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Signed-off-by: Aleksander Kamiński <[email protected]>
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| /* | ||
| * Copyright (c) Contributors to the Open 3D Engine Project. | ||
| * For complete copyright and license terms please see the LICENSE at the root of this distribution. | ||
| * | ||
| * SPDX-License-Identifier: Apache-2.0 OR MIT | ||
| * | ||
| */ | ||
| #pragma once | ||
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| #include <AzCore/std/containers/span.h> | ||
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| namespace ROS2 | ||
| { | ||
| enum class RaycastResultFlags : AZ::u8 | ||
| { | ||
| Point = (1 << 0), //!< return 3D point coordinates | ||
| Range = (1 << 1), //!< return array of distances | ||
| Intensity = (1 << 2), //!< return intensity data | ||
| }; | ||
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| //! Bitwise operators for RaycastResultFlags | ||
| AZ_DEFINE_ENUM_BITWISE_OPERATORS(RaycastResultFlags) | ||
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| template<RaycastResultFlags F> | ||
| bool IsFlagEnabled(RaycastResultFlags flags) | ||
| { | ||
| return (flags & F) == F; | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| struct ResultTraits; | ||
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| template<> | ||
| struct ResultTraits<RaycastResultFlags::Point> | ||
| { | ||
| using Type = AZ::Vector3; | ||
| }; | ||
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| template<> | ||
| struct ResultTraits<RaycastResultFlags::Range> | ||
| { | ||
| using Type = float; | ||
| }; | ||
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| template<> | ||
| struct ResultTraits<RaycastResultFlags::Intensity> | ||
| { | ||
| using Type = float; | ||
| }; | ||
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| //! Class used for storing the results of a raycast. | ||
| //! It guarantees a uniform length of all its fields. | ||
| class RaycastResults | ||
| { | ||
| public: | ||
| template<RaycastResultFlags F, typename RT = typename ResultTraits<F>::Type> | ||
| using FieldSpan = AZStd::span<RT>; | ||
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| template<RaycastResultFlags F> | ||
| using ConstFieldSpan = FieldSpan<F, const typename ResultTraits<F>::Type>; | ||
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| explicit RaycastResults(RaycastResultFlags flags, size_t count = 0U); | ||
| RaycastResults(const RaycastResults& other) = default; | ||
| RaycastResults(RaycastResults&& other); | ||
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| [[nodiscard]] bool IsEmpty() const; | ||
| template<RaycastResultFlags F> | ||
| [[nodiscard]] bool IsFlagSatisfied(RaycastResultFlags requestedFlags) const; | ||
| [[nodiscard]] bool SatisfiesResultFlags(RaycastResultFlags flags) const; | ||
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| template<RaycastResultFlags F> | ||
| [[nodiscard]] bool IsFieldPresent() const; | ||
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| [[nodiscard]] size_t GetCount() const; | ||
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| template<RaycastResultFlags F> | ||
| AZStd::optional<ConstFieldSpan<F>> GetConstFieldSpan() const; | ||
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| template<RaycastResultFlags F> | ||
| AZStd::optional<FieldSpan<F>> GetFieldSpan(); | ||
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| void Clear(); | ||
| void Resize(size_t count); | ||
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| RaycastResults& operator=(const RaycastResults& other) = default; | ||
| RaycastResults& operator=(RaycastResults&& other); | ||
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| private: | ||
| template<RaycastResultFlags F, typename RT = typename ResultTraits<F>::Type> | ||
| using FieldInternal = AZStd::optional<AZStd::vector<RT>>; | ||
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| template<RaycastResultFlags F> | ||
| const FieldInternal<F>& GetField() const; | ||
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| template<RaycastResultFlags F> | ||
| FieldInternal<F>& GetField(); | ||
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| template<RaycastResultFlags F> | ||
| void ResizeFieldIfPresent(size_t count); | ||
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| template<RaycastResultFlags F> | ||
| void EnsureFlagSatisfied(RaycastResultFlags flags, size_t count); | ||
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| template<RaycastResultFlags F> | ||
| void ClearFieldIfPresent(); | ||
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| size_t m_count{}; | ||
| FieldInternal<RaycastResultFlags::Point> m_points; | ||
| FieldInternal<RaycastResultFlags::Range> m_ranges; | ||
| FieldInternal<RaycastResultFlags::Intensity> m_intensities; | ||
| }; | ||
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| template<RaycastResultFlags F> | ||
| bool RaycastResults::IsFlagSatisfied(RaycastResultFlags requestedFlags) const | ||
| { | ||
| return !IsFlagEnabled<F>(requestedFlags) || IsFieldPresent<F>(); | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| bool RaycastResults::IsFieldPresent() const | ||
| { | ||
| return GetField<F>().has_value(); | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| AZStd::optional<RaycastResults::ConstFieldSpan<F>> RaycastResults::GetConstFieldSpan() const | ||
| { | ||
| auto& field = GetField<F>(); | ||
| if (!field.has_value()) | ||
| { | ||
| return {}; | ||
| } | ||
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| return AZStd::span(field->begin(), field->size()); | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| AZStd::optional<RaycastResults::FieldSpan<F>> RaycastResults::GetFieldSpan() | ||
| { | ||
| auto& field = GetField<F>(); | ||
| if (!field.has_value()) | ||
| { | ||
| return {}; | ||
| } | ||
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| return AZStd::span(field->begin(), field->size()); | ||
| } | ||
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| template<> | ||
| inline const RaycastResults::FieldInternal<RaycastResultFlags::Point>& RaycastResults::GetField<RaycastResultFlags::Point>() const | ||
| { | ||
| return m_points; | ||
| } | ||
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| template<> | ||
| inline const RaycastResults::FieldInternal<RaycastResultFlags::Range>& RaycastResults::GetField<RaycastResultFlags::Range>() const | ||
| { | ||
| return m_ranges; | ||
| } | ||
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| template<> | ||
| inline const RaycastResults::FieldInternal<RaycastResultFlags::Intensity>& RaycastResults::GetField<RaycastResultFlags::Intensity>() | ||
| const | ||
| { | ||
| return m_intensities; | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| RaycastResults::FieldInternal<F>& RaycastResults::GetField() | ||
| { | ||
| return const_cast<FieldInternal<F>&>(static_cast<const RaycastResults*>(this)->GetField<F>()); | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| void RaycastResults::ClearFieldIfPresent() | ||
| { | ||
| auto& field = GetField<F>(); | ||
| if (!field.has_value()) | ||
| { | ||
| return; | ||
| } | ||
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| field->clear(); | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| void RaycastResults::ResizeFieldIfPresent(size_t count) | ||
| { | ||
| auto& field = GetField<F>(); | ||
| if (!field.has_value()) | ||
| { | ||
| return; | ||
| } | ||
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| field->resize(count); | ||
| } | ||
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| template<RaycastResultFlags F> | ||
| void RaycastResults::EnsureFlagSatisfied(RaycastResultFlags flags, size_t count) | ||
| { | ||
| if (!IsFlagEnabled<F>(flags)) | ||
| { | ||
| return; | ||
| } | ||
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| auto& field = GetField<F>(); | ||
| if (!field.has_value()) | ||
| { | ||
| field = AZStd::vector<typename ResultTraits<F>::Type>(count); | ||
| } | ||
| else | ||
| { | ||
| field->resize(count); | ||
| } | ||
| } | ||
| } // namespace ROS2 |
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