Struct HeightField 

pub struct HeightField { /* private fields */ }

A 2D heightfield with a generic storage buffer for its heights.

Implementations

impl HeightField

pub fn aabb(&self, pos: &Pose) -> Aabb

Computes the world-space Aabb of this heightfield, transformed by pos.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this heightfield.

impl HeightField

pub fn bounding_sphere(&self, pos: &Pose) -> BoundingSphere

Computes the world-space bounding sphere of this height-field, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this height-field.

impl HeightField

pub fn new(heights: Vec<f32>, scale: Vector) -> Self

Creates a new 2D heightfield with the given heights and scale factor.

impl HeightField

pub fn num_cells(&self) -> usize

The number of cells of this heightfield.

pub fn heights(&self) -> &Vec<f32>

The height at each cell endpoint.

pub fn scale(&self) -> Vector

The scale factor applied to this heightfield.

pub fn set_scale(&mut self, new_scale: Vector)

Sets the scale factor applied to this heightfield.

pub fn scaled(self, scale: Vector) -> Self

Returns a scaled version of this heightfield.

pub fn root_aabb(&self) -> &Aabb

The Aabb of this heightfield.

pub fn cell_width(&self) -> f32

The width of a single cell of this heightfield.

pub fn unit_cell_width(&self) -> f32

The width of a single cell of this heightfield, without taking the scale factor into account.

pub fn start_x(&self) -> f32

The left-most x-coordinate of this heightfield.

pub fn cell_at_point(&self, pt: Vector2) -> Option<usize>

Index of the cell a point is on after vertical projection.

pub fn height_at_point(&self, pt: Vector2) -> Option<f32>

Height of the heightfield at the given point after vertical projection on the heightfield surface.

pub fn segments(&self) -> impl Iterator<Item = Segment> + '_

Iterator through all the segments of this heightfield.

pub fn segment_at(&self, i: usize) -> Option<Segment>

The i-th segment of the heightfield if it has not been removed.

pub fn set_segment_removed(&mut self, i: usize, removed: bool)

Mark the i-th segment of this heightfield as removed or not.

pub fn is_segment_removed(&self, i: usize) -> bool

Checks if the i-th segment has been removed.

pub fn unclamped_elements_range_in_local_aabb( &self, aabb: &Aabb, ) -> Range<isize>

The range of segment ids that may intersect the given local Aabb.

pub fn map_elements_in_local_aabb( &self, aabb: &Aabb, f: &mut impl FnMut(u32, &Segment), )

Applies f to each segment of this heightfield that intersects the given aabb.

impl HeightField

pub fn to_polyline(&self) -> (Vec<Vector2>, Vec<[u32; 2]>)

Rasterize this heightfield as a (potentially discontinuous) polyline.

Trait Implementations

impl Clone for HeightField

fn clone(&self) -> HeightField

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for HeightField

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PointQuery for HeightField

fn project_local_point_with_max_dist( &self, pt: Vector, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point onto the shape, with a maximum distance limit.

fn project_local_point(&self, point: Vector, _: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: Vector, ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

fn contains_local_point(&self, _point: Vector) -> bool

Tests if the given point is inside of self.

fn project_point_with_max_dist( &self, m: &Pose, pt: Vector, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(&self, pt: Vector, solid: bool) -> f32

Computes the minimal distance between a point and self.

fn project_point(&self, m: &Pose, pt: Vector, solid: bool) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point(&self, m: &Pose, pt: Vector, solid: bool) -> f32

Computes the minimal distance between a point and self transformed by m.

fn project_point_and_get_feature( &self, m: &Pose, pt: Vector, ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.

fn contains_point(&self, m: &Pose, pt: Vector) -> bool

Tests if the given point is inside of self transformed by m.

impl PointQueryWithLocation for HeightField

type Location = (usize, TrianglePointLocation)

Additional shape-specific projection information

fn project_local_point_and_get_location( &self, _point: Vector, _: bool, ) -> (PointProjection, Self::Location)

Projects a point on self.

fn project_point_and_get_location( &self, m: &Pose, pt: Vector, solid: bool, ) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

fn project_local_point_and_get_location_with_max_dist( &self, pt: Vector, solid: bool, max_dist: f32, ) -> Option<(PointProjection, Self::Location)>

Projects a point on self, with a maximum projection distance.

fn project_point_and_get_location_with_max_dist( &self, m: &Pose, pt: Vector, solid: bool, max_dist: f32, ) -> Option<(PointProjection, Self::Location)>

Projects a point on self transformed by m, with a maximum projection distance.

impl RayCast for HeightField

Available on crate feature dim2 only.

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: f32, _: bool, ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn cast_local_ray( &self, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: f32) -> bool

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Pose, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

fn cast_ray_and_get_normal( &self, m: &Pose, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.

fn intersects_ray(&self, m: &Pose, ray: &Ray, max_time_of_impact: f32) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for HeightField

Available on crate feature alloc only.

fn clone_dyn(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: Vector, _num_subdivisions: u32, ) -> Option<Box<dyn Shape>>

Scales this shape by scale into a boxed trait-object.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Pose) -> Aabb

Computes the Aabb of this shape with the given position.

fn mass_properties(&self, _density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> f32

fn ccd_angular_thickness(&self) -> f32

fn clone_box(&self) -> Box<dyn Shape>

👎Deprecated:

renamed to clone_dyn

Clones this shape into a boxed trait-object.

fn compute_bounding_sphere(&self, position: &Pose) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex?

fn as_support_map(&self) -> Option<&dyn SupportMap>

Converts this shape into its support mapping, if it has one.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape>

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.

fn feature_normal_at_point( &self, _feature: FeatureId, _point: Vector, ) -> Option<Vector>

The shape’s normal at the given point located on a specific feature.

fn compute_swept_aabb(&self, start_pos: &Pose, end_pos: &Pose) -> Aabb

Computes the swept Aabb of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.