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) 2024 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 // Internal Navigation ray structure
  44 struct NavigationRay
  45 {
  46   Dali::Vector3 origin;    // Origin of ray
  47   Dali::Vector3 direction; // Direction of ray
  48 };
  49
  50 // Make each to change each index value's type here.
  51 using VertexIndex = Dali::Scene3D::Algorithm::VertexIndex;
  52 using EdgeIndex   = Dali::Scene3D::Algorithm::EdgeIndex;
  53 using FaceIndex   = Dali::Scene3D::Algorithm::FaceIndex;
  54
  55 /**
  56  * @class NavigationMesh
  57  */
  58 class NavigationMesh
  59 {
  60 public:
  61   using Face   = Dali::Scene3D::Algorithm::NavigationMesh::Face;
  62   using Edge   = Dali::Scene3D::Algorithm::NavigationMesh::Edge;
  63   using Vertex = Dali::Scene3D::Algorithm::NavigationMesh::Vertex;
  64
  65 private:
  66   friend class Scene3D::Loader::NavigationMeshFactory;
  67
  68   /**
  69    * Constructor
  70    */
  71   NavigationMesh(const std::vector<uint8_t>& buffer);
  72
  73 public:
  74   /**
  75    * Destructor
  76    */
  77   ~NavigationMesh() = default;
  78
  79   /**
  80    * Result of Ray/Polygon intersection
  81    */
  82   struct IntersectResult
  83   {
  84     Dali::Vector3 point;
  85     float         distance;
  86     FaceIndex     faceIndex;
  87     bool          result;
  88   };
  89
  90   /**
  91    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetFaceCount()
  92    */
  93   [[nodiscard]] uint32_t GetFaceCount() const;
  94
  95   /**
  96    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetEdgeCount()
  97    */
  98   [[nodiscard]] uint32_t GetEdgeCount() const;
  99
 100   /**
 101    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetVertexCount()
 102    */
 103   [[nodiscard]] uint32_t GetVertexCount() const;
 104
 105   /**
 106    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloorForFace()
 107    */
 108   bool FindFloorForFace(const Dali::Vector3& position, FaceIndex faceIndex, bool dontCheckNeighbours, Dali::Vector3& outPosition);
 109
 110   /**
 111    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloor()
 112    */
 113   bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition);
 114
 115   /**
 116    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::FindFloor()
 117    */
 118   bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition, FaceIndex& outFaceIndex);
 119
 120   /**
 121    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetFace()
 122    */
 123   [[nodiscard]] const Face* GetFace(FaceIndex index) const;
 124
 125   /**
 126    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetEdge()
 127    */
 128   [[nodiscard]] const Edge* GetEdge(EdgeIndex index) const;
 129
 130   /**
 131    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetVertex()
 132    */
 133   [[nodiscard]] const Vertex* GetVertex(VertexIndex index) const;
 134
 135   /**
 136    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::SetSceneTransform()
 137    */
 138   void SetTransform(const Dali::Matrix& transform);
 139
 140   /**
 141    * Tests intersection between navigation ray and face
 142    */
 143   IntersectResult NavigationRayFaceIntersection(NavigationRay& ray, const Face& face) const;
 144
 145   /**
 146    * @brief Test ray against the mesh and returns intersection result
 147    * @param[in] rayOrig Input ray to test collision
 148    *
 149    * @return Valid IntersectResult structure
 150    */
 151   IntersectResult RayCastIntersect(NavigationRay& rayOrig) const;
 152
 153   /**
 154    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::PointSceneToLocal()
 155    */
 156   Dali::Vector3 PointSceneToLocal(const Dali::Vector3& point) const;
 157
 158   /**
 159    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::PointLocalToScene()
 160    */
 161   Dali::Vector3 PointLocalToScene(const Dali::Vector3& point) const;
 162
 163   /**
 164    * @copydoc Dali::Scene3D::Algorithm::NavigationMesh::GetGravityVector()
 165    */
 166   [[nodiscard]] Dali::Vector3 GetGravityVector() const;
 167
 168   /**
 169    * @brief Returns binary data of the mesh
 170    * @return Reference to the binary buffer
 171    */
 172   [[nodiscard]] const std::vector<uint8_t>& GetData() const
 173   {
 174     return mBuffer;
 175   }
 176
 177 private:
 178   std::vector<uint8_t>     mBuffer;           //< Data buffer
 179   NavigationMeshHeader_V10 mHeader;           //< Navigation mesh header
 180   FaceIndex                mCurrentFace;      //< Current face (last floor position)
 181   Dali::Matrix             mTransform;        //< Transform matrix
 182   Dali::Matrix             mTransformInverse; //< Inverse of the transform matrix
 183 };
 184
 185 inline Internal::Algorithm::NavigationMesh& GetImplementation(Dali::Scene3D::Algorithm::NavigationMesh& navigationMesh)
 186 {
 187   return *navigationMesh.mImpl;
 188 }
 189
 190 inline const Internal::Algorithm::NavigationMesh& GetImplementation(const Dali::Scene3D::Algorithm::NavigationMesh& navigationMesh)
 191 {
 192   return *navigationMesh.mImpl;
 193 }
 194
 195 } // namespace Dali::Scene3D::Internal::Algorithm
 196
 197 #endif // DALI_SCENE3D_INTERNAL_NAVIGATION_MESH_H