#define DALI_SCENE3D_NAVIGATION_MESH_H
/*
- * Copyright (c) 2023 Samsung Electronics Co., Ltd.
+ * Copyright (c) 2024 Samsung Electronics Co., Ltd.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* limitations under the License.
*/
-// INTERNAL INCLUDES
-#include <dali-scene3d/public-api/api.h>
-
// EXTERNAL INCLUDES
+#include <dali/public-api/common/vector-wrapper.h>
#include <dali/public-api/math/matrix.h>
#include <dali/public-api/math/vector3.h>
#include <dali/public-api/math/vector4.h>
#include <cinttypes>
#include <cstdio>
-#include <vector>
+#include <limits>
#include <memory>
+// INTERNAL INCLUDES
+#include <dali-scene3d/public-api/api.h>
+
namespace Dali::Scene3D::Internal::Algorithm
{
class NavigationMesh;
}
constexpr auto NAVIGATION_MESH_MAX_VERTICES_PER_FACE = 3u;
-constexpr auto NAVIGATION_MESH_MAX_EDGES_PER_FACE = 3u;
-constexpr auto NAVIGATION_MESH_MAX_COMPONENTS_3D = 3u;
-constexpr auto NAVIGATION_MESH_MAX_COMPONENTS_2D = 2u;
+constexpr auto NAVIGATION_MESH_MAX_EDGES_PER_FACE = 3u;
+constexpr auto NAVIGATION_MESH_MAX_COMPONENTS_3D = 3u;
+constexpr auto NAVIGATION_MESH_MAX_COMPONENTS_2D = 2u;
namespace Dali::Scene3D::Algorithm
{
// Using PImpling but not usual DALi handles as this object isn't supposed to be refcounted
using NavigationMeshImpl = Dali::Scene3D::Internal::Algorithm::NavigationMesh;
+// Make each to change each index value's type here.
+using VertexIndex = uint16_t;
+using EdgeIndex = uint16_t;
+using FaceIndex = uint16_t;
+
/**
* @class NavigationMesh
*
class DALI_SCENE3D_API NavigationMesh
{
public:
-
/**
* @struct Face
*
- * Describes a single polygon
+ * Describes a single polygon's face
*/
struct Face
{
- uint16_t vertex[NAVIGATION_MESH_MAX_VERTICES_PER_FACE]; ///< Vertices per face
- uint16_t edge[NAVIGATION_MESH_MAX_EDGES_PER_FACE]; ///< Edges per face
- float normal[NAVIGATION_MESH_MAX_COMPONENTS_3D]; ///< Normal vector
- float center[NAVIGATION_MESH_MAX_COMPONENTS_3D]; ///< Barycentric coordinates
+ VertexIndex vertex[NAVIGATION_MESH_MAX_VERTICES_PER_FACE]; ///< Vertices per face
+ EdgeIndex edge[NAVIGATION_MESH_MAX_EDGES_PER_FACE]; ///< Edges per face
+ float normal[NAVIGATION_MESH_MAX_COMPONENTS_3D]; ///< Normal vector
+ float center[NAVIGATION_MESH_MAX_COMPONENTS_3D]; ///< Barycentric coordinates
};
/**
*/
struct Edge
{
- uint16_t vertex[NAVIGATION_MESH_MAX_COMPONENTS_2D]; ///< Vertices making the edge
- uint16_t face[NAVIGATION_MESH_MAX_COMPONENTS_2D]; ///< Faces on both sides of edge
+ VertexIndex vertex[NAVIGATION_MESH_MAX_COMPONENTS_2D]; ///< Vertices making the edge
+ FaceIndex face[NAVIGATION_MESH_MAX_COMPONENTS_2D]; ///< Faces on both sides of edge
};
/**
{
union
{
- float co[NAVIGATION_MESH_MAX_COMPONENTS_3D]; ///< Coordinates of vertex
+ float coordinates[NAVIGATION_MESH_MAX_COMPONENTS_3D]; ///< Coordinates of vertex
struct
{
float x, y, z;
NavigationMesh() = delete;
public:
-
/**
* @brief Destructor
*/
/**
* @brief Looks for the floor under specified position
* @param[in] position Position to investigate
- * @param[in] outPosition Position on the floor in found
- * @param[in] faceIndex Index of NavigationMesh face associated with floor
+ * @param[out] outPosition Position on the floor in found
+ * @param[out] outFaceIndex Index of NavigationMesh face associated with floor
*
* @return True if floor has been found, False otherwise
*/
- bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition, uint32_t& faceIndex);
+ bool FindFloor(const Dali::Vector3& position, Dali::Vector3& outPosition, FaceIndex& outFaceIndex);
/**
* @brief Looks for a floor starting from specified face
*
* @return True on success, false otherwise
*/
- bool FindFloorForFace(const Dali::Vector3& position, uint32_t faceIndex, bool dontCheckNeighbours, Dali::Vector3& outPosition);
-
+ bool FindFloorForFace(const Dali::Vector3& position, FaceIndex faceIndex, bool dontCheckNeighbours, Dali::Vector3& outPosition);
/**
* @brief Returns pointer to Face structure
* @param[in] index Index of face to retrieve
* @return Pointer to valid Face structure or nullptr
*/
- [[nodiscard]] const Face* GetFace(int index) const;
+ [[nodiscard]] const Face* GetFace(FaceIndex index) const;
/**
* @brief Returns edge structure
* @param[in] index Index of edge to retrieve
* @return Pointer to valid Edge structure or nullptr
*/
- [[nodiscard]] const Edge* GetEdge(int index) const;
+ [[nodiscard]] const Edge* GetEdge(EdgeIndex index) const;
/**
* @brief Returns vertex structure
* @param[in] index Index of vertex to retrieve
* @return Pointer to valid Vertex structure or nullptr
*/
- [[nodiscard]] const Vertex* GetVertex(int index) const;
+ [[nodiscard]] const Vertex* GetVertex(VertexIndex index) const;
/**
* @brief Sets static transform for the navigation mesh object
* @param[in] point Point to transform
* @return Point transformed to the local space
*/
- Dali::Vector3 PointSceneToLocal(const Dali::Vector3& point);
+ Dali::Vector3 PointSceneToLocal(const Dali::Vector3& point) const;
/**
* @brief Transforms point into the parent transform space
* @param[in] point Point to transform
* @return Point transformed into the parent space
*/
- Dali::Vector3 PointLocalToScene(const Dali::Vector3& point);
+ Dali::Vector3 PointLocalToScene(const Dali::Vector3& point) const;
/**
* @brief Returns direction of the gravity vector
*/
Dali::Vector3 GetGravityVector() const;
- static constexpr uint16_t NULL_FACE{0xffff}; ///< Represents null polygon
- static constexpr uint16_t NULL_EDGE{0xffff}; ///< represents null edge
+ /**
+ * @brief Performs ray/face intersect test
+ * @param[in] origin Origin of ray
+ * @param[in] direction Direction of ray
+ *
+ * @SINCE_2_2.53
+ * @return Valid FaceIndex on hit or NULL_FACE on miss
+ */
+ [[nodiscard]] FaceIndex RayFaceIntersect(const Vector3& origin, const Vector3& direction) const;
+
+ static constexpr FaceIndex NULL_FACE{std::numeric_limits<FaceIndex>::max()}; ///< Represents null face
+ static constexpr EdgeIndex NULL_EDGE{std::numeric_limits<EdgeIndex>::max()}; ///< Represents null edge
public:
-
- DALI_INTERNAL explicit NavigationMesh( NavigationMeshImpl* impl );
+ DALI_INTERNAL explicit NavigationMesh(NavigationMeshImpl* impl);
std::unique_ptr<NavigationMeshImpl> mImpl;
};
+
+// Alias name for collider mesh
+// TODO: currently ColliderMesh is NavigationMesh however
+// there should be separation from data and algorithms.
+// Both, NavigationMesh and ColliderMesh use the same
+// data structures but differ in the way they use data.
+using ColliderMesh = NavigationMesh;
+
} // namespace Dali::Scene3D::Algorithm
#endif // DALI_SCENE3D_NAVIGATION_MESH_H
projects / platform / core / uifw / dali-toolkit.git / blobdiff