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 // INTERNAL INCLUDES
  21 #include <dali-scene3d/public-api/algorithm/navigation-mesh.h>
  22 #include <dali-scene3d/public-api/algorithm/path-finder.h>
  23
  24 // INTERNAL EXTERNAL
  25 #include <dali/public-api/actors/actor.h>
  26 #include <dali/public-api/math/matrix.h>
  27 #include <dali/public-api/math/vector3.h>
  28 #include <dali/public-api/math/vector4.h>
  29
  30 #include <cinttypes>
  31 #include <cstdio>
  32 #include <mutex>
  33 #include <vector>
  34 #include "navigation-mesh-header.h"
  35
  36 namespace Dali::Scene3D::Loader
  37 {
  38 class NavigationMeshFactory;
  39 }
  40
  41 namespace Dali::Scene3D::Internal::Algorithm
  42 {
  43
  44 class NavigationRay;
  45
  46 /**
  47  * @class NavigationMesh
  48  */
  49 class NavigationMesh
  50 {
  51 public:
  52   using Face   = Dali::Scene3D::Algorithm::NavigationMesh::Face;
  53   using Edge   = Dali::Scene3D::Algorithm::NavigationMesh::Edge;
  54   using Vertex = Dali::Scene3D::Algorithm::NavigationMesh::Vertex;
  55
  56 private:
  57
  58   friend class Scene3D::Loader::NavigationMeshFactory;
  59
  60   /**
  61    * Constructor
  62    */
  63   NavigationMesh(const std::vector<uint8_t>& buffer);
  64
  65 public:
  66
  67   /**
  68    * Destructor
  69    */
  70   ~NavigationMesh() = default;
  71
  72   /**
  73    * Result of Ray/Polygon intersection
  74    */
  75   struct IntersectResult
  76   {
  77     Dali::Vector3 point;
  78     float         distance;
  79     uint16_t      faceIndex;
  80     bool          result;
  81   };
  82
  83   /**
  84    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetFaceCount()
  85    */
  86   [[nodiscard]] uint32_t GetFaceCount() const;
  87
  88   /**
  89    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetEdgeCount()
  90    */
  91   [[nodiscard]] uint32_t GetEdgeCount() const;
  92
  93   /**
  94    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetVertexCount()
  95    */
  96   [[nodiscard]] uint32_t GetVertexCount() const;
  97
  98   /**
  99    * Looks for floor only within the face
 100    * @param[in] position Position to be projected onto the face
 101    * @param[in] faceIndex Face index
 102    * @param[in] dontCheckNeighbours states whether to traverse onto neighbouring faces
 103    * @param[out] outPosition Output position
 104    *
 105    * @return true if success
 106    */
 107   bool FindFloorForFace(const Dali::Vector3& position, uint32_t faceIndex, bool dontCheckNeighbours, Dali::Vector3& outPosition);
 108
 109   /**
 110    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloor()
 111    */
 112   bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition);
 113
 114   /**
 115    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloor()
 116    */
 117   bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition, uint32_t& faceIndex);
 118
 119   /**
 120    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetFace()
 121    */
 122   [[nodiscard]] const Face* GetFace(int index) const;
 123
 124   /**
 125    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetEdge()
 126    */
 127   [[nodiscard]] const Edge* GetEdge(int index) const;
 128
 129   /**
 130    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetVertex()
 131    */
 132   [[nodiscard]] const Vertex* GetVertex(int index) const;
 133
 134   /**
 135    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::SetSceneTransform()
 136    */
 137   void SetTransform(const Dali::Matrix& transform);
 138
 139   /**
 140    * Tests intersection between navigation ray and face
 141    */
 142   IntersectResult NavigationRayFaceIntersection(NavigationRay& ray, const Face& face);
 143
 144   /**
 145    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::PointSceneToLocal()
 146    */
 147   Dali::Vector3 PointSceneToLocal(const Dali::Vector3& point);
 148
 149   /**
 150    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::PointLocalToScene()
 151    */
 152   Dali::Vector3 PointLocalToScene(const Dali::Vector3& point);
 153
 154   /**
 155    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetGravityVector()
 156    */
 157   [[nodiscard]] Dali::Vector3 GetGravityVector() const;
 158
 159 private:
 160   std::vector<uint8_t> mBuffer;                    //< Data buffer
 161   NavigationMeshHeader_V10 mHeader;                //< Navigation mesh header
 162   uint16_t             mCurrentFace;               //< Current face (last floor position)
 163   Dali::Matrix         mTransform;                 //< Transform matrix
 164   Dali::Matrix         mTransformInverse;          //< Inverse of the transform matrix
 165 };
 166
 167 inline Internal::Algorithm::NavigationMesh& GetImplementation(Dali::Scene3D::Algorithm::NavigationMesh& navigationMesh)
 168 {
 169   return *navigationMesh.mImpl;
 170 }
 171
 172 } // namespace Dali::Scene3D::Internal::Algorithm
 173
 174 #endif // DALI_SCENE3D_INTERNAL_NAVIGATION_MESH_H