Implementation:CARLA simulator Carla MarchingCube

Knowledge Sources	CARLA
Domains	Geometry, Mesh Generation
Last Updated	2026-02-15 05:00 GMT

Overview

Cube.h defines the Cube class and supporting data structures for the Marching Cubes algorithm, responsible for evaluating signed distance function values at cube vertices and computing surface intersection points.

Description

This file (~180 lines) within the MeshReconstruction namespace provides:

IntersectInfo struct: stores the sign configuration (0-255) and edge-vertex intersection positions for a single cube
Cube class: represents a single cube in the marching cubes grid, holding 8 vertex positions and their SDF values
Edge struct and signConfigToIntersectedEdges lookup table: maps the 256 sign configurations to a 12-bit bitstring indicating which of the cube's 12 edges are intersected by the isosurface
LerpVertex: linearly interpolates vertex positions along intersected edges
SignConfig: computes the 8-bit sign configuration from SDF values at cube vertices

Usage

This is an internal component of the Marching Cubes mesh reconstruction pipeline. It is used by MeshReconstruction.h to create cubes from spatial regions, compute intersections, and then pass results to the Triangulation step.

Code Reference

Source Location

Repository: CARLA
File: LibCarla/source/third-party/marchingcube/Cube.h

Signature

namespace MeshReconstruction
{
  struct IntersectInfo {
    int signConfig;                       // 0 - 255
    std::array<Vec3, 12> edgeVertIndices; // vertex on each edge
  };

  class Cube {
    Vec3 pos[8];
    double sdf[8];
    Vec3 LerpVertex(double isoLevel, int i1, int i2) const;
    int SignConfig(double isoLevel) const;
  public:
    Cube(Rect3 const &space, Fun3s const &sdf);
    IntersectInfo Intersect(double isoLevel = 0) const;
  };
}

Import

#include "third-party/marchingcube/Cube.h"

I/O Contract

Method	Input	Output	Description
`Cube(space, sdf)`	Rect3 bounding box, SDF function	Cube instance	Constructs a cube by sampling the SDF at 8 corners
`Intersect(isoLevel)`	Iso-level value (default 0)	`IntersectInfo`	Computes sign configuration and intersection vertices

Usage Examples

#include "third-party/marchingcube/Cube.h"

MeshReconstruction::Rect3 space{{0, 0, 0}, {1, 1, 1}};
auto sdf = [](MeshReconstruction::Vec3 const &p) {
    return p.x * p.x + p.y * p.y + p.z * p.z - 1.0; // sphere
};

MeshReconstruction::Cube cube(space, sdf);
auto intersect = cube.Intersect(0.0);
// intersect.signConfig indicates which edges are crossed

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