eve::gpuagents::ObstacleField类 参考

Unified static + dynamic obstacle distance field. 更多...

#include <ObstacleField.h>

Public 成员函数
bool	hasStaticGrid () const
	True when a static grid is allocated.
void	clear ()
	Clear static grid and dynamic sources.
void	bakeEmpty (const glm::vec3 &originMin, const glm::ivec3 &dims, float cellSize, float fillDistance=10.f)
	Bake an empty (all free) box field.
void	carveSphere (const glm::vec3 &center, float radius)
	Carve a solid sphere into the static grid (min with existing).
void	carveBox (const glm::vec3 &minCorner, const glm::vec3 &maxCorner)
	Carve a solid axis-aligned box (min with existing).
void	setDynamicSources (std::vector< DynamicObstacleSource > sources)
	Replace the dynamic obstacle list.
ObstacleSample	sample (const glm::vec3 &p) const
	Sample combined static+dynamic distance and gradient at p.
void	resolve (glm::vec3 &position, glm::vec3 &velocity, float agentRadius, float predictTime) const
	Push an agent out of obstacles and keep feasible tangential velocity.

Public 属性
glm::vec3	origin {0.f}
float	cellSize = 1.f
glm::ivec3	dims {0}
std::vector< float >	distances
std::vector< DynamicObstacleSource >	dynamicSources

详细描述

Unified static + dynamic obstacle distance field.

Static samples live on a regular voxel grid (positive = free space). Dynamic sources are analytic spheres combined with min.

在文件 ObstacleField.h 第 28 行定义.

成员函数说明

bakeEmpty()

void eve::gpuagents::ObstacleField::bakeEmpty	(	const glm::vec3 &	originMin,
		const glm::ivec3 &	dims,
		float	cellSize,
		float	fillDistance = 10.f
	)

Bake an empty (all free) box field.

参数

originMin	World corner of voxel (0,0,0).
dims	Voxel counts.
cellSize	Voxel edge length.
fillDistance	Initial free-space distance written to every voxel.

在文件 ObstacleField.cpp 第 29 行定义.

引用了 cellSize, d, dims, distances, EV_PARAM_CHECK , 以及 origin.

carveBox()

void eve::gpuagents::ObstacleField::carveBox	(	const glm::vec3 &	minCorner,
		const glm::vec3 &	maxCorner
	)

Carve a solid axis-aligned box (min with existing).

参数

minCorner	Inclusive AABB min.
maxCorner	Inclusive AABB max.

在文件 ObstacleField.cpp 第 55 行定义.

引用了 cellSize, d, dims, distances, EV_PARAM_CHECK, hasStaticGrid(), origin, p, q, x, y , 以及 z.

carveSphere()

void eve::gpuagents::ObstacleField::carveSphere	(	const glm::vec3 &	center,
		float	radius
	)

Carve a solid sphere into the static grid (min with existing).

参数

center	Sphere center.
radius	Sphere radius.

在文件 ObstacleField.cpp 第 40 行定义.

引用了 cellSize, center, d, dims, distances, EV_PARAM_CHECK, hasStaticGrid(), origin, p, radius, x, y , 以及 z.

clear()

void eve::gpuagents::ObstacleField::clear

(

)

Clear static grid and dynamic sources.

在文件 ObstacleField.cpp 第 23 行定义.

引用了 dims, distances , 以及 dynamicSources.

hasStaticGrid()

bool eve::gpuagents::ObstacleField::hasStaticGrid ( ) const

inline

True when a static grid is allocated.

在文件 ObstacleField.h 第 37 行定义.

被这些函数引用 carveBox() , 以及 carveSphere().

resolve()

void eve::gpuagents::ObstacleField::resolve	(	glm::vec3 &	position,
		glm::vec3 &	velocity,
		float	agentRadius,
		float	predictTime
	)		const

Push an agent out of obstacles and keep feasible tangential velocity.

参数

position	In/out world position.
velocity	In/out world velocity.
agentRadius	Collision radius.
predictTime	Velocity extrapolation horizon for predictive sample.

在文件 ObstacleField.cpp 第 140 行定义.

引用了 eve::gpuagents::ObstacleSample::distance, hit, n, position , 以及 sample().

被这些函数引用 eve::gpuagents::BirdSolver::step(), eve::gpuagents::FishSolver::step() , 以及 eve::gpuagents::PetalSolver::step().

sample()

ObstacleSample eve::gpuagents::ObstacleField::sample

(

const glm::vec3 &

p

)

const

Sample combined static+dynamic distance and gradient at p.

在文件 ObstacleField.cpp 第 129 行定义.

引用了 eve::gpuagents::ObstacleSample::distance, eve::gpuagents::ObstacleSample::gradient , 以及 p.

被这些函数引用 resolve().

setDynamicSources()

void eve::gpuagents::ObstacleField::setDynamicSources

(

std::vector< DynamicObstacleSource >

sources

)

Replace the dynamic obstacle list.

在文件 ObstacleField.cpp 第 71 行定义.

引用了 dynamicSources.

类成员变量说明

cellSize

float eve::gpuagents::ObstacleField::cellSize = 1.f

在文件 ObstacleField.h 第 31 行定义.

被这些函数引用 bakeEmpty(), carveBox() , 以及 carveSphere().

dims

glm::ivec3 eve::gpuagents::ObstacleField::dims {0}

在文件 ObstacleField.h 第 32 行定义.

被这些函数引用 bakeEmpty(), carveBox(), carveSphere() , 以及 clear().

distances

std::vector<float> eve::gpuagents::ObstacleField::distances

在文件 ObstacleField.h 第 33 行定义.

被这些函数引用 bakeEmpty(), carveBox(), carveSphere() , 以及 clear().

dynamicSources

std::vector<DynamicObstacleSource> eve::gpuagents::ObstacleField::dynamicSources

在文件 ObstacleField.h 第 34 行定义.

被这些函数引用 clear(), setDynamicSources() , 以及 eve::gpuagents::PetalSolver::step().

origin

glm::vec3 eve::gpuagents::ObstacleField::origin {0.f}

在文件 ObstacleField.h 第 30 行定义.

被这些函数引用 bakeEmpty(), carveBox() , 以及 carveSphere().

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该类的文档由以下文件生成:

• src/modules/gpuagents/ObstacleField.h
• src/modules/gpuagents/ObstacleField.cpp