Distance from each NavCel to the nearest seed (seed NavCels and, optionally, the open edges of the mesh), kept up to date incrementally. More...

#include <DistanceField.hpp>

Public Member Functions
const std::vector< NavCelId > &	changed () const
	NavCels whose distance changed in the last compute() / update().
void	compute (const std::vector< NavCelId > &seed_cells)
	Full computation from these seed cells.
	DistanceField (const NavMap &nm, bool from_boundary, float max_distance=std::numeric_limits< float >::infinity())
const std::vector< float > &	distances () const
bool	is_seed (NavCelId cid) const
	Whether `cid` is currently a seed cell.
float	operator[] (NavCelId cid) const
void	update (const std::vector< NavCelId > &added, const std::vector< NavCelId > &removed)
	Incremental update: NavCels that became seeds and NavCels that stopped being seeds since the last compute() / update().

Detailed Description

Distance from each NavCel to the nearest seed (seed NavCels and, optionally, the open edges of the mesh), kept up to date incrementally.

With a finite max_distance the field is exact for this definition: the distance of a NavCel is the straight 3D distance from its centroid to the nearest seed (point, or open-edge segment) that reaches it through adjacent NavCels all within max_distance of that seed, so it never jumps to another floor or across a hole. Each seed paints its disc; removing one repaints the seeds within 2 * max_distance of it (found through a spatial index). Without max_distance it falls back to NavMap::distance_field() (nearest-feature propagation, approximate) and updates recompute everything.

Bound to the geometry of the NavMap it was built from: rebuild it if the geometry changes. The map must outlive it.

Constructor & Destructor Documentation

◆ DistanceField()

DistanceField	(	const NavMap &	nm,
		bool	from_boundary,
		float	max_distance = std::numeric_limits<float>::infinity() )

Parameters

nm	Map (geometry and adjacency must be built).
from_boundary	Also seed the open edges (walls, drops, unmapped space).
max_distance	Distances beyond this are +inf (bounds the work of every update).

Member Function Documentation

◆ changed()

const std::vector< NavCelId > & changed ( ) const

NavCels whose distance changed in the last compute() / update().

◆ compute()

void compute ( const std::vector< NavCelId > & seed_cells )

Full computation from these seed cells.

◆ distances()

const std::vector< float > & distances ( ) const

◆ is_seed()

bool is_seed ( NavCelId cid ) const

Whether cid is currently a seed cell.

◆ operator[]()

float operator[] ( NavCelId cid ) const

◆ update()

void update	(	const std::vector< NavCelId > &	added,
		const std::vector< NavCelId > &	removed )

Incremental update: NavCels that became seeds and NavCels that stopped being seeds since the last compute() / update().

Unknown or repeated ids are ignored.

The documentation for this class was generated from the following files:

navmap_core/include/navmap_core/DistanceField.hpp
navmap_core/src/navmap_core/DistanceField.cpp

Public Member Functions