Regular 3D signed-distance grid for terrain and voxel collision queries. Negative samples are solid, positive samples are empty. Samples are stored at grid vertices and queried with trilinear interpolation. 更多...

#include <DistanceField3D.h>

Public 成员函数
	DistanceField3D (int width, int height, int depth, float cellSize, float originX, float originY, float originZ, float outsideDistance)
	Distance field 3 d.

void	setDistances (const std::vector< float > &distances)
	Replace every sample in x-fastest, then y, then z order.

void	fill (float distance)
	Set every grid sample to the same finite distance.

void	setDistanceRegion (int x, int y, int z, int width, int height, int depth, const std::vector< float > &distances)
	Atomically replace a grid subregion in x-fastest, then y, then z order.

void	fillRegion (int x, int y, int z, int width, int height, int depth, float distance)
	Fill an in-bounds grid subregion with one finite signed distance.

void	setDistance (int x, int y, int z, float distance)
	Set a signed-distance sample at a grid vertex.

float	getDistance (int x, int y, int z) const
	Read a grid vertex; out-of-range vertices return the outside distance.

float	sample (float x, float y, float z) const
	Trilinearly sample the field in world coordinates.

int	getWidth () const
	Number of grid vertices along the X axis.

int	getHeight () const
	Number of grid vertices along the Y axis.

int	getDepth () const
	Number of grid vertices along the Z axis.

int	getSampleCount () const
	Total number of signed-distance samples.

float	getCellSize () const
	World-space distance between adjacent grid vertices.

float	getOriginX () const
	World-space X coordinate of grid vertex (0,0,0).

float	getOriginY () const
	World-space Y coordinate of grid vertex (0,0,0).

float	getOriginZ () const
	World-space Z coordinate of grid vertex (0,0,0).

float	getOutsideDistance () const
	Distance returned for world samples outside the grid.

unsigned int	getRevision () const
	Monotonic wrapping counter incremented once after each successful mutation.

void	sampleNormal (float x, float y, float z)
	Estimate the normalized outward field gradient at a world position.

float	getNormalX () const
	X component of the most recently sampled collision normal.

float	getNormalY () const
	Y component of the most recently sampled collision normal.

float	getNormalZ () const
	Z component of the most recently sampled collision normal.

bool	checkSphere (float x, float y, float z, float radius)
	Test a sphere against the solid (distance <= radius).

bool	checkCapsule (float ax, float ay, float az, float bx, float by, float bz, float radius)
	Test a capsule defined by two sphere centers against the solid.

bool	castSphere (float x, float y, float z, float radius, float deltaX, float deltaY, float deltaZ)
	Sweep a sphere through the field and cache the earliest contact.

bool	castCapsule (float ax, float ay, float az, float bx, float by, float bz, float radius, float deltaX, float deltaY, float deltaZ)
	Sweep a capsule through the field and cache the earliest contact.

bool	moveCapsule (float ax, float ay, float az, float bx, float by, float bz, float radius, float deltaX, float deltaY, float deltaZ)
	Resolve a capsule displacement against the field with sliding and depenetration. The capsule coordinates are not stored; apply getMoverDeltaX/Y/Z to both endpoints.

void	setMoverUp (float x, float y, float z)
	Set the normalized reference-up direction used for ground classification.

void	setMoverSlopeLimit (float degrees)
	Set the maximum walkable slope angle in degrees, clamped to [0, 89.9].

void	setMoverSkinWidth (float width)
	Set the non-negative separation retained from surfaces by moveCapsule.

float	getMoverSkinWidth () const
	Current mover separation from collision surfaces.

void	setMoverGroundSnap (float distance)
	Set the non-negative distance used to snap onto walkable ground after movement.

float	getMoverGroundSnap () const
	Current post-move ground-snap distance.

void	setMoverStepHeight (float height)
	Set the maximum non-negative ledge height automatically climbed by moveCapsule.

float	getMoverStepHeight () const
	Current automatic step height; zero disables step climbing.

float	getCollisionDistance () const
	Signed clearance from the last check (negative means penetration).

float	getCollisionX () const
	X coordinate of the closest sampled point from the last collision check.

float	getCollisionY () const
	Y coordinate of the closest sampled point from the last collision check.

float	getCollisionZ () const
	Z coordinate of the closest sampled point from the last collision check.

float	getSurfaceX () const
	X coordinate of the projected signed-distance-field surface point.

float	getSurfaceY () const
	Y coordinate of the projected signed-distance-field surface point.

float	getSurfaceZ () const
	Z coordinate of the projected signed-distance-field surface point.

float	getShapeContactX () const
	X coordinate on the sphere or capsule surface along the contact normal.

float	getShapeContactY () const
	Y coordinate on the sphere or capsule surface along the contact normal.

float	getShapeContactZ () const
	Z coordinate on the sphere or capsule surface along the contact normal.

float	getPenetrationDepth () const
	Non-negative overlap depth from the most recent overlap, cast, or move query.

float	getCastFraction () const
	Fraction in [0,1] of the requested displacement at the last cast hit.

float	getCastDistance () const
	World-space travel distance at the last cast hit.

bool	didCastStartInside () const
	Whether the most recent cast began overlapping the solid.

float	getMoverDeltaX () const
	Resolved X displacement from the most recent moveCapsule call.

float	getMoverDeltaY () const
	Resolved Y displacement from the most recent moveCapsule call.

float	getMoverDeltaZ () const
	Resolved Z displacement from the most recent moveCapsule call.

float	getMoverNormalX () const
	X component of the most recent blocking or recovery normal.

float	getMoverNormalY () const
	Y component of the most recent blocking or recovery normal.

float	getMoverNormalZ () const
	Z component of the most recent blocking or recovery normal.

int	getMoverIterations () const
	Number of solver passes used by the most recent moveCapsule call.

bool	isMoverGrounded () const
	Whether the latest move encountered a normal within the walkable slope limit.

float	getMoverGroundDot () const
	Greatest dot product between mover Up and a normal from the latest move.

bool	didMoverHitWall () const
	Whether the latest move encountered a non-walkable contact normal.

详细描述

Regular 3D signed-distance grid for terrain and voxel collision queries. Negative samples are solid, positive samples are empty. Samples are stored at grid vertices and queried with trilinear interpolation.

在文件 DistanceField3D.h 第 16 行定义.

构造及析构函数说明

◆ DistanceField3D()

eve::physics::DistanceField3D::DistanceField3D	(	int	width,
		int	height,
		int	depth,
		float	cellSize,
		float	originX,
		float	originY,
		float	originZ,
		float	outsideDistance
	)

Distance field 3 d.

在文件 DistanceField3D.cpp 第 22 行定义.

引用了 count, depth, height , 以及 width.

成员函数说明

◆ castCapsule()

bool eve::physics::DistanceField3D::castCapsule	(	float	ax,
		float	ay,
		float	az,
		float	bx,
		float	by,
		float	bz,
		float	radius,
		float	deltaX,
		float	deltaY,
		float	deltaZ
	)

Sweep a capsule through the field and cache the earliest contact.

返回: True when the swept capsule starts in or reaches the solid.

在文件 DistanceField3D.cpp 第 313 行定义.

引用了 ax, ay, az, bx, by, bz, previous, radius , 以及 steps.

被这些函数引用 moveCapsule().

◆ castSphere()

bool eve::physics::DistanceField3D::castSphere	(	float	x,
		float	y,
		float	z,
		float	radius,
		float	deltaX,
		float	deltaY,
		float	deltaZ
	)

Sweep a sphere through the field and cache the earliest contact.

参数

x	Initial sphere-center X coordinate.
y	Initial sphere-center Y coordinate.
z	Initial sphere-center Z coordinate.
radius	Sphere radius.
deltaX	Sweep displacement along X.
deltaY	Sweep displacement along Y.
deltaZ	Sweep displacement along Z.

返回: True when the swept sphere starts in or reaches the solid.

在文件 DistanceField3D.cpp 第 265 行定义.

引用了 previous, px, py, pz, radius, sample(), steps, x, y , 以及 z.

◆ checkCapsule()

bool eve::physics::DistanceField3D::checkCapsule	(	float	ax,
		float	ay,
		float	az,
		float	bx,
		float	by,
		float	bz,
		float	radius
	)

Test a capsule defined by two sphere centers against the solid.

在文件 DistanceField3D.cpp 第 210 行定义.

引用了 ax, ay, az, best, bx, by, bz, radius , 以及 sampleNormal().

被这些函数引用 moveCapsule().

◆ checkSphere()

bool eve::physics::DistanceField3D::checkSphere	(	float	x,
		float	y,
		float	z,
		float	radius
	)

Test a sphere against the solid (distance <= radius).

在文件 DistanceField3D.cpp 第 203 行定义.

引用了 radius, x, y , 以及 z.

◆ didCastStartInside()

bool eve::physics::DistanceField3D::didCastStartInside ( ) const

inline

Whether the most recent cast began overlapping the solid.

在文件 DistanceField3D.h 第 151 行定义.

◆ didMoverHitWall()

bool eve::physics::DistanceField3D::didMoverHitWall ( ) const

inline

Whether the latest move encountered a non-walkable contact normal.

在文件 DistanceField3D.h 第 171 行定义.

◆ fill()

void eve::physics::DistanceField3D::fill ( float distance )

Set every grid sample to the same finite distance.

在文件 DistanceField3D.cpp 第 66 行定义.

引用了 distance.

◆ fillRegion()

void eve::physics::DistanceField3D::fillRegion	(	int	x,
		int	y,
		int	z,
		int	width,
		int	height,
		int	depth,
		float	distance
	)

Fill an in-bounds grid subregion with one finite signed distance.

在文件 DistanceField3D.cpp 第 98 行定义.

引用了 depth, distance, height, index, width, x, y , 以及 z.

◆ getCastDistance()

float eve::physics::DistanceField3D::getCastDistance ( ) const

inline

World-space travel distance at the last cast hit.

在文件 DistanceField3D.h 第 149 行定义.

◆ getCastFraction()

float eve::physics::DistanceField3D::getCastFraction ( ) const

inline

Fraction in [0,1] of the requested displacement at the last cast hit.

在文件 DistanceField3D.h 第 147 行定义.

◆ getCellSize()

float eve::physics::DistanceField3D::getCellSize ( ) const

inline

World-space distance between adjacent grid vertices.

在文件 DistanceField3D.h 第 56 行定义.

◆ getCollisionDistance()

float eve::physics::DistanceField3D::getCollisionDistance ( ) const

inline

Signed clearance from the last check (negative means penetration).

在文件 DistanceField3D.h 第 125 行定义.

◆ getCollisionX()

float eve::physics::DistanceField3D::getCollisionX ( ) const

inline

X coordinate of the closest sampled point from the last collision check.

在文件 DistanceField3D.h 第 127 行定义.

◆ getCollisionY()

float eve::physics::DistanceField3D::getCollisionY ( ) const

inline

Y coordinate of the closest sampled point from the last collision check.

在文件 DistanceField3D.h 第 129 行定义.

◆ getCollisionZ()

float eve::physics::DistanceField3D::getCollisionZ ( ) const

inline

Z coordinate of the closest sampled point from the last collision check.

在文件 DistanceField3D.h 第 131 行定义.

◆ getDepth()

int eve::physics::DistanceField3D::getDepth ( ) const

inline

Number of grid vertices along the Z axis.

在文件 DistanceField3D.h 第 52 行定义.

◆ getDistance()

float eve::physics::DistanceField3D::getDistance	(	int	x,
		int	y,
		int	z
	)		const

Read a grid vertex; out-of-range vertices return the outside distance.

在文件 DistanceField3D.cpp 第 122 行定义.

引用了 index, x, y , 以及 z.

被这些函数引用 sample().

◆ getHeight()

int eve::physics::DistanceField3D::getHeight ( ) const

inline

Number of grid vertices along the Y axis.

在文件 DistanceField3D.h 第 50 行定义.

◆ getMoverDeltaX()

float eve::physics::DistanceField3D::getMoverDeltaX ( ) const

inline

Resolved X displacement from the most recent moveCapsule call.

在文件 DistanceField3D.h 第 153 行定义.

◆ getMoverDeltaY()

float eve::physics::DistanceField3D::getMoverDeltaY ( ) const

inline

Resolved Y displacement from the most recent moveCapsule call.

在文件 DistanceField3D.h 第 155 行定义.

◆ getMoverDeltaZ()

float eve::physics::DistanceField3D::getMoverDeltaZ ( ) const

inline

Resolved Z displacement from the most recent moveCapsule call.

在文件 DistanceField3D.h 第 157 行定义.

◆ getMoverGroundDot()

float eve::physics::DistanceField3D::getMoverGroundDot ( ) const

inline

Greatest dot product between mover Up and a normal from the latest move.

在文件 DistanceField3D.h 第 169 行定义.

◆ getMoverGroundSnap()

float eve::physics::DistanceField3D::getMoverGroundSnap ( ) const

inline

Current post-move ground-snap distance.

在文件 DistanceField3D.h 第 119 行定义.

◆ getMoverIterations()

int eve::physics::DistanceField3D::getMoverIterations ( ) const

inline

Number of solver passes used by the most recent moveCapsule call.

在文件 DistanceField3D.h 第 165 行定义.

◆ getMoverNormalX()

float eve::physics::DistanceField3D::getMoverNormalX ( ) const

inline

X component of the most recent blocking or recovery normal.

在文件 DistanceField3D.h 第 159 行定义.

◆ getMoverNormalY()

float eve::physics::DistanceField3D::getMoverNormalY ( ) const

inline

Y component of the most recent blocking or recovery normal.

在文件 DistanceField3D.h 第 161 行定义.

◆ getMoverNormalZ()

float eve::physics::DistanceField3D::getMoverNormalZ ( ) const

inline

Z component of the most recent blocking or recovery normal.

在文件 DistanceField3D.h 第 163 行定义.

◆ getMoverSkinWidth()

float eve::physics::DistanceField3D::getMoverSkinWidth ( ) const

inline

Current mover separation from collision surfaces.

在文件 DistanceField3D.h 第 115 行定义.

◆ getMoverStepHeight()

float eve::physics::DistanceField3D::getMoverStepHeight ( ) const

inline

Current automatic step height; zero disables step climbing.

在文件 DistanceField3D.h 第 123 行定义.

◆ getNormalX()

float eve::physics::DistanceField3D::getNormalX ( ) const

inline

X component of the most recently sampled collision normal.

在文件 DistanceField3D.h 第 71 行定义.

◆ getNormalY()

float eve::physics::DistanceField3D::getNormalY ( ) const

inline

Y component of the most recently sampled collision normal.

在文件 DistanceField3D.h 第 73 行定义.

◆ getNormalZ()

float eve::physics::DistanceField3D::getNormalZ ( ) const

inline

Z component of the most recently sampled collision normal.

在文件 DistanceField3D.h 第 75 行定义.

◆ getOriginX()

float eve::physics::DistanceField3D::getOriginX ( ) const

inline

World-space X coordinate of grid vertex (0,0,0).

在文件 DistanceField3D.h 第 58 行定义.

◆ getOriginY()

float eve::physics::DistanceField3D::getOriginY ( ) const

inline

World-space Y coordinate of grid vertex (0,0,0).

在文件 DistanceField3D.h 第 60 行定义.

◆ getOriginZ()

float eve::physics::DistanceField3D::getOriginZ ( ) const

inline

World-space Z coordinate of grid vertex (0,0,0).

在文件 DistanceField3D.h 第 62 行定义.

◆ getOutsideDistance()

float eve::physics::DistanceField3D::getOutsideDistance ( ) const

inline

Distance returned for world samples outside the grid.

在文件 DistanceField3D.h 第 64 行定义.

◆ getPenetrationDepth()

float eve::physics::DistanceField3D::getPenetrationDepth ( ) const

inline

Non-negative overlap depth from the most recent overlap, cast, or move query.

在文件 DistanceField3D.h 第 145 行定义.

◆ getRevision()

unsigned int eve::physics::DistanceField3D::getRevision ( ) const

inline

Monotonic wrapping counter incremented once after each successful mutation.

在文件 DistanceField3D.h 第 66 行定义.

◆ getSampleCount()

int eve::physics::DistanceField3D::getSampleCount ( ) const

inline

Total number of signed-distance samples.

在文件 DistanceField3D.h 第 54 行定义.

◆ getShapeContactX()

float eve::physics::DistanceField3D::getShapeContactX ( ) const

inline

X coordinate on the sphere or capsule surface along the contact normal.

在文件 DistanceField3D.h 第 139 行定义.

◆ getShapeContactY()

float eve::physics::DistanceField3D::getShapeContactY ( ) const

inline

Y coordinate on the sphere or capsule surface along the contact normal.

在文件 DistanceField3D.h 第 141 行定义.

◆ getShapeContactZ()

float eve::physics::DistanceField3D::getShapeContactZ ( ) const

inline

Z coordinate on the sphere or capsule surface along the contact normal.

在文件 DistanceField3D.h 第 143 行定义.

◆ getSurfaceX()

float eve::physics::DistanceField3D::getSurfaceX ( ) const

inline

X coordinate of the projected signed-distance-field surface point.

在文件 DistanceField3D.h 第 133 行定义.

◆ getSurfaceY()

float eve::physics::DistanceField3D::getSurfaceY ( ) const

inline

Y coordinate of the projected signed-distance-field surface point.

在文件 DistanceField3D.h 第 135 行定义.

◆ getSurfaceZ()

float eve::physics::DistanceField3D::getSurfaceZ ( ) const

inline

Z coordinate of the projected signed-distance-field surface point.

在文件 DistanceField3D.h 第 137 行定义.

◆ getWidth()

int eve::physics::DistanceField3D::getWidth ( ) const

inline

Number of grid vertices along the X axis.

在文件 DistanceField3D.h 第 48 行定义.

◆ isMoverGrounded()

bool eve::physics::DistanceField3D::isMoverGrounded ( ) const

inline

Whether the latest move encountered a normal within the walkable slope limit.

在文件 DistanceField3D.h 第 167 行定义.

◆ moveCapsule()

bool eve::physics::DistanceField3D::moveCapsule	(	float	ax,
		float	ay,
		float	az,
		float	bx,
		float	by,
		float	bz,
		float	radius,
		float	deltaX,
		float	deltaY,
		float	deltaZ
	)

Resolve a capsule displacement against the field with sliding and depenetration. The capsule coordinates are not stored; apply getMoverDeltaX/Y/Z to both endpoints.

返回: True when solid geometry constrained or depenetrated the capsule.

在文件 DistanceField3D.cpp 第 407 行定义.

引用了 a, ax, ay, az, b, bx, by, bz, castCapsule(), checkCapsule(), dx, dy, dz, iterations, length, moveCapsule(), normal, nx, ny, nz, planes, position, radius, state, up, value, x, y , 以及 z.

被这些函数引用 moveCapsule().

◆ sample()

float eve::physics::DistanceField3D::sample	(	float	x,
		float	y,
		float	z
	)		const

Trilinearly sample the field in world coordinates.

在文件 DistanceField3D.cpp 第 126 行定义.

引用了 a, b, getDistance(), t, x, y , 以及 z.

被这些函数引用 castSphere() , 以及 sampleNormal().

◆ sampleNormal()

void eve::physics::DistanceField3D::sampleNormal	(	float	x,
		float	y,
		float	z
	)

Estimate the normalized outward field gradient at a world position.

在文件 DistanceField3D.cpp 第 151 行定义.

引用了 center, h, length, nx, ny, nz, sample(), x, y , 以及 z.

被这些函数引用 checkCapsule().

◆ setDistance()

void eve::physics::DistanceField3D::setDistance	(	int	x,
		int	y,
		int	z,
		float	distance
	)

Set a signed-distance sample at a grid vertex.

在文件 DistanceField3D.cpp 第 114 行定义.

引用了 distance, index, x, y , 以及 z.

◆ setDistanceRegion()

void eve::physics::DistanceField3D::setDistanceRegion	(	int	x,
		int	y,
		int	z,
		int	width,
		int	height,
		int	depth,
		const std::vector< float > &	distances
	)

Atomically replace a grid subregion in x-fastest, then y, then z order.

参数

x	First grid-vertex X index.
y	First grid-vertex Y index.
z	First grid-vertex Z index.
width	Number of vertices along X; must be positive and in bounds.
height	Number of vertices along Y; must be positive and in bounds.
depth	Number of vertices along Z; must be positive and in bounds.
distances	Exactly widthheightdepth finite samples.

在文件 DistanceField3D.cpp 第 73 行定义.

引用了 count, depth, distance, height, index, source, width, x, y , 以及 z.

◆ setDistances()

void eve::physics::DistanceField3D::setDistances ( const std::vector< float > & distances )

Replace every sample in x-fastest, then y, then z order.

在文件 DistanceField3D.cpp 第 56 行定义.

引用了 distance.

◆ setMoverGroundSnap()

void eve::physics::DistanceField3D::setMoverGroundSnap ( float distance )

Set the non-negative distance used to snap onto walkable ground after movement.

在文件 DistanceField3D.cpp 第 393 行定义.

引用了 distance.

◆ setMoverSkinWidth()

void eve::physics::DistanceField3D::setMoverSkinWidth ( float width )

Set the non-negative separation retained from surfaces by moveCapsule.

在文件 DistanceField3D.cpp 第 387 行定义.

引用了 width.

◆ setMoverSlopeLimit()

void eve::physics::DistanceField3D::setMoverSlopeLimit ( float degrees )

Set the maximum walkable slope angle in degrees, clamped to [0, 89.9].

在文件 DistanceField3D.cpp 第 380 行定义.

引用了 degrees.

◆ setMoverStepHeight()

void eve::physics::DistanceField3D::setMoverStepHeight ( float height )

Set the maximum non-negative ledge height automatically climbed by moveCapsule.

在文件 DistanceField3D.cpp 第 400 行定义.

引用了 height.

◆ setMoverUp()

void eve::physics::DistanceField3D::setMoverUp	(	float	x,
		float	y,
		float	z
	)

Set the normalized reference-up direction used for ground classification.

在文件 DistanceField3D.cpp 第 369 行定义.

引用了 x, y , 以及 z.

该类的文档由以下文件生成:

src/modules/physics/DistanceField3D.h
src/modules/physics/DistanceField3D.cpp

Public 成员函数

详细描述

构造及析构函数说明

◆ DistanceField3D()

成员函数说明

◆ castCapsule()

◆ castSphere()

◆ checkCapsule()

◆ checkSphere()

◆ didCastStartInside()

◆ didMoverHitWall()

◆ fill()

◆ fillRegion()

◆ getCastDistance()

◆ getCastFraction()

◆ getCellSize()

◆ getCollisionDistance()

◆ getCollisionX()

◆ getCollisionY()

◆ getCollisionZ()

◆ getDepth()

◆ getDistance()

◆ getHeight()

◆ getMoverDeltaX()

◆ getMoverDeltaY()

◆ getMoverDeltaZ()

◆ getMoverGroundDot()

◆ getMoverGroundSnap()

◆ getMoverIterations()

◆ getMoverNormalX()

◆ getMoverNormalY()

◆ getMoverNormalZ()

◆ getMoverSkinWidth()

◆ getMoverStepHeight()

◆ getNormalX()

◆ getNormalY()

◆ getNormalZ()

◆ getOriginX()

◆ getOriginY()

◆ getOriginZ()

◆ getOutsideDistance()

◆ getPenetrationDepth()

◆ getRevision()

◆ getSampleCount()

◆ getShapeContactX()

◆ getShapeContactY()

◆ getShapeContactZ()

◆ getSurfaceX()

◆ getSurfaceY()

◆ getSurfaceZ()

◆ getWidth()

◆ isMoverGrounded()

◆ moveCapsule()

◆ sample()

◆ sampleNormal()

◆ setDistance()

◆ setDistanceRegion()

◆ setDistances()

◆ setMoverGroundSnap()

◆ setMoverSkinWidth()

◆ setMoverSlopeLimit()

◆ setMoverStepHeight()

◆ setMoverUp()