Struct NavCel
Defined in File NavMap.hpp
Struct Documentation
-
struct NavCel
Navigation cell (triangle) with geometry and adjacency.
Stores three vertex indices, precomputed geometric data (normal, area), and the indices of up to three neighboring NavCels across each edge.
Note
Layer values are stored per-NavCel in the navmap::LayerRegistry of the enclosing navmap::NavMap (not here).
Public Members
-
PointId v[3] = {0, 0, 0}
Indices into navmap::Positions.
-
Eigen::Vector3f normal = {0.0f, 0.0f, 1.0f}
Unit normal of the triangle.
-
float area = {0.0f}
Triangle area (m²)
-
NavCelId neighbor[3]{std::numeric_limits<uint32_t>::max(), std::numeric_limits<uint32_t>::max(), std::numeric_limits<uint32_t>::max()}
Neighbor cids across edges 0,1,2.
-
uint32_t layer_dirty_mask = {0}
Reserved for future per-layer flags.
-
PointId v[3] = {0, 0, 0}