ObstacleField.h

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#pragma once
#include "common/Export.h"
 
#include <glm/glm.hpp>
 
#include <vector>
 
namespace eve::gpuagents {
 
struct ObstacleSample {
    float     distance = 1e6f;
    glm::vec3 gradient{0.f, 1.f, 0.f};
};
 
struct DynamicObstacleSource {
    glm::vec3 center{0.f};
    float     radius = 1.f;
};
 
class EVENGINE_API_DOMAINS ObstacleField {
public:
    glm::vec3 origin{0.f};
    float     cellSize = 1.f;
    glm::ivec3 dims{0};
    std::vector<float> distances;
    std::vector<DynamicObstacleSource> dynamicSources;
 
    bool hasStaticGrid() const { return dims.x > 0 && dims.y > 0 && dims.z > 0; }
 
    void clear();
 
    void bakeEmpty(const glm::vec3& originMin, const glm::ivec3& dims, float cellSize, float fillDistance = 10.f);
 
    void carveSphere(const glm::vec3& center, float radius);
 
    void carveBox(const glm::vec3& minCorner, const glm::vec3& maxCorner);
 
    void setDynamicSources(std::vector<DynamicObstacleSource> sources);
 
    ObstacleSample sample(const glm::vec3& p) const;
 
    void resolve(glm::vec3& position, glm::vec3& velocity, float agentRadius, float predictTime) const;
 
private:
    float sampleStatic(const glm::vec3& p) const;
    glm::vec3 gradientStatic(const glm::vec3& p) const;
    ObstacleSample sampleDynamic(const glm::vec3& p) const;
};
 
}  // namespace eve::gpuagents