AgentAvoidanceModule.h

#pragma once
// ===========================================================================
// Copyright (c) 2015 Toolchefs Ltd. All rights reserved.
//
// Use of this software is subject to the terms of the Toolchefs license
// agreement provided at the time of installation or download, or which
// otherwise accompanies this software in either electronic or hard copy form.
// ===========================================================================
 
#include <Atoms/BehaviourModule.h>
#include <Atoms/Avoidance/RVO2.h>
#include <AtomsUtils/KdTreePoint.h>
#include <AtomsUtils/NavigationMesh/NavMesh.h>
#include <functional>
 
 
namespace AtomsModules
{
    class AgentAvoidanceModule : public Atoms::BehaviourModule
    {
    public:
 
        struct CollisionData
        {
            AtomsCore::Vector3 origDir;
            AtomsCore::Vector3 newDir;
            AtomsCore::Vector3 preMaxTurnAngleDir;
            AtomsCore::Vector3 rotAxis;
            double weight;
            int target;
            bool processed;
        };
 
        struct DebugData
        {
            std::vector<AtomsCore::Vector3> obstacleNeighborsPos;
            std::vector<AtomsCore::Vector3> neighborsPos;
            AtomsCore::Vector3 pos;
            std::vector<int> neighborsIds;
            double radius;
            bool valid;
        };
 
        AgentAvoidanceModule();
 
        ~AgentAvoidanceModule();
 
        void initSimulation(Atoms::AgentGroup* agentGroup = nullptr);
 
        void initFrame(const std::vector<Atoms::Agent*>& agents, Atoms::AgentGroup* agentGroup = nullptr);
 
        void endFrame(const std::vector<Atoms::Agent*>& agents, Atoms::AgentGroup* agentGroup = nullptr);
 
        void preDraw(Atoms::DrawContext* context, const std::vector<Atoms::Agent*>& agents, Atoms::AgentGroup* agentGroup = nullptr);
 
        void draw(Atoms::DrawContext* context, const std::vector<Atoms::Agent*>& agents, Atoms::AgentGroup* agentGroup = nullptr);
 
        static Atoms::BehaviourModule* creator(const std::string& parameter);
#ifdef ATOMS_UNREAL
        void registerTreeLoaderCallback(std::function<AtomsPtr<Atoms::RVO2::KdTreeObstacle>()>& callback)
        {
            m_obstacleTreeloaderCallback = callback;
        }
#endif
 
    private:
 
        static size_t addObstacle(const std::vector<AtomsMath::Vector3f>& vertices, std::vector<Atoms::RVO2::Obstacle*>& obstacles);
 
        static size_t addObstacleEdge(const AtomsMath::Vector3f& a, const AtomsMath::Vector3f& b, std::vector<Atoms::RVO2::Obstacle*>& obstacles);
 
        std::vector<DebugData> m_debugData;
#ifndef ATOMS_UNREAL
        Atoms::RVO2::KdTreeObstacle m_obstaclesTree;
 
        std::vector<Atoms::RVO2::Obstacle*> m_obstacles;
#else
        AtomsPtr<Atoms::RVO2::KdTreeObstacle> m_obstaclesTree;
 
        std::vector<Atoms::RVO2::Obstacle*> m_obstacles;
 
        std::function<AtomsPtr<Atoms::RVO2::KdTreeObstacle>()> m_obstacleTreeloaderCallback;
#endif
        Atoms::RVO2::KdTreeObstacle m_dynObstaclesTree;
 
        std::vector<Atoms::RVO2::Obstacle*> m_dynObstacles;
 
        std::vector<std::vector<AtomsMath::Vector2f>> m_dynObstaclesConvexPoly;
 
        float m_sceneScale;
 
        int m_method;
 
        bool m_activeDraw;
 
    };
}