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use crate::math::{Real, Vect};
use rapier::parry::shape::HeightField;
pub use rapier::parry::shape::HeightFieldCellStatus;
/// Read-only access to the properties of a heightfield.
#[derive(Copy, Clone)]
pub struct HeightFieldView<'a> {
/// The raw shape from Rapier.
pub raw: &'a HeightField,
}
macro_rules! impl_ref_methods(
($View: ident) => {
#[cfg(feature = "dim2")]
impl<'a> $View<'a> {
/// The number of cells of this heightfield.
pub fn num_cells(&self) -> usize {
self.raw.num_cells()
}
/// The height at each cell endpoint.
pub fn heights(&self) -> &[Real] {
self.raw.heights().as_slice()
}
/// The scale factor applied to this heightfield.
pub fn scale(&self) -> Vect {
(*self.raw.scale()).into()
}
/// The width of a single cell of this heightfield.
pub fn cell_width(&self) -> Real {
self.raw.cell_width()
}
/// The width of a single cell of this heightfield, without taking the scale factor into account.
pub fn unit_cell_width(&self) -> Real {
self.raw.unit_cell_width()
}
/// Index of the cell a point is on after vertical projection.
pub fn cell_at_point(&self, point: Vect) -> Option<usize> {
self.raw.cell_at_point(&point.into())
}
/// Iterator through all the segments of this heightfield.
pub fn segments(&self) -> impl Iterator<Item = (Vect, Vect)> + '_ {
self.raw.segments().map(|seg| (seg.a.into(), seg.b.into()))
}
/// The i-th segment of the heightfield if it has not been removed.
pub fn segment_at(&self, i: usize) -> Option<(Vect, Vect)> {
self.raw
.segment_at(i)
.map(|seg| (seg.a.into(), seg.b.into()))
}
/// Is the i-th segment of this heightfield removed?
pub fn is_segment_removed(&self, i: usize) -> bool {
self.raw.is_segment_removed(i)
}
}
#[cfg(feature = "dim3")]
impl<'a> $View<'a> {
/// The number of rows of this heightfield.
pub fn nrows(&self) -> usize {
self.raw.nrows()
}
/// The number of columns of this heightfield.
pub fn ncols(&self) -> usize {
self.raw.ncols()
}
/// The height at each cell endpoint.
pub fn heights(&self) -> &[Real] {
self.raw.heights().as_slice()
}
/// The scale factor applied to this heightfield.
pub fn scale(&self) -> Vect {
(*self.raw.scale()).into()
}
/// The width (extent along its local `x` axis) of each cell of this heightmap, including the scale factor.
pub fn cell_width(&self) -> Real {
self.raw.cell_width()
}
/// The height (extent along its local `z` axis) of each cell of this heightmap, including the scale factor.
pub fn cell_height(&self) -> Real {
self.raw.cell_height()
}
/// The width (extent along its local `x` axis) of each cell of this heightmap, excluding the scale factor.
pub fn unit_cell_width(&self) -> Real {
self.raw.unit_cell_width()
}
/// The height (extent along its local `z` axis) of each cell of this heightmap, excluding the scale factor.
pub fn unit_cell_height(&self) -> Real {
self.raw.unit_cell_height()
}
/// Index of the cell a point is on after vertical projection.
pub fn cell_at_point(&self, point: Vect) -> Option<(usize, usize)> {
self.raw.cell_at_point(&point.into())
}
/// Iterator through all the triangles of this heightfield.
pub fn triangles(&self) -> impl Iterator<Item = (Vect, Vect, Vect)> + '_ {
self.raw
.triangles()
.map(|tri| (tri.a.into(), tri.b.into(), tri.c.into()))
}
/// 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 triangles_at(
&self,
i: usize,
j: usize,
) -> (Option<(Vect, Vect, Vect)>, Option<(Vect, Vect, Vect)>) {
let (tri1, tri2) = self.raw.triangles_at(i, j);
(
tri1.map(|tri| (tri.a.into(), tri.b.into(), tri.c.into())),
tri2.map(|tri| (tri.a.into(), tri.b.into(), tri.c.into())),
)
}
/// The status of the `(i, j)`-th cell.
pub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus {
self.raw.cell_status(i, j)
}
/// The statuses of all the cells of this heightfield, in column-major order.
pub fn cells_statuses(&self) -> &[HeightFieldCellStatus] {
self.raw.cells_statuses().as_slice()
}
}
}
);
impl_ref_methods!(HeightFieldView);
/// Read-write access to the properties of a heightfield.
pub struct HeightFieldViewMut<'a> {
/// The raw shape from Rapier.
pub raw: &'a mut HeightField,
}
impl_ref_methods!(HeightFieldViewMut);
#[cfg(feature = "dim2")]
impl<'a> HeightFieldViewMut<'a> {
/// Sets whether or not the given cell of the heightfield is deleted.
pub fn set_segment_removed(&mut self, i: usize, removed: bool) {
self.raw.set_segment_removed(i, removed)
}
}
#[cfg(feature = "dim3")]
impl<'a> HeightFieldViewMut<'a> {
/// Set the status of the `(i, j)`-th cell.
pub fn set_cell_status(&mut self, i: usize, j: usize, status: HeightFieldCellStatus) {
self.raw.set_cell_status(i, j, status)
}
/// The mutable statuses of all the cells of this heightfield.
pub fn cells_statuses_mut(&mut self) -> &mut [HeightFieldCellStatus] {
self.raw.cells_statuses_mut().as_mut_slice()
}
}