parry2d/query/point/
point_heightfield.rs

1use crate::bounding_volume::Aabb;
2#[cfg(not(feature = "std"))]
3use crate::math::ComplexField;
4use crate::math::{Real, Vector};
5use crate::query::{PointProjection, PointQuery, PointQueryWithLocation};
6use crate::shape::{FeatureId, HeightField, TrianglePointLocation}; // For sqrt.
7
8impl PointQuery for HeightField {
9    fn project_local_point_with_max_dist(
10        &self,
11        pt: Vector,
12        solid: bool,
13        max_dist: Real,
14    ) -> Option<PointProjection> {
15        let aabb = Aabb::new(pt - Vector::splat(max_dist), pt + Vector::splat(max_dist));
16        let mut sq_smallest_dist = Real::MAX;
17        let mut best_proj = None;
18
19        self.map_elements_in_local_aabb(&aabb, &mut |_, triangle| {
20            let proj = triangle.project_local_point(pt, solid);
21            let sq_dist = (pt - proj.point).length_squared();
22
23            if sq_dist < sq_smallest_dist {
24                sq_smallest_dist = sq_dist;
25
26                if sq_dist.sqrt() <= max_dist {
27                    best_proj = Some(proj);
28                }
29            }
30        });
31
32        best_proj
33    }
34
35    #[inline]
36    fn project_local_point(&self, point: Vector, _: bool) -> PointProjection {
37        let mut smallest_dist = Real::MAX;
38        let mut best_proj = PointProjection::new(false, point);
39
40        #[cfg(feature = "dim2")]
41        let iter = self.segments();
42        #[cfg(feature = "dim3")]
43        let iter = self.triangles();
44        for elt in iter {
45            let proj = elt.project_local_point(point, false);
46            let dist = (point - proj.point).length_squared();
47
48            if dist < smallest_dist {
49                smallest_dist = dist;
50                best_proj = proj;
51            }
52        }
53
54        best_proj
55    }
56
57    #[inline]
58    fn project_local_point_and_get_feature(&self, point: Vector) -> (PointProjection, FeatureId) {
59        // TODO: compute the feature properly.
60        (self.project_local_point(point, false), FeatureId::Unknown)
61    }
62
63    // TODO: implement distance_to_point too?
64
65    #[inline]
66    fn contains_local_point(&self, _point: Vector) -> bool {
67        false
68    }
69}
70
71impl PointQueryWithLocation for HeightField {
72    type Location = (usize, TrianglePointLocation);
73
74    #[inline]
75    fn project_local_point_and_get_location(
76        &self,
77        _point: Vector,
78        _: bool,
79    ) -> (PointProjection, Self::Location) {
80        unimplemented!()
81    }
82}
parry2d/query/point/point_heightfield.rs

parry2d/query/point/
point_heightfield.rs
