SuperDex Physics C++ API
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superdex::SdfDistances Struct Reference
Contact & Collision » Contact Query Results

SDF distance information for active contact sample points. More...

#include <mochi_structs.h>

Public Attributes

Span< Real3 const > distanceGrads
 SDF gradients at sample positions, in world frame.
Span< real const > distances
 Signed distances [m] to the closest surface.
real maxSdfFarDistanceEvaluation = 0_r
 Maximum distance [m] at which SDF evaluation was performed.
Span< int const > sampleIndices
 Indices into the actor's contact sample points array.
Span< Real3 const > worldPositions
 Sample positions [m] in world frame.

Detailed Description

SDF distance information for active contact sample points.

Stores signed distance field (SDF) values and gradients for contact sample points. Negative distances indicate penetration into the surface.

Note
Available via Actor::GetSdfDistances after registering QueryType::SdfDistances.
See also
QueryType::SdfDistances, Actor::RegisterQuery, Actor::GetSdfDistances

Definition at line 473 of file mochi_structs.h.

Member Data Documentation

◆ distanceGrads

Span<Real3 const> superdex::SdfDistances::distanceGrads

SDF gradients at sample positions, in world frame.

Definition at line 480 of file mochi_structs.h.

◆ distances

Span<real const> superdex::SdfDistances::distances

Signed distances [m] to the closest surface.

Note
Negative values indicate penetration inside the surface.

Definition at line 478 of file mochi_structs.h.

◆ maxSdfFarDistanceEvaluation

real superdex::SdfDistances::maxSdfFarDistanceEvaluation = 0_r

Maximum distance [m] at which SDF evaluation was performed.

Note
Non-zero only if the actor has far SDF evaluation enabled.

Definition at line 482 of file mochi_structs.h.

◆ sampleIndices

Span<int const> superdex::SdfDistances::sampleIndices

Indices into the actor's contact sample points array.

Definition at line 474 of file mochi_structs.h.

◆ worldPositions

Span<Real3 const> superdex::SdfDistances::worldPositions

Sample positions [m] in world frame.

Definition at line 476 of file mochi_structs.h.

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