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<div class="headertitle"><div class="title">rcHeightfield Struct Reference<div class="ingroups"><a class="el" href="group__recast.html">Recast</a></div></div></div>
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<p>A dynamic heightfield representing obstructed space.
<a href="structrcHeightfield.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Recast_8h_source.html">Recast.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:acfb6e103d887102196c69f1e28954cd4" id="r_acfb6e103d887102196c69f1e28954cd4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#acfb6e103d887102196c69f1e28954cd4">rcHeightfield</a> ()</td></tr>
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<tr class="memitem:aa8ba94f263c970d09881d362c0a1b38a" id="r_aa8ba94f263c970d09881d362c0a1b38a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#aa8ba94f263c970d09881d362c0a1b38a">~rcHeightfield</a> ()</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a9dd6e386c167f1537e3c7638f6b9a752" id="r_a9dd6e386c167f1537e3c7638f6b9a752"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a9dd6e386c167f1537e3c7638f6b9a752">width</a></td></tr>
<tr class="memdesc:a9dd6e386c167f1537e3c7638f6b9a752"><td class="mdescLeft">&#160;</td><td class="mdescRight">The width of the heightfield. (Along the x-axis in cell units.) <br /></td></tr>
<tr class="separator:a9dd6e386c167f1537e3c7638f6b9a752"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a568ceeea7acb4ddf67dd78ec4fee7672" id="r_a568ceeea7acb4ddf67dd78ec4fee7672"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a568ceeea7acb4ddf67dd78ec4fee7672">height</a></td></tr>
<tr class="memdesc:a568ceeea7acb4ddf67dd78ec4fee7672"><td class="mdescLeft">&#160;</td><td class="mdescRight">The height of the heightfield. (Along the z-axis in cell units.) <br /></td></tr>
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<tr class="memitem:a0158658d3487f7531364a84887fc2bce" id="r_a0158658d3487f7531364a84887fc2bce"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a0158658d3487f7531364a84887fc2bce">bmin</a> [3]</td></tr>
<tr class="memdesc:a0158658d3487f7531364a84887fc2bce"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum bounds in world space. [(x, y, z)]. <br /></td></tr>
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<tr class="memitem:a4da9e52fc907522aae0364fad9e865f7" id="r_a4da9e52fc907522aae0364fad9e865f7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a4da9e52fc907522aae0364fad9e865f7">bmax</a> [3]</td></tr>
<tr class="memdesc:a4da9e52fc907522aae0364fad9e865f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">The maximum bounds in world space. [(x, y, z)]. <br /></td></tr>
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<tr class="memitem:a3f28962585b2f726d809b1a86b925edb" id="r_a3f28962585b2f726d809b1a86b925edb"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb">cs</a></td></tr>
<tr class="memdesc:a3f28962585b2f726d809b1a86b925edb"><td class="mdescLeft">&#160;</td><td class="mdescRight">The size of each cell. (On the xz-plane.) <br /></td></tr>
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<tr class="memitem:a23488349cb552d5410e29d089234effc" id="r_a23488349cb552d5410e29d089234effc"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc">ch</a></td></tr>
<tr class="memdesc:a23488349cb552d5410e29d089234effc"><td class="mdescLeft">&#160;</td><td class="mdescRight">The height of each cell. (The minimum increment along the y-axis.) <br /></td></tr>
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<tr class="memitem:a0fea35ab8365dfcb38c63566abf7f261" id="r_a0fea35ab8365dfcb38c63566abf7f261"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structrcSpan.html">rcSpan</a> **&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a0fea35ab8365dfcb38c63566abf7f261">spans</a></td></tr>
<tr class="memdesc:a0fea35ab8365dfcb38c63566abf7f261"><td class="mdescLeft">&#160;</td><td class="mdescRight">Heightfield of spans (width*height). <br /></td></tr>
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<tr class="memdesc:a9808fdf31203f60447a3b9d693a6efc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Linked list of span pools. <br /></td></tr>
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<tr class="memitem:a05dd56e279148e65e9b6820e6c02b908" id="r_a05dd56e279148e65e9b6820e6c02b908"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structrcSpan.html">rcSpan</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrcHeightfield.html#a05dd56e279148e65e9b6820e6c02b908">freelist</a></td></tr>
<tr class="memdesc:a05dd56e279148e65e9b6820e6c02b908"><td class="mdescLeft">&#160;</td><td class="mdescRight">The next free span. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Description</h2>
<div class="textblock"><p>A dynamic heightfield representing obstructed space. </p>
<dl class="section user"><dt></dt><dd></dd></dl>
<p>The grid of a heightfield is layed out on the xz-plane based on the value of <a class="el" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb" title="The size of each cell. (On the xz-plane.)">cs</a>. Spans exist within the grid columns with the span min/max values at increments of <a class="el" href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc" title="The height of each cell. (The minimum increment along the y-axis.)">ch</a> from the base of the grid. The smallest possible span size is <code>(<a class="el" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb" title="The size of each cell. (On the xz-plane.)">cs</a> width) * (<a class="el" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb" title="The size of each cell. (On the xz-plane.)">cs</a> depth) * (<a class="el" href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc" title="The height of each cell. (The minimum increment along the y-axis.)">ch</a> height)</code>. (Which is a single voxel.)</p>
<p>The standard process for buidling a heightfield is to allocate it using <a class="el" href="group__recast.html#gaac533188c752bd1d13a179f63c2b784e" title="Allocates a heightfield object using the Recast allocator.">rcAllocHeightfield</a>, initialize it using <a class="el" href="group__recast.html#ga47eca35f60dbd7ddc1cb18fdb2493833" title="Initializes a new heightfield.">rcCreateHeightfield</a>, then add spans using the various helper functions such as <a class="el" href="group__recast.html#ga23a98560fac96a1d2eb9f01c6617e927" title="Rasterizes a single triangle into the specified heightfield.">rcRasterizeTriangle</a>.</p>
<p>Building a heightfield is one of the first steps in creating a polygon mesh from source geometry. After it is populated, it is used to build a <a class="el" href="structrcCompactHeightfield.html" title="A compact, static heightfield representing unobstructed space.">rcCompactHeightfield</a>.</p>
<p>Example of iterating the spans in a heightfield: </p><div class="fragment"><div class="line"><span class="comment">// Where hf is a reference to an heightfield object.</span></div>
<div class="line"> </div>
<div class="line"><span class="keyword">const</span> <span class="keywordtype">float</span>* orig = hf.bmin;</div>
<div class="line"><span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb">cs</a> = hf.cs;</div>
<div class="line"><span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code hl_variable" href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc">ch</a> = hf.ch;</div>
<div class="line"> </div>
<div class="line"><span class="keyword">const</span> <span class="keywordtype">int</span> w = hf.width;</div>
<div class="line"><span class="keyword">const</span> <span class="keywordtype">int</span> h = hf.height;</div>
<div class="line"> </div>
<div class="line"><span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; h; ++y)</div>
<div class="line">{</div>
<div class="line"> <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; w; ++x)</div>
<div class="line"> {</div>
<div class="line"> <span class="comment">// Deriving the minimum corner of the grid location.</span></div>
<div class="line"> <span class="keywordtype">float</span> fx = orig[0] + x*<a class="code hl_variable" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb">cs</a>;</div>
<div class="line"> <span class="keywordtype">float</span> fz = orig[2] + y*<a class="code hl_variable" href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb">cs</a>;</div>
<div class="line"> <span class="comment">// The base span in the column. (May be null.)</span></div>
<div class="line"> <span class="keyword">const</span> <a class="code hl_struct" href="structrcSpan.html">rcSpan</a>* s = hf.spans[x + y*w]; </div>
<div class="line"> <span class="keywordflow">while</span> (s)</div>
<div class="line"> {</div>
<div class="line"> <span class="comment">// Detriving the minium and maximum world position of the span.</span></div>
<div class="line"> <span class="keywordtype">float</span> fymin = orig[1]+s-&gt;<a class="code hl_variable" href="structrcSpan.html#aba70c34dc95c49c4b3142b7d9ca9d359">smin</a>*<a class="code hl_variable" href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc">ch</a>;</div>
<div class="line"> <span class="keywordtype">float</span> fymax = orig[1] + s-&gt;<a class="code hl_variable" href="structrcSpan.html#a6bca504828087023719794cce9a5f0ab">smax</a>*<a class="code hl_variable" href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc">ch</a>;</div>
<div class="line"> <span class="comment">// Do other things with the span before moving up the column.</span></div>
<div class="line"> s = s-&gt;<a class="code hl_variable" href="structrcSpan.html#a3b1dbeacc04852fe7330dcd0f5745424">next</a>;</div>
<div class="line"> }</div>
<div class="line"> }</div>
<div class="line">}</div>
<div class="ttc" id="astructrcHeightfield_html_a23488349cb552d5410e29d089234effc"><div class="ttname"><a href="structrcHeightfield.html#a23488349cb552d5410e29d089234effc">rcHeightfield::ch</a></div><div class="ttdeci">float ch</div><div class="ttdoc">The height of each cell. (The minimum increment along the y-axis.)</div><div class="ttdef"><b>Definition</b> Recast.h:322</div></div>
<div class="ttc" id="astructrcHeightfield_html_a3f28962585b2f726d809b1a86b925edb"><div class="ttname"><a href="structrcHeightfield.html#a3f28962585b2f726d809b1a86b925edb">rcHeightfield::cs</a></div><div class="ttdeci">float cs</div><div class="ttdoc">The size of each cell. (On the xz-plane.)</div><div class="ttdef"><b>Definition</b> Recast.h:321</div></div>
<div class="ttc" id="astructrcSpan_html"><div class="ttname"><a href="structrcSpan.html">rcSpan</a></div><div class="ttdoc">Represents a span in a heightfield.</div><div class="ttdef"><b>Definition</b> Recast.h:295</div></div>
<div class="ttc" id="astructrcSpan_html_a3b1dbeacc04852fe7330dcd0f5745424"><div class="ttname"><a href="structrcSpan.html#a3b1dbeacc04852fe7330dcd0f5745424">rcSpan::next</a></div><div class="ttdeci">rcSpan * next</div><div class="ttdoc">The next span higher up in column.</div><div class="ttdef"><b>Definition</b> Recast.h:299</div></div>
<div class="ttc" id="astructrcSpan_html_a6bca504828087023719794cce9a5f0ab"><div class="ttname"><a href="structrcSpan.html#a6bca504828087023719794cce9a5f0ab">rcSpan::smax</a></div><div class="ttdeci">unsigned int smax</div><div class="ttdoc">The upper limit of the span. (Exclusive) [Limit: &lt;= RC_SPAN_MAX_HEIGHT].</div><div class="ttdef"><b>Definition</b> Recast.h:297</div></div>
<div class="ttc" id="astructrcSpan_html_aba70c34dc95c49c4b3142b7d9ca9d359"><div class="ttname"><a href="structrcSpan.html#aba70c34dc95c49c4b3142b7d9ca9d359">rcSpan::smin</a></div><div class="ttdeci">unsigned int smin</div><div class="ttdoc">The lower limit of the span. (Inclusive) [Limit: &lt; smax].</div><div class="ttdef"><b>Definition</b> Recast.h:296</div></div>
</div><!-- fragment --><dl class="section see"><dt>See also</dt><dd><a class="el" href="group__recast.html#gaac533188c752bd1d13a179f63c2b784e" title="Allocates a heightfield object using the Recast allocator.">rcAllocHeightfield</a>, <a class="el" href="group__recast.html#ga63549624426821904ecf1a92ddcccaea" title="Frees the specified heightfield object using the Recast allocator.">rcFreeHeightField</a>, <a class="el" href="group__recast.html#ga47eca35f60dbd7ddc1cb18fdb2493833" title="Initializes a new heightfield.">rcCreateHeightfield</a> </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#acfb6e103d887102196c69f1e28954cd4">&#9670;&#160;</a></span>rcHeightfield()</h2>
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<td class="memname">rcHeightfield::rcHeightfield </td>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8ba94f263c970d09881d362c0a1b38a">&#9670;&#160;</a></span>~rcHeightfield()</h2>
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<h2 class="groupheader">Member Data Documentation</h2>
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<p>The maximum bounds in world space. [(x, y, z)]. </p>
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<td class="memname">float rcHeightfield::bmin[3]</td>
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<p>The minimum bounds in world space. [(x, y, z)]. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a23488349cb552d5410e29d089234effc">&#9670;&#160;</a></span>ch</h2>
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<p>The height of each cell. (The minimum increment along the y-axis.) </p>
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<p>The size of each cell. (On the xz-plane.) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a05dd56e279148e65e9b6820e6c02b908">&#9670;&#160;</a></span>freelist</h2>
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<td class="memname"><a class="el" href="structrcSpan.html">rcSpan</a>* rcHeightfield::freelist</td>
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<p>The next free span. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a568ceeea7acb4ddf67dd78ec4fee7672">&#9670;&#160;</a></span>height</h2>
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<p>The height of the heightfield. (Along the z-axis in cell units.) </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9808fdf31203f60447a3b9d693a6efc7">&#9670;&#160;</a></span>pools</h2>
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<td class="memname"><a class="el" href="structrcSpanPool.html">rcSpanPool</a>* rcHeightfield::pools</td>
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<p>Linked list of span pools. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0fea35ab8365dfcb38c63566abf7f261">&#9670;&#160;</a></span>spans</h2>
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<td class="memname"><a class="el" href="structrcSpan.html">rcSpan</a>** rcHeightfield::spans</td>
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<p>Heightfield of spans (width*height). </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9dd6e386c167f1537e3c7638f6b9a752">&#9670;&#160;</a></span>width</h2>
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<p>The width of the heightfield. (Along the x-axis in cell units.) </p>
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<hr/>The documentation for this struct was generated from the following files:<ul>
<li><a class="el" href="Recast_8h_source.html">Recast.h</a></li>
<li><a class="el" href="Recast_8cpp.html">Recast.cpp</a></li>
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&nbsp;&nbsp;<a href="https://github.com/recastnavigation/recastnavigation">Project Home</a>
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