PortalPath.h

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/*

License

Menge
Copyright © and trademark ™ 2012-14 University of North Carolina at Chapel Hill. 
All rights reserved.

Permission to use, copy, modify, and distribute this software and its documentation 
for educational, research, and non-profit purposes, without fee, and without a 
written agreement is hereby granted, provided that the above copyright notice, 
this paragraph, and the following four paragraphs appear in all copies.

This software program and documentation are copyrighted by the University of North 
Carolina at Chapel Hill. The software program and documentation are supplied "as is," 
without any accompanying services from the University of North Carolina at Chapel 
Hill or the authors. The University of North Carolina at Chapel Hill and the 
authors do not warrant that the operation of the program will be uninterrupted 
or error-free. The end-user understands that the program was developed for research 
purposes and is advised not to rely exclusively on the program for any reason.

IN NO EVENT SHALL THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE AUTHORS 
BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL 
DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS 
DOCUMENTATION, EVEN IF THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL OR THE 
AUTHORS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS SPECIFICALLY 
DISCLAIM ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES 
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND ANY STATUTORY WARRANTY 
OF NON-INFRINGEMENT. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND 
THE UNIVERSITY OF NORTH CAROLINA AT CHAPEL HILL AND THE AUTHORS HAVE NO OBLIGATIONS 
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.

Any questions or comments should be sent to the authors {menge,geom}@cs.unc.edu

*/

#ifndef __PORTAL_PATH_H__
#define __PORTAL_PATH_H__

#include "mengeCommon.h"
#include "Route.h"
#include "NavMesh.h"
#include "Goals/Goal.h"


namespace Menge {

    // Forward Declaration
    class NavMeshLocalizer;
    class PathPlanner;
    namespace Agents {
        class BaseAgent;
    }

    class PortalPath {
    public:
        PortalPath( const Vector2 & startPos, const BFSM::Goal * goal, const PortalRoute * route, float agentRadius );

        ~PortalPath();

        void setPreferredDirection( const Agents::BaseAgent * agent, float headingCos, Agents::PrefVelocity & pVel );

        unsigned int updateLocation( const Agents::BaseAgent * agent, const NavMeshPtr & navMesh, const NavMeshLocalizer * localizer, PathPlanner * planner );

        unsigned int getNode() const;

        inline size_t getWayPointCount() const { return _route->getPortalCount(); }

        Vector2 getWayPoint( size_t i ) const;

        inline const BFSM::Goal * getGoal() const { return _goal; }

        inline Vector2 getGoalCentroid() const { return _goal->getCentroid(); }

        inline unsigned int getEndNode() const { return _route->getEndNode(); }

        unsigned int getNode( size_t i ) const;

        inline size_t getCurrentPortal() const { return _currPortal; }

        inline size_t getPortalCount() const { return _route->getPortalCount(); }

        inline const WayPortal * getPortal( size_t i ) const { return _route->getPortal( i ); }

        void setWaypoints( size_t start, size_t end, const Vector2 & p0, const Vector2 & dir );

    protected:
        const PortalRoute * _route;

        const BFSM::Goal * _goal;

        size_t  _currPortal;

        void computeCrossing( const Vector2 & startPos, float agentRadius );

        Vector2 *   _waypoints;

        Vector2 *   _headings;

        void replan( const Vector2 & startPos, unsigned int startNode, unsigned int endNode, float minWidth, PathPlanner * planner );
    };
}   // namespace Menge
#endif   // __PORTAL_PATH_H__