Add production bathymetric sonar slice

game/domain/sonar/sonar_sample_buffer.gd

@@ -0,0 +1,115 @@
+class_name SonarSampleBuffer
+extends RefCounted
+
+const SonarMaterial = preload("res://game/domain/sonar/sonar_material.gd")
+const SonarSample = preload("res://game/domain/sonar/sonar_sample.gd")
+
+var columns: int
+var rows: int
+
+var _positions := PackedVector3Array()
+var _normals := PackedVector3Array()
+var _intensities := PackedFloat32Array()
+var _elevations_m := PackedFloat32Array()
+var _materials := PackedInt32Array()
+var _observed := PackedByteArray()
+var _sealed := false
+
+
+func _init(p_columns: int, p_rows: int) -> void:
+	columns = p_columns
+	rows = p_rows
+	var sample_count := maxi(columns, 0) * maxi(rows, 0)
+	_positions.resize(sample_count)
+	_normals.resize(sample_count)
+	_intensities.resize(sample_count)
+	_elevations_m.resize(sample_count)
+	_materials.resize(sample_count)
+	_observed.resize(sample_count)
+	for index in sample_count:
+		_normals[index] = Vector3.UP
+		_materials[index] = SonarMaterial.Value.UNKNOWN
+
+
+func set_sample(row: int, column: int, sample: SonarSample) -> String:
+	if _sealed:
+		return "sonar sample buffer is sealed"
+	var index := _index_of(row, column)
+	if index < 0:
+		return "sonar sample coordinates are outside the buffer"
+	if sample == null:
+		return "sonar sample is missing"
+	var error := sample.validation_error()
+	if not error.is_empty():
+		return error
+	if not sample.observed:
+		return "cannot write an unobserved sonar sample"
+	if _observed[index] == 1:
+		return "sonar sample coordinates are duplicated"
+	_positions[index] = sample.position_m
+	_normals[index] = sample.normal.normalized()
+	_intensities[index] = sample.intensity
+	_elevations_m[index] = sample.elevation_m
+	_materials[index] = sample.material
+	_observed[index] = 1
+	return ""
+
+
+func seal() -> String:
+	if columns < 2 or rows < 2:
+		return "sonar sample buffer dimensions must be at least 2 by 2"
+	_sealed = true
+	return ""
+
+
+func is_sealed() -> bool:
+	return _sealed
+
+
+func sample_count() -> int:
+	return columns * rows
+
+
+func observed_count() -> int:
+	var count := 0
+	for value: int in _observed:
+		count += value
+	return count
+
+
+func sample_at(row: int, column: int) -> SonarSample:
+	var index := _index_of(row, column)
+	if index < 0 or _observed[index] == 0:
+		return SonarSample.unknown()
+	return SonarSample.new(
+		_positions[index],
+		_normals[index],
+		_intensities[index],
+		_elevations_m[index],
+		_materials[index],
+		true
+	)
+
+
+func validation_error() -> String:
+	if columns < 2 or rows < 2:
+		return "sonar sample buffer dimensions must be at least 2 by 2"
+	if not _sealed:
+		return "sonar sample buffer must be sealed before publication"
+	var expected_size := columns * rows
+	if (
+		_positions.size() != expected_size
+		or _normals.size() != expected_size
+		or _intensities.size() != expected_size
+		or _elevations_m.size() != expected_size
+		or _materials.size() != expected_size
+		or _observed.size() != expected_size
+	):
+		return "sonar sample buffer arrays are not aligned"
+	return ""
+
+
+func _index_of(row: int, column: int) -> int:
+	if row < 0 or row >= rows or column < 0 or column >= columns:
+		return -1
+	return row * columns + column