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FHeightField

API > API/Runtime > API/Runtime/Chaos

   
Name FHeightField
Type class
Header File /Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/HeightField.h
Include Path #include "Chaos/HeightField.h"

Syntax

class FHeightField : public Chaos::FImplicitObject

Inheritance Hierarchy

Constructors

Name Remarks Include Path Unreal Specifiers

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

FHeightField ( const FHeightField& Other
)

   Chaos/HeightField.h  
Needed for serialization. Chaos/HeightField.h  

Destructors

Name Remarks Include Path Unreal Specifiers

virtual ~FHeightField()

 Not required as long as FImplicitObject also has deleted move constructor (adding this causes an error on Linux build) FHeightField(FHeightField&& Other) = default; Chaos/HeightField.h  

Structs

Name Remarks
FBounds2D Struct for 2D bounds and associated operations.
FClosestFaceData  
FData  
FWalkingData  

Typedefs

Name Type Remarks Include Path
FDataType FData< uint16 >   Chaos/HeightField.h

Variables

Public

Name Type Remarks Include Path Unreal Specifiers
GeomData FDataType   Chaos/HeightField.h  

Protected

Name Type Remarks Include Path Unreal Specifiers
CachedBounds FAABB3 Cached when bounds are requested. Mutable to allow GetBounds to be logical const. Chaos/HeightField.h  
FImplicitObject friend   Chaos/HeightField.h  
FlatGrid TUniformGrid< FReal, 2 > Grid for queries, faster than bounding volumes for heightfields. Chaos/HeightField.h  
FlattenedBounds FBounds2D Bounds in 2D of the whole heightfield, to clip queries against. Chaos/HeightField.h  
LocalBounds FAABB3 3D bounds for the heightfield, for insertion to the scene structure Chaos/HeightField.h  

Functions

Public

Name Remarks Include Path Unreal Specifiers

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

 Internal: do not use - this API will change as we optimize mesh collision. Chaos/HeightField.h  

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

 Support for editing a subsection of the heightfield Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

FReal GetHeight ( int32 InX,
int32 InY
) const

   Chaos/HeightField.h  

FReal GetHeight ( int32 InIndex
) const

   Chaos/HeightField.h  

FReal GetHeightAt ( const FVec2& InGridLocationLocal
) const

   Chaos/HeightField.h  

uint8 GetMaterialIndex ( int32 InX,
int32 InY
) const

   Chaos/HeightField.h  

uint8 GetMaterialIndex ( int32 InIndex
) const

   Chaos/HeightField.h  

uint8 GetMaterialIndexAt ( const FVec2& InGridLocationLocal
) const

   Chaos/HeightField.h  

FVec3 GetNormalAt ( const FVec2& InGridLocationLocal
) const

   Chaos/HeightField.h  

int32 GetNumCols()

   Chaos/HeightField.h  

int32 GetNumRows()

   Chaos/HeightField.h  

FVec3 GetPointScaled ( int32 InIndex
) const

   Chaos/HeightField.h  

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) Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

bool IsHole ( int32 InIndex
) const

   Chaos/HeightField.h  

bool IsHole ( int32 InCellX,
int32 InCellY
) const

   Chaos/HeightField.h  

bool IsOverlappingAnyCells ( const FAABB3& QueryBounds
) const

 Does the mesh-space QueryBounds overlap the bounds of any cells in the heightfield? Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

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

   Chaos/HeightField.h  

void SetScale ( const FVec3& InScale
)

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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,
bool bComputeMTD
) const

   Chaos/HeightField.h  

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/HeightField.h  

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/HeightField.h  

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/HeightField.h  

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/HeightField.h  

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

 Sweep used for CCD. Ignores triangles we penetrate by less than IgnorePenetration, and calculate the TOI for a depth of TargetPenetration. If both are zero, this is equivalent to SweepGeom. Chaos/HeightField.h  

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/HeightField.h  

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/HeightField.h  

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/HeightField.h  

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

 Visit all triangles transformed into the specified space. Chaos/HeightField.h  

Overridden from FImplicitObject

Name Remarks Include Path Unreal Specifiers

virtual const FAABB3 BoundingBox()

   Chaos/HeightField.h  

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

 Given a normal and a face index, compute the most opposing normal associated with the underlying geometry features. Chaos/HeightField.h  

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

 Returns the most opposing face. Chaos/HeightField.h  

virtual uint16 GetMaterialIndex ( uint32 HintIndex
) const

   Chaos/HeightField.h  

virtual uint32 GetTypeHash()

   Chaos/HeightField.h  

virtual FName GetTypeName ()

   Chaos/HeightField.h  

virtual bool IsOverlappingBoundsImpl ( const FAABB3& LocalBounds
) const

 This should not be public, but it needs to be callable by derived classes on another instance. Chaos/HeightField.h  

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

 This gives derived types a way to do an overlap check without calling PhiWithNormal todo: this api is confusing. Chaos/HeightField.h  

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

 Find the closest point on the surface, and return the separating distance and axis. Chaos/HeightField.h  

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

 This gives derived types a way to avoid calling PhiWithNormal todo: this api is confusing. Chaos/HeightField.h  

virtual void Serialize ( FChaosArchive& Ar
)

   Chaos/HeightField.h  

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

 This should not be public, but it needs to be callable by derived classes on another instance. Chaos/HeightField.h  

Static

Name Remarks Include Path Unreal Specifiers

static const FName GetTypeName ( const EImplicitObjectType InType
)

   Chaos/HeightField.h  

static EImplicitObjectType StaticType()

   Chaos/HeightField.h  

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