nodiscard]] bool isAgentLoaded() const noexcept { return _agentID >= 0; }
    void resetCrowd();
    [[nodiscard]] F32 getAgentHeight() const noexcept;
    [[nodiscard]] F32 getAgentRadius() const noexcept;
    [[nodiscard]] PresetAgentRadius getAgentRadiusCategory() const noexcept { return _agentRadiusCategory; }
    [[nodiscard]] bool updateDestination(const vec3<F32>& destination, bool updatePreviousPath = false);
    [[nodiscard]] const vec3<F32>& getDestination() const noexcept;
    [[nodiscard]] bool destinationReached() const;
    [[nodiscard]] bool setPosition(const vec3<F32>& position);
    [[nodiscard]] const vec3<F32>& getPosition() const noexcept;
    [[nodiscard]] F32 getMaxSpeed() const noexcept;
    [[nodiscard]] F32 getMaxAcceleration() const noexcept;
    void setVelocity(const vec3<F32>& velocity);
    void moveForward();
    void moveBackwards();
    void stop();
    [[nodiscard]] vec3<F32> getVelocity() const noexcept;
    [[nodiscard]] F32 getSpeed() const noexcept { return getVelocity().length(); }
    [[nodiscard]] bool isMoving() const noexcept { return !_stopped || !IS_ZERO(getSpeed()); }
 
    [[nodiscard]] string toString() const;
 
   protected:
    void updatePosition(U64 deltaTimeUS);
    void setDestination(const vec3<F32>& destination) noexcept;
 
    void setTeamPtr(AITeam* teamPtr);
    [[nodiscard]] bool processInput(U64 deltaTimeUS);
    [[nodiscard]] bool processData(U64 deltaTimeUS);
    [[nodiscard]] bool update(U64 deltaTimeUS);
 
   private:
    string _name;
    AITeam* _teamPtr;
    std::unique_ptr<AIProcessor> _processor;
 
    mutable SharedMutex _updateMutex;
    mutable SharedMutex _managerQueryMutex;
 
    using SensorMap = hashMap<SensorType, std::unique_ptr<Sensor>>;
    SensorMap _sensorList;
    NPC* _unitRef;
    I32 _agentID;
    Navigation::DivideDtCrowd* _detourCrowd;
    const dtCrowdAgent* _agent;
    PresetAgentRadius _agentRadiusCategory;
 
    vec3<F32> _destination;
    vec3<F32> _currentPosition;
    vec3<F32> _currentVelocity;
    F32 _distanceToTarget;
    F32 _previousDistanceToTarget;
    U64 _moveWaitTimer;
    bool _stopped;
};
 
namespace Attorney {
class AIEntityAITeam {
    static void setTeamPtr(AIEntity& entity, AITeam* const teamPtr) {
        entity.setTeamPtr(teamPtr);
    }
    static bool processInput(AIEntity& entity, const U64 deltaTimeUS) {
        return entity.processInput(deltaTimeUS);
    }
    static bool processData(AIEntity& entity, const U64 deltaTimeUS) {
        return entity.processData(deltaTimeUS);
    }
    static bool update(AIEntity& entity, const U64 deltaTimeUS) {
        return entity.update(deltaTimeUS);
    }
    friend class AI::AITeam;
};
}  // namespace Attorney
}  // namespace AI
}  // namespace Divide
 
#endif //DVD_AI_ENTITY_H_