Struct HeightField 

pub struct HeightField { /* private fields */ }

A 3D heightfield.

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_zx: Array2<f32>, scale: Vector) -> Self

Initializes a new heightfield with the given heights, scaling factor, and flags.

The heights are specified in such a way that the row index i of the array advances grid coordinates along the z axis, and the column index j of the array advances grid coordinates along the x axis.

pub fn with_flags( heights_zx: Array2<f32>, scale: Vector, flags: HeightFieldFlags, ) -> Self

Initializes a new heightfield with the given heights and a scaling factor.

impl HeightField

pub fn nrows(&self) -> usize

The number of rows of this heightfield.

pub fn ncols(&self) -> usize

The number of columns of this heightfield.

pub fn closest_cell_at_point(&self, pt: Vector) -> (usize, usize)

The pair of index of the cell containing the vertical projection of the given point.

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

The pair of index of the cell containing the vertical projection of the given point.

pub fn unclamped_cell_at_point(&self, pt: Vector) -> (isize, isize)

The pair of index of the cell containing the vertical projection of the given point.

pub fn x_at(&self, j: usize) -> f32

The smallest x coordinate of the j-th column of this heightfield.

pub fn z_at(&self, i: usize) -> f32

The smallest z coordinate of the start of the i-th row of this heightfield.

pub fn signed_x_at(&self, j: isize) -> f32

The smallest x coordinate of the j-th column of this heightfield.

pub fn signed_z_at(&self, i: isize) -> f32

The smallest z coordinate of the start of the i-th row of this heightfield.

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

An iterator through all the triangles of this heightfield.

pub fn triangles_around_point( &self, point: Vector, ) -> HeightFieldRadialTriangles<'_>

An iterator through all the triangles around the given point, after vertical projection on the heightfield.

pub fn triangle_at_id(&self, id: u32) -> Option<Triangle>

Gets the vertices of the triangle identified by id.

pub fn triangle_vids_at_id(&self, id: u32) -> Option<[u32; 3]>

Gets the vertex indices of the triangle identified by id.

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).

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).

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).

pub fn num_cells_ij(&self) -> (usize, usize)

The number of cells of this heightfield along each dimension.

pub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus

The status of the (i, j)-th cell.

pub fn set_cell_status( &mut self, i: usize, j: usize, status: HeightFieldCellStatus, )

Set the status of the (i, j)-th cell.

pub fn cells_statuses(&self) -> &Array2<HeightFieldCellStatus>

The statuses of all the cells of this heightfield.

pub fn cells_statuses_mut(&mut self) -> &mut Array2<HeightFieldCellStatus>

The mutable statuses of all the cells of this heightfield.

pub fn flags(&self) -> HeightFieldFlags

The heightfield’s flags controlling internal-edges handling.

pub fn set_flags(&mut self, flags: HeightFieldFlags)

Sets the heightfield’s flags controlling internal-edges handling.

pub fn heights(&self) -> &Array2<f32>

The heights of this heightfield.

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 cell_width(&self) -> f32

The width (extent along its local x axis) of each cell of this heightmap, including the scale factor.

pub fn cell_height(&self) -> f32

The height (extent along its local z axis) of each cell of this heightmap, including the scale factor.

pub fn unit_cell_width(&self) -> f32

The width (extent along its local x axis) of each cell of this heightmap, excluding the scale factor.

pub fn unit_cell_height(&self) -> f32

The height (extent along its local z axis) of each cell of this heightmap, excluding the scale factor.

pub fn root_aabb(&self) -> &Aabb

The Aabb of this heightmap.

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.

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

Applies the function f to all the triangles of this heightfield intersecting the given Aabb.

impl HeightField

pub fn to_trimesh(&self) -> (Vec<Vector3>, Vec<[u32; 3]>)

Discretize the boundary of this heightfield as a triangle-mesh.

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 From<HeightField> for TriMesh

Available on crate feature dim3 only.

fn from(heightfield: HeightField) -> Self

Converts to this type from the input type.

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 dim3 only.

fn cast_local_ray_and_get_normal( &self, 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 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.