ezVoxelGrid Class Reference

#include <VoxelGrid.h>

Public Member Functions
void	Initialize (const ezVec3U32 &vDimensions, const ezVec3 &vCenter, float fVoxelSize)
void	ClearData ()
	Clears all voxel data (sets everything to free). Keeps allocated memory.
EZ_FORCE_INLINE ezVec3I32	WorldToCoord (const ezVec3 &vWorldPos) const
	Converts a world-space position to integer voxel coordinates.
EZ_FORCE_INLINE ezVec3	CoordToWorld (const ezVec3I32 &vCoord) const
	Converts integer voxel coordinates to the world-space center of that voxel.
EZ_FORCE_INLINE bool	IsCoordValid (const ezVec3I32 &vCoord) const
	Returns true if the coordinate is inside the grid bounds.
void	SetVoxel (const ezVec3I32 &vCoord, bool bSolid)
	Sets a voxel to occupied (true) or free (false).
bool	IsVoxelSet (const ezVec3I32 &vCoord) const
	Returns whether the voxel at the given coordinate is occupied.
void	SetVoxelsOnTriangle (const ezVec3 &v0, const ezVec3 &v1, const ezVec3 &v2, bool bSet=true)
bool	CheckLineOfSight (const ezVec3I32 &vStart, const ezVec3I32 &vGoal) const
ezBoundingBox	GetAABB () const
	Returns the world-space AABB of the entire grid.
ezUInt64	GetHeapMemoryUsage () const
	Returns the approximate memory usage in bytes.
void	DebugDraw (const ezDebugRendererContext &context, const ezColor &color) const
	Draws a debug visualization of occupied surface voxels.
ezVec3U32	GetDimensions () const
float	GetVoxelSize () const
const ezVec3 &	GetOrigin () const
const ezVec3 &	GetCenter () const

Detailed Description

Stores a 3D voxel grid using packed 4x4x4 bit blocks.

Each block is stored as a single ezUInt64 (64 bits = 4*4*4 voxels). A set bit means the voxel is occupied (solid). A cleared bit means the voxel is free (passable).

The grid has a fixed resolution and is centered at a configurable world position. Use WorldToCoord / CoordToWorld to convert between world space and voxel coordinates. Use InjectBox / InjectSphere to mark voxels as occupied based on world-space shapes.

Member Function Documentation

CheckLineOfSight()

bool ezVoxelGrid::CheckLineOfSight	(	const ezVec3I32 &	vStart,
		const ezVec3I32 &	vGoal
	)		const

Ray-march visibility test between two grid-space coordinates.

Returns true if no occupied voxel blocks the line of sight.

Initialize()

void ezVoxelGrid::Initialize	(	const ezVec3U32 &	vDimensions,
		const ezVec3 &	vCenter,
		float	fVoxelSize
	)

Initializes the grid with the given resolution (in voxels).

Each dimension is rounded up to a multiple of 4 internally. The grid is cleared to all-free after init.

SetVoxelsOnTriangle()

void ezVoxelGrid::SetVoxelsOnTriangle	(	const ezVec3 &	v0,
		const ezVec3 &	v1,
		const ezVec3 &	v2,
		bool	bSet = true
	)

Rasterizes a world-space triangle into the grid, setting (or clearing) every voxel it overlaps.

Cost scales with the triangle's voxel-space bounding box, so rasterizing geometry that is large relative to the voxel size is expensive. Parts of the triangle outside the grid are ignored.

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

• /home/runner/work/ezEngine/ezEngine/Code/EnginePlugins/AiPlugin/Navigation3D/VoxelGrid.h
• /home/runner/work/ezEngine/ezEngine/Code/EnginePlugins/AiPlugin/Navigation3D/Implementation/VoxelGrid.cpp