navmap Namespace Reference

Classes
struct	AABB
	Axis-aligned bounding box. More...
struct	BVHNode
	Node in a per-surface bounding volume hierarchy (BVH). More...
struct	Colors
	Optional per-vertex colors (RGBA, 8-bit per channel). More...
struct	LayerMeta
	Metadata associated to a layer (optional). More...
class	LayerRegistry
	Registry of named layers (per-NavCel). More...
struct	LayerView
	Typed layer view storing one T value per NavCel. More...
struct	LayerViewBase
	Non-templated base for runtime layer handling. More...
struct	NavCel
	Navigation cell (triangle) with geometry and adjacency. More...
class	NavMap
	Main container for navigable surfaces, geometry, and layers. More...
struct	Positions
	Structure-of-arrays for storing 3D vertex positions. More...
struct	Ray
	Simple ray (origin + direction). More...
struct	RayHit
	Result of a raycast against the NavMap. More...
struct	Surface
	A connected set of NavCels in a common reference frame. More...

Typedefs
using	NavCelId = uint32_t
	Index of a triangle (NavCel) within the global mesh.
using	PointId = uint32_t
	Index into the per-vertex position arrays (SoA).
using	Vec3 = Eigen::Vector3f
	3D vector alias used across NavMap geometry.

Enumerations
enum class	AreaShape { CIRCULAR , RECTANGULAR }
	Shape selector for area-writing APIs. More...
enum class	LayerType : uint8_t { U8 = 0 , F32 = 1 , F64 = 2 }
	Runtime type tag for a layer's scalar storage. More...

Functions
Vec3	closest_point_on_triangle (const Vec3 &p, const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute the closest point on triangle ABC to point P.
template<typename T>
constexpr LayerType	layer_type_tag ()
	Helper to map C++ scalar type to navmap::LayerType tag.
template<>
constexpr LayerType	layer_type_tag< double > ()
template<>
constexpr LayerType	layer_type_tag< float > ()
template<>
constexpr LayerType	layer_type_tag< uint8_t > ()
float	point_triangle_squared_distance (const Vec3 &p, const Vec3 &a, const Vec3 &b, const Vec3 &c, Vec3 *closest=nullptr)
	Squared distance between point and triangle, with optional closest pt.
bool	ray_triangle_intersect (const Vec3 &orig, const Vec3 &dir, const Vec3 &v0, const Vec3 &v1, const Vec3 &v2, float &t, float &u, float &v)
	Möller–Trumbore ray–triangle intersection.
float	triangle_area (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute the area of a triangle ABC.
Vec3	triangle_normal (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	Compute a unit normal of triangle ABC.

Typedef Documentation

NavCelId

using NavCelId = uint32_t

Index of a triangle (NavCel) within the global mesh.

PointId

using PointId = uint32_t

Index into the per-vertex position arrays (SoA).

Vec3

using Vec3 = Eigen::Vector3f

3D vector alias used across NavMap geometry.

Enumeration Type Documentation

AreaShape

enum class AreaShape

strong

Shape selector for area-writing APIs.

Enumerator
CIRCULAR
RECTANGULAR

LayerType

enum class LayerType : uint8_t

strong

Runtime type tag for a layer's scalar storage.

The registry currently supports: 8-bit unsigned, 32-bit float, 64-bit double.

Enumerator
U8
F32
F64

Function Documentation

closest_point_on_triangle()

Vec3 closest_point_on_triangle	(	const Vec3 &	p,
		const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c )

Compute the closest point on triangle ABC to point P.

Robustly handles all Voronoi regions (vertices/edges/interior). Degenerate triangles fall back to nearest vertex.

Parameters

p	Query point.
a	Triangle vertex A.
b	Triangle vertex B.
c	Triangle vertex C.

Returns

Closest point on triangle to p.

layer_type_tag()

template<typename T>

LayerType layer_type_tag ( )

constexpr

Helper to map C++ scalar type to navmap::LayerType tag.

layer_type_tag< double >()

template<>

LayerType layer_type_tag< double > ( )

constexpr

layer_type_tag< float >()

template<>

LayerType layer_type_tag< float > ( )

constexpr

layer_type_tag< uint8_t >()

template<>

LayerType layer_type_tag< uint8_t > ( )

constexpr

point_triangle_squared_distance()

float point_triangle_squared_distance	(	const Vec3 &	p,
		const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c,
		Vec3 *	closest = nullptr )

Squared distance between point and triangle, with optional closest pt.

Parameters

p	Query point.
a	Triangle vertex A.
b	Triangle vertex B.
c	Triangle vertex C.
closest	Optional output: closest point on triangle to p.

Returns

Squared Euclidean distance from p to triangle ABC.

Note

Squared distance avoids an extra sqrt and is preferred when comparing distances or using as thresholds.

ray_triangle_intersect()

bool ray_triangle_intersect	(	const Vec3 &	orig,
		const Vec3 &	dir,
		const Vec3 &	v0,
		const Vec3 &	v1,
		const Vec3 &	v2,
		float &	t,
		float &	u,
		float &	v )

Möller–Trumbore ray–triangle intersection.

Solves intersection between a ray (orig + t * dir, t > 0) and triangle (v0, v1, v2). Returns true on hit and outputs:

• t: parametric distance along the ray (t > 0).
• u, v: barycentric coordinates (with w = 1 - u - v).

Parameters

orig	Ray origin.
dir	Ray direction (not necessarily unit length).
v0	First triangle vertex.
v1	Second triangle vertex.
v2	Third triangle vertex.
t	Output ray parameter on hit (> 0).
u	Output barycentric u on hit.
v	Output barycentric v on hit.

Returns

True if the ray intersects the triangle with t > 0.

Warning

Numerical robustness depends on the geometry scale; kEps is set conservatively for typical mapping units (meters).

triangle_area()

float triangle_area	(	const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c )

Compute the area of a triangle ABC.

Parameters

a	First vertex (world coordinates).
b	Second vertex (world coordinates).
c	Third vertex (world coordinates).

Returns

Triangle area (non-negative).

Note

Uses 0.5 * |(b - a) x (c - a)|.

triangle_normal()

Vec3 triangle_normal	(	const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c )

Compute a unit normal of triangle ABC.

The normal is computed as normalized cross product (b - a) x (c - a). If the triangle is degenerate (near-zero area), returns +Z (0, 0, 1).

Parameters

a	First vertex (world coordinates).
b	Second vertex (world coordinates).
c	Third vertex (world coordinates).

Returns

Unit-length normal or +Z fallback for degenerate triangles.