Struct rapier2d::geometry::HeightField

pub struct HeightField { /* fields omitted */ }

A 2D heightfield.

Implementations

impl HeightField

pub fn aabb(&self, pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>) -> 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: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> 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: Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>,
    scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> HeightField

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

pub fn num_cells(&self) -> usize

The number of cells of this heightfield.

pub fn heights(
    &self
) -> &Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>

The height at each cell endpoint.

pub fn scale(
    &self
) -> &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>

The scale factor applied to 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: &Point<f32, 2_usize>) -> Option<usize>

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

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

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 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.

Trait Implementations

impl Clone for HeightField

pub fn clone(&self) -> HeightField

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for HeightField

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

Formats the value using the given formatter.

impl PointQuery for HeightField

pub fn project_local_point(
    &self,
    point: &Point<f32, 2_usize>,
    bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    point: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)

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

pub fn contains_local_point(&self, _point: &Point<f32, 2_usize>) -> bool

Tests if the given point is inside of self.

pub fn distance_to_local_point(
    &self,
    pt: &Point<f32, 2_usize>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self.

pub fn project_point(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    pt: &Point<f32, 2_usize>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    pt: &Point<f32, 2_usize>,
    solid: bool
) -> f32

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

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    pt: &Point<f32, 2_usize>
) -> (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.

pub fn contains_point(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    pt: &Point<f32, 2_usize>
) -> 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

pub fn project_local_point_and_get_location(
    &self,
    _point: &Point<f32, 2_usize>,
    bool
) -> (PointProjection, <HeightField as PointQueryWithLocation>::Location)

Projects a point on self.

pub fn project_point_and_get_location(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    pt: &Point<f32, 2_usize>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

impl RayCast for HeightField

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

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

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

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

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

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

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

pub fn cast_ray_and_get_normal(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<RayIntersection>

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

pub fn intersects_ray(
    &self,
    m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
    ray: &Ray,
    max_toi: f32
) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for HeightField

pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB

Computes the AABB of this shape with the given position.

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

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

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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

Gets the underlying shape as an enum.

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

pub fn compute_bounding_sphere(
    &self,
    position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere

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

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

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

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

pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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

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

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>

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