dali-scene3d/internal/algorithm/navigation-mesh-impl.h

   1 #ifndef DALI_SCENE3D_INTERNAL_NAVIGATION_MESH_H
   2 #define DALI_SCENE3D_INTERNAL_NAVIGATION_MESH_H
   3
   4 /*
   5  * Copyright (c) 2023 Samsung Electronics Co., Ltd.
   6  *
   7  * Licensed under the Apache License, Version 2.0 (the "License");
   8  * you may not use this file except in compliance with the License.
   9  * You may obtain a copy of the License at
  10  *
  11  * http://www.apache.org/licenses/LICENSE-2.0
  12  *
  13  * Unless required by applicable law or agreed to in writing, software
  14  * distributed under the License is distributed on an "AS IS" BASIS,
  15  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  16  * See the License for the specific language governing permissions and
  17  * limitations under the License.
  18  */
  19
  20 // EXTERNAL EXTERNAL
  21 #include <dali/public-api/actors/actor.h>
  22 #include <dali/public-api/common/vector-wrapper.h>
  23 #include <dali/public-api/math/matrix.h>
  24 #include <dali/public-api/math/vector3.h>
  25 #include <dali/public-api/math/vector4.h>
  26
  27 #include <cinttypes>
  28 #include <cstdio>
  29 #include <mutex>
  30
  31 // INTERNAL INCLUDES
  32 #include <dali-scene3d/internal/algorithm/navigation-mesh-header.h>
  33 #include <dali-scene3d/public-api/algorithm/navigation-mesh.h>
  34 #include <dali-scene3d/public-api/algorithm/path-finder.h>
  35
  36 namespace Dali::Scene3D::Loader
  37 {
  38 class NavigationMeshFactory;
  39 }
  40
  41 namespace Dali::Scene3D::Internal::Algorithm
  42 {
  43 class NavigationRay;
  44
  45 /**
  46  * @class NavigationMesh
  47  */
  48 class NavigationMesh
  49 {
  50 public:
  51   using Face   = Dali::Scene3D::Algorithm::NavigationMesh::Face;
  52   using Edge   = Dali::Scene3D::Algorithm::NavigationMesh::Edge;
  53   using Vertex = Dali::Scene3D::Algorithm::NavigationMesh::Vertex;
  54
  55 private:
  56   friend class Scene3D::Loader::NavigationMeshFactory;
  57
  58   /**
  59    * Constructor
  60    */
  61   NavigationMesh(const std::vector<uint8_t>& buffer);
  62
  63 public:
  64   /**
  65    * Destructor
  66    */
  67   ~NavigationMesh() = default;
  68
  69   /**
  70    * Result of Ray/Polygon intersection
  71    */
  72   struct IntersectResult
  73   {
  74     Dali::Vector3 point;
  75     float         distance;
  76     uint16_t      faceIndex;
  77     bool          result;
  78   };
  79
  80   /**
  81    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetFaceCount()
  82    */
  83   [[nodiscard]] uint32_t GetFaceCount() const;
  84
  85   /**
  86    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetEdgeCount()
  87    */
  88   [[nodiscard]] uint32_t GetEdgeCount() const;
  89
  90   /**
  91    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetVertexCount()
  92    */
  93   [[nodiscard]] uint32_t GetVertexCount() const;
  94
  95   /**
  96    * Looks for floor only within the face
  97    * @param[in] position Position to be projected onto the face
  98    * @param[in] faceIndex Face index
  99    * @param[in] dontCheckNeighbours states whether to traverse onto neighbouring faces
 100    * @param[out] outPosition Output position
 101    *
 102    * @return true if success
 103    */
 104   bool FindFloorForFace(const Dali::Vector3& position, uint32_t faceIndex, bool dontCheckNeighbours, Dali::Vector3& outPosition);
 105
 106   /**
 107    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloor()
 108    */
 109   bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition);
 110
 111   /**
 112    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloor()
 113    */
 114   bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition, uint32_t& faceIndex);
 115
 116   /**
 117    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetFace()
 118    */
 119   [[nodiscard]] const Face* GetFace(int index) const;
 120
 121   /**
 122    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetEdge()
 123    */
 124   [[nodiscard]] const Edge* GetEdge(int index) const;
 125
 126   /**
 127    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetVertex()
 128    */
 129   [[nodiscard]] const Vertex* GetVertex(int index) const;
 130
 131   /**
 132    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::SetSceneTransform()
 133    */
 134   void SetTransform(const Dali::Matrix& transform);
 135
 136   /**
 137    * Tests intersection between navigation ray and face
 138    */
 139   IntersectResult NavigationRayFaceIntersection(NavigationRay& ray, const Face& face);
 140
 141   /**
 142    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::PointSceneToLocal()
 143    */
 144   Dali::Vector3 PointSceneToLocal(const Dali::Vector3& point);
 145
 146   /**
 147    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::PointLocalToScene()
 148    */
 149   Dali::Vector3 PointLocalToScene(const Dali::Vector3& point);
 150
 151   /**
 152    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetGravityVector()
 153    */
 154   [[nodiscard]] Dali::Vector3 GetGravityVector() const;
 155
 156 private:
 157   std::vector<uint8_t>     mBuffer;           //< Data buffer
 158   NavigationMeshHeader_V10 mHeader;           //< Navigation mesh header
 159   uint16_t                 mCurrentFace;      //< Current face (last floor position)
 160   Dali::Matrix             mTransform;        //< Transform matrix
 161   Dali::Matrix             mTransformInverse; //< Inverse of the transform matrix
 162 };
 163
 164 inline Internal::Algorithm::NavigationMesh& GetImplementation(Dali::Scene3D::Algorithm::NavigationMesh& navigationMesh)
 165 {
 166   return *navigationMesh.mImpl;
 167 }
 168
 169 } // namespace Dali::Scene3D::Internal::Algorithm
 170
 171 #endif // DALI_SCENE3D_INTERNAL_NAVIGATION_MESH_H