Struct parry3d::shape::HeightField
source · #[repr(C)]pub struct HeightField { /* private fields */ }
Expand description
A 3D heightfield.
Implementations§
source§impl HeightField
impl HeightField
source§impl HeightField
impl HeightField
sourcepub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
Computes the world-space bounding sphere of this height-field, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the local-space bounding sphere of this height-field.
source§impl HeightField
impl HeightField
sourcepub fn new(heights: DMatrix<Real>, scale: Vector<Real>) -> Self
pub fn new(heights: DMatrix<Real>, scale: Vector<Real>) -> Self
Initializes a new heightfield with the given heights, scaling factor, and flags.
sourcepub fn with_flags(
heights: DMatrix<Real>,
scale: Vector<Real>,
flags: HeightFieldFlags
) -> Self
pub fn with_flags( heights: DMatrix<Real>, scale: Vector<Real>, flags: HeightFieldFlags ) -> Self
Initializes a new heightfield with the given heights and a scaling factor.
source§impl HeightField
impl HeightField
sourcepub fn closest_cell_at_point(&self, pt: &Point3<Real>) -> (usize, usize)
pub fn closest_cell_at_point(&self, pt: &Point3<Real>) -> (usize, usize)
The pair of index of the cell containing the vertical projection of the given point.
sourcepub fn cell_at_point(&self, pt: &Point3<Real>) -> Option<(usize, usize)>
pub fn cell_at_point(&self, pt: &Point3<Real>) -> Option<(usize, usize)>
The pair of index of the cell containing the vertical projection of the given point.
sourcepub fn unclamped_cell_at_point(&self, pt: &Point3<Real>) -> (isize, isize)
pub fn unclamped_cell_at_point(&self, pt: &Point3<Real>) -> (isize, isize)
The pair of index of the cell containing the vertical projection of the given point.
sourcepub fn x_at(&self, j: usize) -> Real
pub fn x_at(&self, j: usize) -> Real
The smallest x coordinate of the j
-th column of this heightfield.
sourcepub fn z_at(&self, i: usize) -> Real
pub fn z_at(&self, i: usize) -> Real
The smallest z coordinate of the start of the i
-th row of this heightfield.
sourcepub fn signed_x_at(&self, j: isize) -> Real
pub fn signed_x_at(&self, j: isize) -> Real
The smallest x coordinate of the j
-th column of this heightfield.
sourcepub fn signed_z_at(&self, i: isize) -> Real
pub fn signed_z_at(&self, i: isize) -> Real
The smallest z coordinate of the start of the i
-th row of this heightfield.
sourcepub fn triangles(&self) -> impl Iterator<Item = Triangle> + '_
pub fn triangles(&self) -> impl Iterator<Item = Triangle> + '_
An iterator through all the triangles of this heightfield.
sourcepub fn triangles_around_point(
&self,
point: &Point3<Real>
) -> HeightFieldRadialTriangles<'_>
pub fn triangles_around_point( &self, point: &Point3<Real> ) -> HeightFieldRadialTriangles<'_>
An iterator through all the triangles around the given point, after vertical projection on the heightfield.
sourcepub fn triangle_at_id(&self, id: u32) -> Option<Triangle>
pub fn triangle_at_id(&self, id: u32) -> Option<Triangle>
Gets the vertices of the triangle identified by id
.
sourcepub fn triangle_vids_at_id(&self, id: u32) -> Option<[u32; 3]>
pub fn triangle_vids_at_id(&self, id: u32) -> Option<[u32; 3]>
Gets the vertex indices of the triangle identified by id
.
sourcepub fn triangles_vids_at(
&self,
i: usize,
j: usize
) -> (Option<[u32; 3]>, Option<[u32; 3]>)
pub fn triangles_vids_at( &self, i: usize, j: usize ) -> (Option<[u32; 3]>, Option<[u32; 3]>)
Gets the indices of the vertices of the (up to) two triangles for the cell (i, j).
sourcepub fn triangles_at(
&self,
i: usize,
j: usize
) -> (Option<Triangle>, Option<Triangle>)
pub fn triangles_at( &self, i: usize, j: usize ) -> (Option<Triangle>, Option<Triangle>)
The two triangles at the cell (i, j) of this heightfield.
Returns None
fore triangles that have been removed because of their user-defined status
flags (described by the HeightFieldCellStatus
bitfield).
sourcepub fn triangle_normal_constraints(
&self,
id: u32
) -> Option<TrianglePseudoNormals>
pub fn triangle_normal_constraints( &self, id: u32 ) -> Option<TrianglePseudoNormals>
Computes the pseudo-normals of the triangle identified by the given id.
Returns None
if the heightfield’s [HeightfieldFlags::FIX_INTERNAL_EDGES
] isn’t set, or
if the triangle doesn’t exist due to it being removed by its status flag
(HeightFieldCellStatus::LEFT_TRIANGLE_REMOVED
or
HeightFieldCellStatus::RIGHT_TRIANGLE_REMOVED
).
sourcepub fn num_cells_ij(&self) -> (usize, usize)
pub fn num_cells_ij(&self) -> (usize, usize)
The number of cells of this heightfield along each dimension.
sourcepub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus
pub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus
The status of the (i, j)
-th cell.
sourcepub fn set_cell_status(
&mut self,
i: usize,
j: usize,
status: HeightFieldCellStatus
)
pub fn set_cell_status( &mut self, i: usize, j: usize, status: HeightFieldCellStatus )
Set the status of the (i, j)
-th cell.
sourcepub fn cells_statuses(&self) -> &DMatrix<HeightFieldCellStatus>
pub fn cells_statuses(&self) -> &DMatrix<HeightFieldCellStatus>
The statuses of all the cells of this heightfield.
sourcepub fn cells_statuses_mut(&mut self) -> &mut DMatrix<HeightFieldCellStatus>
pub fn cells_statuses_mut(&mut self) -> &mut DMatrix<HeightFieldCellStatus>
The mutable statuses of all the cells of this heightfield.
sourcepub fn flags(&self) -> HeightFieldFlags
pub fn flags(&self) -> HeightFieldFlags
The heightfield’s flags controlling internal-edges handling.
sourcepub fn set_flags(&mut self, flags: HeightFieldFlags)
pub fn set_flags(&mut self, flags: HeightFieldFlags)
Sets the heightfield’s flags controlling internal-edges handling.
sourcepub fn set_scale(&mut self, new_scale: Vector<Real>)
pub fn set_scale(&mut self, new_scale: Vector<Real>)
Sets the scale factor applied to this heightfield.
sourcepub fn scaled(self, scale: &Vector<Real>) -> Self
pub fn scaled(self, scale: &Vector<Real>) -> Self
Returns a scaled version of this heightfield.
sourcepub fn cell_width(&self) -> Real
pub fn cell_width(&self) -> Real
The width (extent along its local x
axis) of each cell of this heightmap, including the scale factor.
sourcepub fn cell_height(&self) -> Real
pub fn cell_height(&self) -> Real
The height (extent along its local z
axis) of each cell of this heightmap, including the scale factor.
sourcepub fn unit_cell_width(&self) -> Real
pub fn unit_cell_width(&self) -> Real
The width (extent along its local x
axis) of each cell of this heightmap, excluding the scale factor.
sourcepub fn unit_cell_height(&self) -> Real
pub fn unit_cell_height(&self) -> Real
The height (extent along its local z
axis) of each cell of this heightmap, excluding the scale factor.
sourcepub fn convert_triangle_feature_id(
&self,
i: usize,
j: usize,
left: bool,
fid: FeatureId
) -> FeatureId
pub fn convert_triangle_feature_id( &self, i: usize, j: usize, left: bool, fid: FeatureId ) -> FeatureId
Converts the FeatureID of the left or right triangle at the cell (i, j)
into a FeatureId
of the whole heightfield.
Trait Implementations§
source§impl Clone for HeightField
impl Clone for HeightField
source§fn clone(&self) -> HeightField
fn clone(&self) -> HeightField
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl Debug for HeightField
impl Debug for HeightField
source§impl From<HeightField> for TriMesh
impl From<HeightField> for TriMesh
source§fn from(heightfield: HeightField) -> Self
fn from(heightfield: HeightField) -> Self
source§impl PointQuery for HeightField
impl PointQuery for HeightField
source§fn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>
self
, unless the projection lies further than the given max distance. Read moresource§fn project_local_point(&self, point: &Point<Real>, _: bool) -> PointProjection
fn project_local_point(&self, point: &Point<Real>, _: bool) -> PointProjection
self
. Read moresource§fn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature( &self, point: &Point<Real> ) -> (PointProjection, FeatureId)
self
and returns the id of the
feature the point was projected on.source§fn contains_local_point(&self, _point: &Point<Real>) -> bool
fn contains_local_point(&self, _point: &Point<Real>) -> bool
self
.source§fn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>
self
transformed by m
, unless the projection lies further than the given max distance.source§fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
self
.source§fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection
self
transformed by m
.source§fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
fn distance_to_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> Real
self
transformed by m
.source§fn project_point_and_get_feature(
&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (PointProjection, FeatureId)
self
transformed by m
and returns the id of the
feature the point was projected on.source§impl PointQueryWithLocation for HeightField
impl PointQueryWithLocation for HeightField
§type Location = (usize, TrianglePointLocation)
type Location = (usize, TrianglePointLocation)
source§fn project_local_point_and_get_location(
&self,
_point: &Point<Real>,
_: bool
) -> (PointProjection, Self::Location)
fn project_local_point_and_get_location( &self, _point: &Point<Real>, _: bool ) -> (PointProjection, Self::Location)
self
.source§fn project_point_and_get_location(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
fn project_point_and_get_location( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> (PointProjection, Self::Location)
self
transformed by m
.source§fn project_local_point_and_get_location_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<(PointProjection, Self::Location)>
fn project_local_point_and_get_location_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<(PointProjection, Self::Location)>
self
, with a maximum projection distance.source§impl RayCast for HeightField
impl RayCast for HeightField
source§fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_time_of_impact: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>
source§fn cast_local_ray(
&self,
ray: &Ray,
max_time_of_impact: Real,
solid: bool
) -> Option<Real>
fn cast_local_ray( &self, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>
source§fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: Real) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_time_of_impact: Real) -> bool
source§fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_time_of_impact: Real,
solid: bool
) -> Option<Real>
fn cast_ray( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<Real>
source§fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_time_of_impact: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_time_of_impact: Real, solid: bool ) -> Option<RayIntersection>
source§impl Shape for HeightField
impl Shape for HeightField
source§fn compute_local_aabb(&self) -> Aabb
fn compute_local_aabb(&self) -> Aabb
Aabb
of this shape.source§fn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
source§fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb
fn compute_aabb(&self, position: &Isometry<Real>) -> Aabb
Aabb
of this shape with the given position.source§fn mass_properties(&self, _density: Real) -> MassProperties
fn mass_properties(&self, _density: Real) -> MassProperties
source§fn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
source§fn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
fn ccd_thickness(&self) -> Real
fn ccd_angular_thickness(&self) -> Real
source§fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
source§fn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
source§fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
Auto Trait Implementations§
impl Freeze for HeightField
impl RefUnwindSafe for HeightField
impl Send for HeightField
impl Sync for HeightField
impl Unpin for HeightField
impl UnwindSafe for HeightField
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
source§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
source§fn into_any(self: Box<T>) -> Box<dyn Any>
fn into_any(self: Box<T>) -> Box<dyn Any>
Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
.source§fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
.source§fn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s.source§fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
&mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s.source§impl<T> DowncastSync for T
impl<T> DowncastSync for T
source§impl<T> IntoEither for T
impl<T> IntoEither for T
source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
self
into a Left
variant of Either<Self, Self>
if into_left
is true
.
Converts self
into a Right
variant of Either<Self, Self>
otherwise. Read moresource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
self
into a Left
variant of Either<Self, Self>
if into_left(&self)
returns true
.
Converts self
into a Right
variant of Either<Self, Self>
otherwise. Read moresource§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
self
from the equivalent element of its
superset. Read moresource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
self
is actually part of its subset T
(and can be converted to it).source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
self.to_subset
but without any property checks. Always succeeds.source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
self
to the equivalent element of its superset.