DivideCrowd.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.
 
 */
 
/*
    OgreCrowd
    ---------
 
    Copyright (c) 2012 Jonas Hauquier
 
    Additional contributions by:
 
    - mkultra333
    - Paul Wilson
 
    Sincere thanks and to:
 
    - Mikko Mononen (developer of Recast navigation libraries)
 
    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_CROWD_H_
#define DVD_CROWD_H_
 
#include "recastnavigation/DetourCrowd.h"
#include "AI/PathFinding/NavMeshes/Headers/NavMesh.h"
 
namespace Divide {
namespace AI {
namespace Navigation {
 
class NavigationMesh;
 
class DivideDtCrowd final : public NonCopyable {
   public:
    DivideDtCrowd(NavigationMesh* navMesh);
    ~DivideDtCrowd();
    [[nodiscard]] I32 addAgent(const vec3<F32>& position, F32 maxSpeed, F32 acceleration);
    [[nodiscard]] const dtCrowdAgent* getAgent(const I32 id) const { return _crowd->getAgent(id); }
    void removeAgent(I32 idx);
    void setMoveTarget(const vec3<F32>& position, bool adjust);
    void setMoveTarget(I32 agentID, const vec3<F32>& position, bool adjust);
    [[nodiscard]] bool requestVelocity(I32 agentID, const vec3<F32>& velocity) const;
    [[nodiscard]] bool stopAgent(I32 agentID) const;
    [[nodiscard]] static vec3<F32> calcVel(const vec3<F32>& position, const vec3<F32>& target, D64 speed);
    [[nodiscard]] static F32 getDistanceToGoal(const dtCrowdAgent* agent, F32 maxRange);
    [[nodiscard]] static bool destinationReached(const dtCrowdAgent* agent, F32 maxDistanceFromTarget);
    void update(U64 deltaTimeUS);
    [[nodiscard]] F32 getAgentHeight() const noexcept { return Attorney::NavigationMeshCrowd::getConfigParams(*_recast).getAgentHeight(); }
    [[nodiscard]] F32 getAgentRadius() const  noexcept { return Attorney::NavigationMeshCrowd::getConfigParams(*_recast).getAgentRadius(); }
    [[nodiscard]] I32 getNbAgents() const noexcept { return _activeAgents; }
    [[nodiscard]] const NavigationMesh& getNavMesh() const noexcept { return *_recast; }
    [[nodiscard]] bool isValidNavMesh() const;
    void setNavMesh(NavigationMesh* navMesh) noexcept { _recast = navMesh; }
    [[nodiscard]] I32 getMaxNbAgents() const { return _crowd->getAgentCount(); }
    [[nodiscard]] void getActiveAgents( vector<dtCrowdAgent*>& agentsOut ) const;
    [[nodiscard]] vector<I32> getActiveAgentIDs() const;
    [[nodiscard]] vec3<F32> getLastDestination() const noexcept { return vec3<F32>(_targetPos); }
    dtCrowd* _crowd = nullptr;
    NavigationMesh* _recast = nullptr;
    dtPolyRef _targetRef = 0u;
    F32 _targetPos[3]{0.f, 0.f, 0.f};
    static constexpr I32 AGENT_MAX_TRAIL = 64;
    static constexpr I32 MAX_AGENTS = 128;
    struct AgentTrail {
        F32 trail[AGENT_MAX_TRAIL * 3];
        I32 htrail;
    };
    AgentTrail _trails[MAX_AGENTS];
    dtCrowdAgentDebugInfo _agentDebug;
    dtObstacleAvoidanceDebugData* _vod = nullptr;
    bool _anticipateTurns = true;
    bool _optimizeVis = true;
    bool _optimizeTopo = true;
    bool _obstacleAvoidance = true;
    bool _separation = false;
    F32 _obstacleAvoidanceType = 3.0f;
    F32 _separationWeight = 2.0f;
 
   protected:
    static void calcVel(F32* velocity, const F32* position, const F32* target, F32 speed);
 
   private:
    I32 _activeAgents = 0;
};  // DivideDtCrowd
 
}  // Navigation
}  // namespace AI
}  // namespace Divide
 
#endif //DVD_CROWD_H_