#include <HeightField.h>

Inheritance diagram for Chaos::FHeightField:

Classes
struct	FClosestFaceData

struct	FData

Public Types
using	FDataType = FData< uint16 >

Public Types inherited from Chaos::FImplicitObject
using	TType = FReal

Public Member Functions
CHAOS_API	FHeightField (TArray< FReal > &&Height, TArray< uint8 > &&InMaterialIndices, int32 InNumRows, int32 InNumCols, const FVec3 &InScale)

CHAOS_API	FHeightField (TArrayView< const uint16 > InHeights, TArrayView< const uint8 > InMaterialIndices, int32 InNumRows, int32 InNumCols, const FVec3 &InScale)

	FHeightField (const FHeightField &Other)=delete

virtual	~FHeightField ()

CHAOS_API void	EditHeights (TArrayView< FReal > InHeights, int32 InBeginRow, int32 InBeginCol, int32 InNumRows, int32 InNumCols)

CHAOS_API void	EditHeights (TArrayView< const uint16 > InHeights, int32 InBeginRow, int32 InBeginCol, int32 InNumRows, int32 InNumCols)

CHAOS_API FReal	GetHeight (int32 InIndex) const

CHAOS_API FVec3	GetPointScaled (int32 InIndex) const

CHAOS_API FReal	GetHeight (int32 InX, int32 InY) const

CHAOS_API uint8	GetMaterialIndex (int32 InIndex) const

CHAOS_API uint8	GetMaterialIndex (int32 InX, int32 InY) const

CHAOS_API bool	IsHole (int32 InIndex) const

CHAOS_API bool	IsHole (int32 InCellX, int32 InCellY) const

CHAOS_API FVec3	GetNormalAt (const FVec2 &InGridLocationLocal) const

CHAOS_API FReal	GetHeightAt (const FVec2 &InGridLocationLocal) const

CHAOS_API uint8	GetMaterialIndexAt (const FVec2 &InGridLocationLocal) const

int32	GetNumRows () const

int32	GetNumCols () const

virtual CHAOS_API FReal	PhiWithNormal (const FVec3 &x, FVec3 &Normal) const

virtual CHAOS_API bool	Raycast (const FVec3 &StartPoint, const FVec3 &Dir, const FReal Length, const FReal Thickness, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex) const override

virtual CHAOS_API bool	Overlap (const FVec3 &Point, const FReal Thickness) const override

CHAOS_API bool	OverlapGeom (const FSphere &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const TBox< FReal, 3 > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const FCapsule &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const FConvex &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const TImplicitObjectScaled< FSphere > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const TImplicitObjectScaled< TBox< FReal, 3 > > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const TImplicitObjectScaled< FCapsule > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	OverlapGeom (const TImplicitObjectScaled< FConvex > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FMTDInfo *OutMTD=nullptr) const

CHAOS_API bool	SweepGeom (const FSphere &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const TBox< FReal, 3 > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const FCapsule &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const FConvex &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const TImplicitObjectScaled< FSphere > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const TImplicitObjectScaled< TBox< FReal, 3 > > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const TImplicitObjectScaled< FCapsule > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeom (const TImplicitObjectScaled< FConvex > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, FReal &OutTime, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal, const FReal Thickness=0, bool bComputeMTD=false) const

CHAOS_API bool	SweepGeomCCD (const FSphere &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const TBox< FReal, 3 > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const FCapsule &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const FConvex &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const TImplicitObjectScaled< FSphere > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const TImplicitObjectScaled< TBox< FReal, 3 > > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const TImplicitObjectScaled< FCapsule > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	SweepGeomCCD (const TImplicitObjectScaled< FConvex > &QueryGeom, const FRigidTransform3 &StartTM, const FVec3 &Dir, const FReal Length, const FReal IgnorePenetration, const FReal TargetPenetration, FReal &OutTOI, FReal &OutPhi, FVec3 &OutPosition, FVec3 &OutNormal, int32 &OutFaceIndex, FVec3 &OutFaceNormal) const

CHAOS_API bool	GJKContactPoint (const TBox< FReal, 3 > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const FSphere &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const FCapsule &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const FConvex &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const TImplicitObjectScaled< TBox< FReal, 3 > > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const TImplicitObjectScaled< FSphere > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const TImplicitObjectScaled< FCapsule > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

CHAOS_API bool	GJKContactPoint (const TImplicitObjectScaled< FConvex > &QueryGeom, const FRigidTransform3 &QueryTM, const FReal Thickness, FVec3 &ContactLocation, FVec3 &ContactNormal, FReal &ContactPhi, int32 &ContactFaceIndex) const

virtual CHAOS_API int32	FindMostOpposingFace (const FVec3 &Position, const FVec3 &UnitDir, int32 HintFaceIndex, FReal SearchDist) const override

virtual CHAOS_API FVec3	FindGeometryOpposingNormal (const FVec3 &DenormDir, int32 FaceIndex, const FVec3 &OriginalNormal) const override

void	GetTransformedTriangle (const int32 TriangleIndex, const FRigidTransform3 &Transform, FTriangle &OutTriangle, int32 &OutVertexIndex0, int32 &OutVertexIndex1, int32 &OutVertexIndex2) const
	Generate the triangle at the specified index with the specified transform (including scale)

template<typename TriangleVisitor >
void	VisitTriangles (const FAABB3 &QueryBounds, const FRigidTransform3 &QueryTransform, const TriangleVisitor &Visitor) const

void	CollectTriangles (const FAABB3 &QueryBounds, const FRigidTransform3 &QueryTransform, const FAABB3 &ObjectBounds, Private::FMeshContactGenerator &Collector) const

virtual void	VisitOverlappingLeafObjectsImpl (const FAABB3 &QueryBounds, const FRigidTransform3 &ObjectTransform, const int32 RootObjectIndex, int32 &ObjectIndex, int32 &LeafObjectIndex, const FImplicitHierarchyVisitor &VisitorFunc) const override final

virtual bool	IsOverlappingBoundsImpl (const FAABB3 &QueryBounds) const override final

bool	IsOverlappingAnyCells (const FAABB3 &QueryBounds) const

CHAOS_API FClosestFaceData	FindClosestFace (const FVec3 &Position, FReal SearchDist) const

virtual uint16	GetMaterialIndex (uint32 HintIndex) const override

virtual const FAABB3	BoundingBox () const

virtual uint32	GetTypeHash () const override

virtual void	Serialize (FChaosArchive &Ar) override

void	SetScale (const FVec3 &InScale)

virtual FName	GetTypeName () const

Public Member Functions inherited from Chaos::FImplicitObject
CHAOS_API	FImplicitObject (int32 Flags, EImplicitObjectType InType=ImplicitObjectType::Unknown)

	FImplicitObject (const FImplicitObject &)=delete

	FImplicitObject (FImplicitObject &&)=delete

virtual CHAOS_API	~FImplicitObject () override

template<typename TargetType >
bool	IsA () const

template<typename TargetType >
const TargetType *	AsA () const

template<typename TargetType >
TargetType *	AsA ()

template<typename TargetType >
const TargetType *	AsAChecked () const

template<typename TargetType >
TargetType *	AsAChecked ()

template<class T_DERIVED >
T_DERIVED *	GetObject ()

template<class T_DERIVED >
const T_DERIVED *	GetObject () const

template<class T_DERIVED >
const T_DERIVED &	GetObjectChecked () const

template<class T_DERIVED >
T_DERIVED &	GetObjectChecked ()

virtual EImplicitObjectType	GetNestedType () const

CHAOS_API EImplicitObjectType	GetType () const

CHAOS_API EImplicitObjectType	GetCollisionType () const

void	SetCollisionType (EImplicitObjectType InCollisionType)

virtual FReal	GetRadius () const

virtual FRealSingle	GetRadiusf () const

virtual FReal	GetMargin () const

virtual FRealSingle	GetMarginf () const

virtual CHAOS_API bool	IsValidGeometry () const

virtual CHAOS_API Chaos::FImplicitObjectPtr	CopyGeometry () const

virtual CHAOS_API Chaos::FImplicitObjectPtr	CopyGeometryWithScale (const FVec3 &Scale) const

virtual Chaos::FImplicitObjectPtr	DeepCopyGeometry () const

virtual Chaos::FImplicitObjectPtr	DeepCopyGeometryWithScale (const FVec3 &Scale) const

virtual FImplicitObject *	Duplicate () const

virtual TUniquePtr< FImplicitObject >	Copy () const

virtual TUniquePtr< FImplicitObject >	CopyWithScale (const FVec3 &Scale) const

virtual TUniquePtr< FImplicitObject >	DeepCopy () const

virtual TUniquePtr< FImplicitObject >	DeepCopyWithScale (const FVec3 &Scale) const

CHAOS_API bool	IsUnderlyingUnion () const

CHAOS_API bool	IsUnderlyingMesh () const

CHAOS_API FReal	SignedDistance (const FVec3 &x) const

CHAOS_API FVec3	Normal (const FVec3 &x) const

virtual FReal	PhiWithNormalScaled (const FVec3 &Pos, const FVec3 &Scale, FVec3 &Normal) const

virtual FAABB3	CalculateTransformedBounds (const FRigidTransform3 &Transform) const

bool	HasBoundingBox () const

bool	IsConvex () const

void	SetConvex (const bool Convex=true)

void	SetDoCollide (const bool Collide)

bool	GetDoCollide () const

CHAOS_API void	Track (TSerializablePtr< FImplicitObject > This, const FString &DebugInfo)

virtual bool	IsPerformanceWarning () const

virtual FString	PerformanceWarningAndSimplifaction ()

CHAOS_API Pair< FVec3, bool >	FindDeepestIntersection (const FImplicitObject Other, const FBVHParticles Particles, const FMatrix33 &OtherToLocalTransform, const FReal Thickness) const

CHAOS_API Pair< FVec3, bool >	FindDeepestIntersection (const FImplicitObject Other, const FParticles Particles, const FMatrix33 &OtherToLocalTransform, const FReal Thickness) const

CHAOS_API Pair< FVec3, bool >	FindClosestIntersection (const FVec3 &StartPoint, const FVec3 &EndPoint, const FReal Thickness) const

virtual int32	FindMostOpposingFaceScaled (const FVec3 &Position, const FVec3 &UnitDir, int32 HintFaceIndex, FReal SearchDist, const FVec3 &Scale) const

virtual int32	FindClosestFaceAndVertices (const FVec3 &Position, TArray< FVec3 > &FaceVertices, FReal SearchDist=0.01f) const

virtual void	AccumulateAllImplicitObjects (TArray< Pair< const FImplicitObject *, FRigidTransform3 > > &Out, const FRigidTransform3 &ParentTM) const

virtual void	AccumulateAllSerializableImplicitObjects (TArray< Pair< TSerializablePtr< FImplicitObject >, FRigidTransform3 > > &Out, const FRigidTransform3 &ParentTM, TSerializablePtr< FImplicitObject > This) const

virtual CHAOS_API void	FindAllIntersectingObjects (TArray< Pair< const FImplicitObject *, FRigidTransform3 > > &Out, const FAABB3 &LocalBounds) const

virtual FString	ToString () const

CHAOS_API void	SerializeImp (FArchive &Ar)

virtual void	Serialize (FArchive &Ar)

int32	CountObjectsInHierarchy () const

int32	CountLeafObjectsInHierarchy () const

void	VisitOverlappingLeafObjects (const FAABB3 &LocalBounds, const FImplicitHierarchyVisitor &Visitor) const

void	VisitLeafObjects (const FImplicitHierarchyVisitor &Visitor) const

void	VisitObjects (const FImplicitHierarchyVisitorBool &Visitor) const

bool	IsOverlappingBounds (const FAABB3 &LocalBounds) const

virtual int32	CountObjectsInHierarchyImpl () const

virtual int32	CountLeafObjectsInHierarchyImpl () const

virtual void	VisitLeafObjectsImpl (const FRigidTransform3 &ObjectTransform, const int32 RootObjectIndex, int32 &ObjectIndex, int32 &LeafObjectIndex, const FImplicitHierarchyVisitor &VisitorFunc) const

virtual bool	VisitObjectsImpl (const FRigidTransform3 &ObjectTransform, const int32 RootObjectIndex, int32 &ObjectIndex, int32 &LeafObjectIndex, const FImplicitHierarchyVisitorBool &VisitorFunc) const

Public Member Functions inherited from Chaos::FChaosRefCountedObject
	FChaosRefCountedObject ()

virtual	~FChaosRefCountedObject ()

	FChaosRefCountedObject (const FChaosRefCountedObject &Rhs)=delete

FChaosRefCountedObject &	operator= (const FChaosRefCountedObject &Rhs)=delete

uint32	AddRef () const

uint32	Release () const

uint32	GetRefCount () const

void	MakePersistent () const

Static Public Member Functions
static constexpr EImplicitObjectType	StaticType ()

static CHAOS_API const FName	GetTypeName (const EImplicitObjectType InType)

Static Public Member Functions inherited from Chaos::FImplicitObject
static CHAOS_API FImplicitObject *	SerializationFactory (FChaosArchive &Ar, FImplicitObject *Obj)

static int32	GetOffsetOfType ()

static int32	GetOffsetOfMargin ()

static constexpr EImplicitObjectType	StaticType ()

static CHAOS_API FArchive &	SerializeLegacyHelper (FArchive &Ar, TUniquePtr< FImplicitObject > &Value)

static CHAOS_API const FName	GetTypeName (const EImplicitObjectType InType)

Public Attributes
FDataType	GeomData

Additional Inherited Members
Static Public Attributes inherited from Chaos::FImplicitObject
static constexpr int	D = 3

Protected Member Functions inherited from Chaos::FImplicitObject
void	SetMargin (FReal InMargin)

void	SetMargin (FRealSingle InMargin)

Static Protected Member Functions inherited from Chaos::FImplicitObject
static FVec3	ScaleNormalizedHelper (const FVec3 &Normal, const FVec3 &Scale)

static FVec3	GetOuterScaledNormal (const FVec3 &InnerNormal, const FVec3 &Scale)

static FVec3	GetInnerUnscaledNormal (const FVec3 &OuterNormal, const FVec3 &Scale)

Protected Attributes inherited from Chaos::FImplicitObject
FRealSingle	Margin

bool	bIsConvex

bool	bDoCollide

bool	bHasBoundingBox

bool	bIsTracked

EImplicitObjectType	Type

EImplicitObjectType	CollisionType

Member Typedef Documentation

◆ FDataType

using Chaos::FHeightField::FDataType = FData<uint16>

Constructor & Destructor Documentation

◆ FHeightField() [1/3]

Chaos::FHeightField::FHeightField	(	TArray< FReal > &&	Height,
		TArray< uint8 > &&	InMaterialIndices,
		int32	InNumRows,
		int32	InNumCols,
		const FVec3 &	InScale
	)

◆ FHeightField() [2/3]

Chaos::FHeightField::FHeightField	(	TArrayView< const uint16 >	InHeights,
		TArrayView< const uint8 >	InMaterialIndices,
		int32	InNumRows,
		int32	InNumCols,
		const FVec3 &	InScale
	)

◆ FHeightField() [3/3]

Chaos::FHeightField::FHeightField ( const FHeightField & Other )

delete

◆ ~FHeightField()

virtual Chaos::FHeightField::~FHeightField ( )

inlinevirtual

Member Function Documentation

◆ BoundingBox()

virtual const FAABB3 Chaos::FHeightField::BoundingBox ( ) const

inlinevirtual

Reimplemented from Chaos::FImplicitObject.

◆ CollectTriangles()

void Chaos::FHeightField::CollectTriangles	(	const FAABB3 &	QueryBounds,
		const FRigidTransform3 &	QueryTransform,
		const FAABB3 &	ObjectBounds,
		Private::FMeshContactGenerator &	Collector
	)		const

◆ EditHeights() [1/2]

void Chaos::FHeightField::EditHeights	(	TArrayView< const uint16 >	InHeights,
		int32	InBeginRow,
		int32	InBeginCol,
		int32	InNumRows,
		int32	InNumCols
	)

◆ EditHeights() [2/2]

void Chaos::FHeightField::EditHeights	(	TArrayView< FReal >	InHeights,
		int32	InBeginRow,
		int32	InBeginCol,
		int32	InNumRows,
		int32	InNumCols
	)

Support for editing a subsection of the heightfield

◆ FindClosestFace()

FHeightField::FClosestFaceData Chaos::FHeightField::FindClosestFace	(	const FVec3 &	Position,
		FReal	SearchDist
	)		const

◆ FindGeometryOpposingNormal()

FVec3 Chaos::FHeightField::FindGeometryOpposingNormal	(	const FVec3 &	DenormDir,
		int32	FaceIndex,
		const FVec3 &	OriginalNormal
	)		const

overridevirtual

Given a normal and a face index, compute the most opposing normal associated with the underlying geometry features. For example a sphere swept against a box may not give a normal associated with one of the box faces. This function will return a normal associated with one of the faces.

Parameters

DenormDir	- the direction we want to oppose
FaceIndex	- the face index associated with the geometry (for example if we hit a specific face of a convex hull)
OriginalNormal	- the original normal given by something like a sphere sweep

Returns: The most opposing normal associated with the underlying geometry's feature (like a face)

Reimplemented from Chaos::FImplicitObject.

◆ FindMostOpposingFace()

int32 Chaos::FHeightField::FindMostOpposingFace	(	const FVec3 &	Position,
		const FVec3 &	UnitDir,
		int32	HintFaceIndex,
		FReal	SearchDist
	)		const

overridevirtual

Returns the most opposing face.

Parameters

Position	- local position to search around (for example an edge of a convex hull)
UnitDir	- the direction we want to oppose (for example a ray moving into the edge of a convex hull would get the face with the most negative dot(FaceNormal, UnitDir)
HintFaceIndex	- for certain geometry we can use this to accelerate the search.

Returns: Index of the most opposing face

Reimplemented from Chaos::FImplicitObject.

◆ GetHeight() [1/2]

FReal Chaos::FHeightField::GetHeight ( int32 InIndex ) const

◆ GetHeight() [2/2]

FReal Chaos::FHeightField::GetHeight	(	int32	InX,
		int32	InY
	)		const

◆ GetHeightAt()

FReal Chaos::FHeightField::GetHeightAt ( const FVec2 & InGridLocationLocal ) const

◆ GetMaterialIndex() [1/3]

uint8 Chaos::FHeightField::GetMaterialIndex ( int32 InIndex ) const

◆ GetMaterialIndex() [2/3]

uint8 Chaos::FHeightField::GetMaterialIndex	(	int32	InX,
		int32	InY
	)		const

◆ GetMaterialIndex() [3/3]

virtual uint16 Chaos::FHeightField::GetMaterialIndex ( uint32 HintIndex ) const

inlineoverridevirtual

Reimplemented from Chaos::FImplicitObject.

◆ GetMaterialIndexAt()

uint8 Chaos::FHeightField::GetMaterialIndexAt ( const FVec2 & InGridLocationLocal ) const

◆ GetNormalAt()

Chaos::FVec3 Chaos::FHeightField::GetNormalAt ( const FVec2 & InGridLocationLocal ) const

◆ GetNumCols()

int32 Chaos::FHeightField::GetNumCols ( ) const

inline

◆ GetNumRows()

int32 Chaos::FHeightField::GetNumRows ( ) const

inline

◆ GetPointScaled()

FVec3 Chaos::FHeightField::GetPointScaled ( int32 InIndex ) const

◆ GetTransformedTriangle()

void Chaos::FHeightField::GetTransformedTriangle	(	const int32	TriangleIndex,
		const FRigidTransform3 &	Transform,
		FTriangle &	OutTriangle,
		int32 &	OutVertexIndex0,
		int32 &	OutVertexIndex1,
		int32 &	OutVertexIndex2
	)		const

inline

Generate the triangle at the specified index with the specified transform (including scale)

Note: does not correct winding for negative scales

◆ GetTypeHash()

virtual uint32 Chaos::FHeightField::GetTypeHash ( ) const

inlineoverridevirtual

Implements Chaos::FImplicitObject.

◆ GetTypeName() [1/2]

virtual FName Chaos::FImplicitObject::GetTypeName ( ) const

inlinevirtual

Reimplemented from Chaos::FImplicitObject.

◆ GetTypeName() [2/2]

const FName Chaos::FImplicitObject::GetTypeName ( const EImplicitObjectType InType )

static

◆ GJKContactPoint() [1/8]

bool Chaos::FHeightField::GJKContactPoint	(	const FCapsule &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [2/8]

bool Chaos::FHeightField::GJKContactPoint	(	const FConvex &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [3/8]

bool Chaos::FHeightField::GJKContactPoint	(	const FSphere &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [4/8]

bool Chaos::FHeightField::GJKContactPoint	(	const TBox< FReal, 3 > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [5/8]

bool Chaos::FHeightField::GJKContactPoint	(	const TImplicitObjectScaled< FCapsule > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [6/8]

bool Chaos::FHeightField::GJKContactPoint	(	const TImplicitObjectScaled< FConvex > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [7/8]

bool Chaos::FHeightField::GJKContactPoint	(	const TImplicitObjectScaled< FSphere > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ GJKContactPoint() [8/8]

bool Chaos::FHeightField::GJKContactPoint	(	const TImplicitObjectScaled< TBox< FReal, 3 > > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FVec3 &	ContactLocation,
		FVec3 &	ContactNormal,
		FReal &	ContactPhi,
		int32 &	ContactFaceIndex
	)		const

◆ IsHole() [1/2]

bool Chaos::FHeightField::IsHole	(	int32	InCellX,
		int32	InCellY
	)		const

◆ IsHole() [2/2]

bool Chaos::FHeightField::IsHole ( int32 InIndex ) const

◆ IsOverlappingAnyCells()

bool Chaos::FHeightField::IsOverlappingAnyCells ( const FAABB3 & QueryBounds ) const

inline

◆ IsOverlappingBoundsImpl()

virtual bool Chaos::FHeightField::IsOverlappingBoundsImpl ( const FAABB3 & QueryBounds ) const

inlinefinaloverridevirtual

Reimplemented from Chaos::FImplicitObject.

◆ Overlap()

bool Chaos::FHeightField::Overlap	(	const FVec3 &	Point,
		const FReal	Thickness
	)		const

overridevirtual

Reimplemented from Chaos::FImplicitObject.

◆ OverlapGeom() [1/8]

bool Chaos::FHeightField::OverlapGeom	(	const FCapsule &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [2/8]

bool Chaos::FHeightField::OverlapGeom	(	const FConvex &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [3/8]

bool Chaos::FHeightField::OverlapGeom	(	const FSphere &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [4/8]

bool Chaos::FHeightField::OverlapGeom	(	const TBox< FReal, 3 > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [5/8]

bool Chaos::FHeightField::OverlapGeom	(	const TImplicitObjectScaled< FCapsule > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [6/8]

bool Chaos::FHeightField::OverlapGeom	(	const TImplicitObjectScaled< FConvex > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [7/8]

bool Chaos::FHeightField::OverlapGeom	(	const TImplicitObjectScaled< FSphere > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ OverlapGeom() [8/8]

bool Chaos::FHeightField::OverlapGeom	(	const TImplicitObjectScaled< TBox< FReal, 3 > > &	QueryGeom,
		const FRigidTransform3 &	QueryTM,
		const FReal	Thickness,
		FMTDInfo *	OutMTD = `nullptr`
	)		const

◆ PhiWithNormal()

Chaos::FReal Chaos::FHeightField::PhiWithNormal	(	const FVec3 &	x,
		FVec3 &	Normal
	)		const

virtual

Implements Chaos::FImplicitObject.

◆ Raycast()

bool Chaos::FHeightField::Raycast	(	const FVec3 &	StartPoint,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	Thickness,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex
	)		const

overridevirtual

Reimplemented from Chaos::FImplicitObject.

◆ Serialize()

virtual void Chaos::FHeightField::Serialize ( FChaosArchive & Ar )

inlineoverridevirtual

Reimplemented from Chaos::FImplicitObject.

◆ SetScale()

void Chaos::FHeightField::SetScale ( const FVec3 & InScale )

inline

◆ StaticType()

static constexpr EImplicitObjectType Chaos::FHeightField::StaticType ( )

inlinestaticconstexpr

◆ SweepGeom() [1/8]

bool Chaos::FHeightField::SweepGeom	(	const FCapsule &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [2/8]

bool Chaos::FHeightField::SweepGeom	(	const FConvex &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [3/8]

bool Chaos::FHeightField::SweepGeom	(	const FSphere &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [4/8]

bool Chaos::FHeightField::SweepGeom	(	const TBox< FReal, 3 > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [5/8]

bool Chaos::FHeightField::SweepGeom	(	const TImplicitObjectScaled< FCapsule > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [6/8]

bool Chaos::FHeightField::SweepGeom	(	const TImplicitObjectScaled< FConvex > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [7/8]

bool Chaos::FHeightField::SweepGeom	(	const TImplicitObjectScaled< FSphere > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeom() [8/8]

bool Chaos::FHeightField::SweepGeom	(	const TImplicitObjectScaled< TBox< FReal, 3 > > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		FReal &	OutTime,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal,
		const FReal	Thickness = `0`,
		bool	bComputeMTD = `false`
	)		const

◆ SweepGeomCCD() [1/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const FCapsule &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [2/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const FConvex &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [3/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const FSphere &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [4/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const TBox< FReal, 3 > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [5/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const TImplicitObjectScaled< FCapsule > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [6/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const TImplicitObjectScaled< FConvex > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [7/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const TImplicitObjectScaled< FSphere > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ SweepGeomCCD() [8/8]

bool Chaos::FHeightField::SweepGeomCCD	(	const TImplicitObjectScaled< TBox< FReal, 3 > > &	QueryGeom,
		const FRigidTransform3 &	StartTM,
		const FVec3 &	Dir,
		const FReal	Length,
		const FReal	IgnorePenetration,
		const FReal	TargetPenetration,
		FReal &	OutTOI,
		FReal &	OutPhi,
		FVec3 &	OutPosition,
		FVec3 &	OutNormal,
		int32 &	OutFaceIndex,
		FVec3 &	OutFaceNormal
	)		const

◆ VisitOverlappingLeafObjectsImpl()

virtual void Chaos::FHeightField::VisitOverlappingLeafObjectsImpl	(	const FAABB3 &	QueryBounds,
		const FRigidTransform3 &	ObjectTransform,
		const int32	RootObjectIndex,
		int32 &	ObjectIndex,
		int32 &	LeafObjectIndex,
		const FImplicitHierarchyVisitor &	VisitorFunc
	)		const

inlinefinaloverridevirtual

Reimplemented from Chaos::FImplicitObject.

◆ VisitTriangles()

template<typename TriangleVisitor >

void Chaos::FHeightField::VisitTriangles	(	const FAABB3 &	QueryBounds,
		const FRigidTransform3 &	QueryTransform,
		const TriangleVisitor &	Visitor
	)		const

inline

Visit all triangles transformed into the specified space. Triangles will have standard winding, regardless of heightfield scale.

Parameters

QueryBounds	Bounding box in which we want to produce triangles, in HeightField space
QueryTransform	Transforms from HeightField space to query space (usually the other object's space)
CullDistance	The distance at which we can ignore triangles
Visitor	void(const FTriangle& Triangle, const int32 TriangleIndex, const int32 VertexIndex0, const int32 VertexIndex1, const int32 OutVertexIndex2)

Member Data Documentation

◆ GeomData

FDataType Chaos::FHeightField::GeomData

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

Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/HeightField.h
Engine/Source/Runtime/Experimental/Chaos/Private/Chaos/HeightField.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Member Typedef Documentation

◆ FDataType

Constructor & Destructor Documentation

◆ FHeightField() [1/3]

◆ FHeightField() [2/3]

◆ FHeightField() [3/3]

◆ ~FHeightField()

Member Function Documentation

◆ BoundingBox()

◆ CollectTriangles()

◆ EditHeights() [1/2]

◆ EditHeights() [2/2]

◆ FindClosestFace()

◆ FindGeometryOpposingNormal()

◆ FindMostOpposingFace()

◆ GetHeight() [1/2]

◆ GetHeight() [2/2]

◆ GetHeightAt()

◆ GetMaterialIndex() [1/3]

◆ GetMaterialIndex() [2/3]

◆ GetMaterialIndex() [3/3]

◆ GetMaterialIndexAt()

◆ GetNormalAt()

◆ GetNumCols()

◆ GetNumRows()

◆ GetPointScaled()

◆ GetTransformedTriangle()

◆ GetTypeHash()

◆ GetTypeName() [1/2]

◆ GetTypeName() [2/2]

◆ GJKContactPoint() [1/8]

◆ GJKContactPoint() [2/8]

◆ GJKContactPoint() [3/8]

◆ GJKContactPoint() [4/8]

◆ GJKContactPoint() [5/8]

◆ GJKContactPoint() [6/8]

◆ GJKContactPoint() [7/8]

◆ GJKContactPoint() [8/8]

◆ IsHole() [1/2]

◆ IsHole() [2/2]

◆ IsOverlappingAnyCells()

◆ IsOverlappingBoundsImpl()

◆ Overlap()

◆ OverlapGeom() [1/8]

◆ OverlapGeom() [2/8]

◆ OverlapGeom() [3/8]

◆ OverlapGeom() [4/8]

◆ OverlapGeom() [5/8]

◆ OverlapGeom() [6/8]

◆ OverlapGeom() [7/8]

◆ OverlapGeom() [8/8]

◆ PhiWithNormal()

◆ Raycast()

◆ Serialize()

◆ SetScale()

◆ StaticType()

◆ SweepGeom() [1/8]

◆ SweepGeom() [2/8]

◆ SweepGeom() [3/8]

◆ SweepGeom() [4/8]

◆ SweepGeom() [5/8]

◆ SweepGeom() [6/8]

◆ SweepGeom() [7/8]

◆ SweepGeom() [8/8]

◆ SweepGeomCCD() [1/8]

◆ SweepGeomCCD() [2/8]

◆ SweepGeomCCD() [3/8]

◆ SweepGeomCCD() [4/8]

◆ SweepGeomCCD() [5/8]

◆ SweepGeomCCD() [6/8]

◆ SweepGeomCCD() [7/8]

◆ SweepGeomCCD() [8/8]

◆ VisitOverlappingLeafObjectsImpl()

◆ VisitTriangles()