+/*
+ * Copyright (c) 2023 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.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// INTERNAL INCLUDES
+#include <dali-scene3d/internal/algorithm/path-finder-spfa-double-way.h>
+#include <dali-scene3d/internal/algorithm/path-finder-waypoint-data.h>
+#include <dali-scene3d/public-api/algorithm/path-finder-waypoint.h>
+
+// EXTERNAL INCLUDES
+#include <limits>
+#include <unordered_set>
+#include <vector>
+
+using WayPointList = Dali::Scene3D::Algorithm::WayPointList;
+
+namespace
+{
+constexpr float PRIORITY_SCALE_FACTOR = 0.7f; ///< The value of heuristic factor that how much will you consider
+ /// direction of source --> target. If 0.0f, we will use only dist.
+
+/**
+ * @brief Get the Component Id object
+ *
+ * @param[in,out] components Container of components id stored.
+ * @param[in] index index what we want to get components's id.
+ * @return uint32_t top-value of this components.
+ */
+uint32_t GetComponentId(std::vector<uint32_t>& components, uint32_t index)
+{
+ if(components[index] == index)
+ {
+ return index;
+ }
+ // Get my parent's components id, and update myself.
+ uint32_t ret = GetComponentId(components, components[index]);
+ return components[index] = ret;
+}
+
+/**
+ * @brief Combine two elements by Union-Find algorithm.
+ *
+ * @param[in,out] components Container of components id stored.
+ * @param[in,out] componentsLevel Container of components level stored.
+ * @param[in] index0 index of components what we want to be combined.
+ * @param[in] index1 index of components what we want to be combined.
+ */
+void ComponentsCombine(std::vector<uint32_t>& components, std::vector<uint32_t>& componentsLevel, uint32_t index0, uint32_t index1)
+{
+ uint32_t p0 = GetComponentId(components, index0);
+ uint32_t p1 = GetComponentId(components, index1);
+ if(p0 == p1)
+ {
+ return;
+ }
+
+ if(componentsLevel[p0] < componentsLevel[p1])
+ {
+ components[p0] = p1;
+ }
+ else
+ {
+ components[p1] = p0;
+ if(componentsLevel[p0] == componentsLevel[p1])
+ {
+ ++componentsLevel[p0];
+ }
+ }
+}
+} // namespace
+
+namespace Dali::Scene3D::Internal::Algorithm
+{
+PathFinderAlgorithmSPFADoubleWay::PathFinderAlgorithmSPFADoubleWay(Dali::Scene3D::Algorithm::NavigationMesh& navMesh)
+: mNavigationMesh(&GetImplementation(navMesh))
+{
+ PrepareData();
+}
+
+PathFinderAlgorithmSPFADoubleWay::~PathFinderAlgorithmSPFADoubleWay() = default;
+
+float PathFinderAlgorithmSPFADoubleWay::DistancePanaltyCalculate(uint32_t index) const noexcept
+{
+ return dist[index] - priority[index] * PRIORITY_SCALE_FACTOR;
+}
+
+Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFADoubleWay::FindPath(const Dali::Vector3& positionFrom, const Dali::Vector3& positionTo)
+{
+ Dali::Vector3 outPosFrom;
+ uint32_t polyIndexFrom;
+ auto result = mNavigationMesh->FindFloor(positionFrom, outPosFrom, polyIndexFrom);
+
+ Scene3D::Algorithm::WayPointList waypoints;
+
+ if(result)
+ {
+ Dali::Vector3 outPosTo;
+ uint32_t polyIndexTo;
+ result = mNavigationMesh->FindFloor(positionTo, outPosTo, polyIndexTo);
+
+ if(result)
+ {
+ // Get waypoints
+ waypoints = FindPath(polyIndexFrom, polyIndexTo);
+
+ // replace first and last waypoint
+ auto& wpFrom = static_cast<WayPointData&>(waypoints[0]);
+ auto& wpTo = static_cast<WayPointData&>(waypoints.back());
+
+ Vector2 fromCenter(wpFrom.point3d.x, wpFrom.point3d.y);
+ wpFrom.point3d = outPosFrom;
+ wpFrom.point2d = fromCenter - Vector2(outPosFrom.x, outPosFrom.y);
+
+ Vector2 toCenter(wpTo.point3d.x, wpTo.point3d.y);
+ wpTo.point3d = outPosTo;
+ wpTo.point2d = toCenter - Vector2(outPosTo.x, outPosTo.y);
+ wpTo.point3d = outPosTo;
+ }
+ }
+
+ // Returns waypoints with non-zero size of empty vector in case of failure (no path to be found)
+ return waypoints;
+}
+
+Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFADoubleWay::FindPath(uint32_t sourcePolyIndex, uint32_t targetPolyIndex)
+{
+ // Fast return if source and target index is same.
+ if(sourcePolyIndex == targetPolyIndex)
+ {
+ WayPointList waypoints;
+ waypoints.resize(1);
+
+ auto& wp = static_cast<WayPointData&>(waypoints[0]);
+ wp.face = mNavigationMesh->GetFace(sourcePolyIndex);
+ wp.nodeIndex = sourcePolyIndex;
+ wp.edge = nullptr;
+
+ return OptimizeWaypoints(waypoints);
+ }
+
+ // Fast return if source and target index is not in same components.
+ // That mean, there is no path. Return empty list.
+ if(GetComponentId(componentIds, sourcePolyIndex) != GetComponentId(componentIds, targetPolyIndex))
+ {
+ return WayPointList();
+ }
+
+ // pair<navimesh FaceIndex, is backward direction>
+ using queueItem = std::pair<uint32_t, uint8_t>;
+
+ std::list<queueItem> nodeQueue;
+
+ std::unordered_set<uint32_t> usedPolyIndexs[2];
+
+ // Set distance of source and target
+ dist[sourcePolyIndex] = 0.0f;
+ dist[targetPolyIndex] = 0.0f;
+ priority[sourcePolyIndex] = 0.0f;
+ priority[targetPolyIndex] = 0.0f;
+ queued[sourcePolyIndex] = true;
+ queued[targetPolyIndex] = true;
+ nodeQueue.push_back(std::make_pair(sourcePolyIndex, 0));
+ nodeQueue.push_back(std::make_pair(targetPolyIndex, 1));
+ usedPolyIndexs[0].insert(sourcePolyIndex);
+ usedPolyIndexs[1].insert(targetPolyIndex);
+
+ bool foundPath = false;
+ uint32_t forwardEndIndex = Scene3D::Algorithm::NavigationMesh::NULL_FACE;
+ uint32_t backwardStartIndex = Scene3D::Algorithm::NavigationMesh::NULL_FACE;
+
+ const auto sourcePos = Dali::Vector3(Face(sourcePolyIndex)->center);
+ const auto targetPos = Dali::Vector3(Face(targetPolyIndex)->center);
+ Vector3 direction = targetPos - sourcePos;
+ direction.Normalize();
+
+ // Note : we always success to found path since source and target is in same components.
+ while(!foundPath)
+ {
+ // find minimum distance
+ auto minDistIndex = nodeQueue.front().first;
+ auto isBackward = nodeQueue.front().second;
+ nodeQueue.pop_front();
+ queued[minDistIndex] = false;
+
+ // check the neighbours
+ for(auto i = 0u; i < 3 && !foundPath; ++i)
+ {
+ auto nIndex = mNodes[minDistIndex].faces[i];
+ if(nIndex != Scene3D::Algorithm::NavigationMesh::NULL_FACE)
+ {
+ if(usedPolyIndexs[!isBackward].count(nIndex))
+ {
+ // We found path!
+ foundPath = true;
+ if(isBackward)
+ {
+ forwardEndIndex = nIndex;
+ backwardStartIndex = minDistIndex;
+ }
+ else
+ {
+ forwardEndIndex = minDistIndex;
+ backwardStartIndex = nIndex;
+ }
+ break;
+ }
+
+ usedPolyIndexs[isBackward].insert(nIndex);
+
+ auto alt = dist[minDistIndex] + mNodes[minDistIndex].weight[i];
+ if(alt < dist[nIndex])
+ {
+ dist[nIndex] = alt;
+
+ if(isBackward)
+ {
+ prevBackward[nIndex] = minDistIndex;
+ if(priority[nIndex] < 0.0f)
+ {
+ const auto currentPos = Dali::Vector3(Face(nIndex)->center);
+ Vector3 diff = currentPos - targetPos;
+ priority[nIndex] = std::max(0.0f, -direction.Dot(diff));
+ }
+ }
+ else
+ {
+ prevForward[nIndex] = minDistIndex;
+ if(priority[nIndex] < 0.0f)
+ {
+ const auto currentPos = Dali::Vector3(Face(nIndex)->center);
+ Vector3 diff = currentPos - sourcePos;
+ priority[nIndex] = std::max(0.0f, direction.Dot(diff));
+ }
+ }
+
+ if(!queued[nIndex])
+ {
+ queued[nIndex] = true;
+ if(!nodeQueue.empty() && DistancePanaltyCalculate(nIndex) < DistancePanaltyCalculate(nodeQueue.front().first))
+ {
+ nodeQueue.push_front(std::make_pair(nIndex, isBackward));
+ }
+ else
+ {
+ nodeQueue.push_back(std::make_pair(nIndex, isBackward));
+ }
+ }
+ }
+ }
+ }
+ }
+
+ // Build path of face index
+ std::list<uint32_t> q;
+ {
+ uint32_t u = forwardEndIndex;
+ while(u != Scene3D::Algorithm::NavigationMesh::NULL_FACE)
+ {
+ q.push_front(u);
+ u = prevForward[u];
+ }
+ }
+ {
+ uint32_t u = backwardStartIndex;
+ while(u != Scene3D::Algorithm::NavigationMesh::NULL_FACE)
+ {
+ q.push_back(u);
+ u = prevBackward[u];
+ }
+ }
+
+ WayPointList waypoints;
+ waypoints.resize(q.size());
+
+ auto index = 0u;
+ auto prevN = 0u;
+ for(auto n : q)
+ {
+ auto& wp = static_cast<WayPointData&>(waypoints[index]);
+ wp.face = mNavigationMesh->GetFace(n);
+ wp.nodeIndex = n;
+
+ wp.edge = nullptr;
+ // set the common edge with previous node
+ if(index > 0)
+ {
+ const auto& node = mNodes[prevN];
+ for(auto i = 0u; i < 3; ++i)
+ {
+ if(node.faces[i] == wp.nodeIndex)
+ {
+ wp.edge = mNavigationMesh->GetEdge(node.edges[i]);
+ break;
+ }
+ }
+ }
+
+ prevN = n;
+ index++;
+ }
+
+ // Reset informations what we used.
+ // Forward indexes
+ for(const auto& i : usedPolyIndexs[0])
+ {
+ dist[i] = std::numeric_limits<float>::infinity();
+ priority[i] = -1.0f; // Initialize by negative value, that we didn't calculate yet.
+ prevForward[i] = Scene3D::Algorithm::NavigationMesh::NULL_FACE; // set prev to null polygon
+ prevBackward[i] = Scene3D::Algorithm::NavigationMesh::NULL_FACE; // set prev to null polygon
+ queued[i] = false;
+ }
+ // Backward indexes
+ for(const auto& i : usedPolyIndexs[1])
+ {
+ dist[i] = std::numeric_limits<float>::infinity();
+ priority[i] = -1.0f; // Initialize by negative value, that we didn't calculate yet.
+ prevForward[i] = Scene3D::Algorithm::NavigationMesh::NULL_FACE; // set prev to null polygon
+ prevBackward[i] = Scene3D::Algorithm::NavigationMesh::NULL_FACE; // set prev to null polygon
+ queued[i] = false;
+ }
+
+ return OptimizeWaypoints(waypoints);
+}
+
+void PathFinderAlgorithmSPFADoubleWay::PrepareData()
+{
+ // Build the list structure connecting the nodes
+ auto faceCount = mNavigationMesh->GetFaceCount();
+
+ mNodes.resize(faceCount);
+ dist.resize(faceCount);
+ priority.resize(faceCount);
+ prevForward.resize(faceCount);
+ prevBackward.resize(faceCount);
+ componentIds.resize(faceCount);
+ queued.resize(faceCount);
+
+ // Temperal container for components level. It will be used for Union-Find algorithm.
+ std::vector<uint32_t> componentLevels(faceCount);
+
+ // Initialize path informations.
+ for(auto i = 0u; i < faceCount; ++i)
+ {
+ dist[i] = std::numeric_limits<float>::infinity();
+ priority[i] = -1.0f; // Initialize by negative value, that we didn't calculate yet.
+ prevForward[i] = Scene3D::Algorithm::NavigationMesh::NULL_FACE; // set prev to null polygon
+ prevBackward[i] = Scene3D::Algorithm::NavigationMesh::NULL_FACE; // set prev to null polygon
+ queued[i] = false;
+
+ componentIds[i] = i; // Components id should be initialized by itself.
+ componentLevels[i] = 0u;
+ }
+
+ // for each face build the list
+ for(auto i = 0u; i < faceCount; ++i)
+ {
+ auto& node = mNodes[i];
+ const auto* face = mNavigationMesh->GetFace(i);
+ auto c0 = Dali::Vector3(face->center);
+
+ // for each edge add neighbouring face and compute distance to set the weight of node
+ for(auto edgeIndex = 0u; edgeIndex < 3; ++edgeIndex)
+ {
+ const auto* edge = mNavigationMesh->GetEdge(face->edge[edgeIndex]);
+ auto p1 = edge->face[0];
+ auto p2 = edge->face[1];
+
+ // One of faces is current face so ignore it
+ auto p = ((p1 != i) ? p1 : p2);
+ node.faces[edgeIndex] = p;
+ if(p != ::Dali::Scene3D::Algorithm::NavigationMesh::NULL_FACE)
+ {
+ node.edges[edgeIndex] = face->edge[edgeIndex];
+ auto c1 = Dali::Vector3(mNavigationMesh->GetFace(p)->center);
+ node.weight[edgeIndex] = (c1 - c0).Length();
+
+ // Connect two components
+ ComponentsCombine(componentIds, componentLevels, i, p);
+ }
+ }
+ }
+}
+
+[[maybe_unused]] static float ccw(const Dali::Vector2& A, const Dali::Vector2& B, const Dali::Vector2& C)
+{
+ return (C.y - A.y) * (B.x - A.x) > (B.y - A.y) * (C.x - A.x);
+}
+
+[[maybe_unused]] static bool intersect(const Dali::Vector2& A, const Dali::Vector2& B, const Dali::Vector2& C, const Dali::Vector2& D)
+{
+ return ccw(A, C, D) != ccw(B, C, D) && ccw(A, B, C) != ccw(A, B, D);
+}
+
+Scene3D::Algorithm::WayPointList PathFinderAlgorithmSPFADoubleWay::OptimizeWaypoints(WayPointList& waypoints) const
+{
+ WayPointList optimizedWaypoints;
+ optimizedWaypoints.emplace_back(waypoints[0]);
+ optimizedWaypoints.reserve(waypoints.size());
+
+ auto startIndex = 1u;
+
+ bool finished = false;
+ for(auto j = 0; !finished; ++j)
+ {
+ auto& startWaypoint = optimizedWaypoints.back();
+ const auto& startWaypointData = static_cast<const WayPointData&>(startWaypoint);
+
+ // add new-last waypoint which will be overriden as long as intersection takes place
+ optimizedWaypoints.emplace_back();
+ for(auto wpIndex = startIndex; wpIndex < waypoints.size(); ++wpIndex)
+ {
+ if(wpIndex == waypoints.size() - 1)
+ {
+ optimizedWaypoints.back() = waypoints.back();
+ finished = true;
+ continue;
+ }
+ // Points between centres of faces
+
+ const auto& wpData = static_cast<const WayPointData&>(waypoints[wpIndex]);
+
+ auto Pa0 = Dali::Vector2(startWaypointData.face->center[0], startWaypointData.face->center[1]);
+ auto Pa1 = Dali::Vector2(wpData.face->center[0], wpData.face->center[1]);
+
+ bool doesIntersect = true;
+ for(auto i = startIndex; i < wpIndex; ++i)
+ {
+ const auto& wp = static_cast<WayPointData&>(waypoints[i]);
+ // Skip starting waypoint
+ if(wp.face == startWaypointData.face)
+ {
+ continue;
+ }
+ auto Pb0 = mNavigationMesh->GetVertex(wp.edge->vertex[0]);
+ auto Pb1 = mNavigationMesh->GetVertex(wp.edge->vertex[1]);
+ auto vPb0 = Dali::Vector2(Pb0->x, Pb0->y);
+ auto vPb1 = Dali::Vector2(Pb1->x, Pb1->y);
+
+ doesIntersect = intersect(Pa0, Pa1, vPb0, vPb1);
+ if(!doesIntersect)
+ {
+ break;
+ }
+ }
+
+ if(!doesIntersect)
+ {
+ optimizedWaypoints.back() = waypoints[wpIndex - 1];
+ startIndex = wpIndex - 1;
+ break;
+ }
+ }
+ }
+
+ for(auto& wp : optimizedWaypoints)
+ {
+ auto& wpData = static_cast<WayPointData&>(wp);
+ wpData.point3d = mNavigationMesh->PointLocalToScene(Dali::Vector3(wpData.face->center));
+ wpData.point2d = Vector2::ZERO;
+ }
+
+ return optimizedWaypoints;
+}
+} // namespace Dali::Scene3D::Internal::Algorithm
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