Struct HeightField 

pub struct HeightField<N: RealField + Copy> { /* private fields */ }

A 2D heightfield.

Implementations

impl<N: RealField + Copy> HeightField<N>

pub fn new(heights: DVector<N>, scale: Vector<N>) -> Self

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) -> &DVector<N>

The height at each cell endpoint.

pub fn scale(&self) -> &Vector<N>

The scale factor applied to this heightfield.

pub fn aabb(&self) -> &AABB<N>

The AABB of this heightfield.

pub fn cell_width(&self) -> N

The width of a single cell of this heightfield.

pub fn unit_cell_width(&self) -> N

The width of a single cell of this heightfield, without taking the scale factor into account.

pub fn start_x(&self) -> N

The left-most x-coordinate of this heightfield.

pub fn cell_at_point(&self, pt: &Point2<N>) -> Option<usize>

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

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

Iterator through all the segments of this heightfield.

pub fn segment_at(&self, i: usize) -> Option<Segment<N>>

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<N>, f: &mut impl FnMut(usize, &Segment<N>, &dyn ContactPreprocessor<N>), )

Applies f to each segment of this heightfield that intersects the given aabb.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for HeightField<N>

fn clone(&self) -> HeightField<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for HeightField<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for HeightField<N>

fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N: RealField + Copy> HasBoundingVolume<N, BoundingSphere<N>> for HeightField<N>

fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N: RealField + Copy> PointQuery<N> for HeightField<N>

fn project_point( &self, m: &Isometry<N>, point: &Point<N>, _: bool, ) -> PointProjection<N>

Projects a point on self transformed by m.

fn project_point_with_feature( &self, m: &Isometry<N>, point: &Point<N>, ) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

fn contains_point(&self, _m: &Isometry<N>, _point: &Point<N>) -> bool

Tests if the given point is inside of self transformed by m.

fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N

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

impl<N: RealField + Copy> PointQueryWithLocation<N> for HeightField<N>

type Location = (usize, TrianglePointLocation<N>)

Additional shape-specific projection information

fn project_point_with_location( &self, _m: &Isometry<N>, _point: &Point<N>, _: bool, ) -> (PointProjection<N>, Self::Location)

Projects a point on self transformed by m.

impl<N: RealField + Copy> RayCast<N> for HeightField<N>

Available on crate feature dim2 only.

fn toi_and_normal_with_ray( &self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, _: bool, ) -> Option<RayIntersection<N>>

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

fn toi_with_ray( &self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool, ) -> Option<N>

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

fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool

Tests whether a ray intersects this transformed shape.

impl<N: RealField + Copy> Shape<N> for HeightField<N>

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn tangent_cone_contains_dir( &self, _fid: FeatureId, _m: &Isometry<N>, _deformations: Option<&[N]>, _dir: &Unit<Vector<N>>, ) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn subshape_containing_feature(&self, _id: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

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

The support mapping of self if applicable.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.