MeshAvoidanceModule.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 <AtomsUtils/Mesh.h>
#include <AtomsCore/Metadata/Vector3Metadata.h>
#include <Atoms/HeightField.h>
#include <unordered_map>
 
struct VisionDistanceData
{
    VisionDistanceData(double v,
        unsigned int s,
        unsigned int e) :
        value(v),
        start(s),
        end(e)
    {}
    double value;
    unsigned int start;
    unsigned int end;
 
    inline unsigned int span() const { return end - start; }
 
 
};
 
 
namespace AtomsModules
{
 
    class MeshAvoidanceModule : public Atoms::BehaviourModule
    {
    public:
 
        struct FindNewDirArgs
        {
            AtomsPtr<Atoms::HeightField> heightField;
            AtomsUtils::Mesh *mesh;
            AtomsCore::Matrix* meshMatrixSpace;
            AtomsCore::Matrix* meshMatrixSpaceInv;
            AtomsCore::Vector3* upVec;
            AtomsCore::Vector3* localDirVec;
            AtomsCore::Vector3* pelvisPosition;
            AtomsCore::Vector3 targetPosition;
            AtomsCore::Rand48* randomGenerator;
            size_t agentId;
            double sightAngle;
            double agentSize;
            double distanceTmp;
            double maxTurn;
            double weightTmp;
            int seed;
            bool hasContextSteering;
            bool behave3d;
        };
 
        struct DebugData
        {
            AtomsCore::Vector3 pos;
            AtomsCore::Vector3 target;
            double radius;
            bool targetEnabled;
        };
 
        MeshAvoidanceModule();
 
        ~MeshAvoidanceModule();
 
        void agentsCreated(const std::vector<Atoms::Agent*>& agents, Atoms::AgentGroup* agentGroup = nullptr);
 
        void initSimulation(Atoms::AgentGroup* agentGroup = nullptr);
 
        void initFrame(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);
 
        bool intersect(AtomsUtils::Mesh& mesh,
            AtomsPtr<Atoms::HeightField>& heightField,
            AtomsCore::Matrix& meshMatrixSpace,
            AtomsCore::Matrix& meshMatrixSpaceInv,
            AtomsCore::Vector3& position,
            AtomsCore::Vector3& dirVec,
            double& distance);
 
        bool findNewDirection(FindNewDirArgs& args);
 
    private:
        std::unordered_map<std::string, double> m_agentTypeSize;
 
        AtomsUtils::Mesh m_mesh;
 
        bool m_activeDraw;
 
        double m_distance;
 
        std::vector<DebugData> m_debugData;
    };
}