Struct GpuVoxelGrid 

pub struct GpuVoxelGrid {
    pub nx: usize,
    pub ny: usize,
    pub nz: usize,
    pub voxel_size: f64,
    pub occupancy: Vec<bool>,
    pub sdf: Vec<f64>,
}

A 3-D voxel grid storing binary occupancy and an SDF.

Dimensions are [nx, ny, nz] with voxel size voxel_size. Data is stored in Z-major order: index = x + nx*(y + ny*z).

Fields

nx: usize

Number of voxels along X.

ny: usize

Number of voxels along Y.

nz: usize

Number of voxels along Z.

voxel_size: f64

Physical size of each voxel (assumed isotropic).

occupancy: Vec<bool>

Binary occupancy: true = filled.

sdf: Vec<f64>

Signed Distance Field values (positive = outside, negative = inside).

Implementations

impl GpuVoxelGrid

pub fn new(nx: usize, ny: usize, nz: usize, voxel_size: f64) -> Self

Allocate an empty voxel grid of size nx × ny × nz.

pub fn len(&self) -> usize

Total number of voxels.

pub fn is_empty(&self) -> bool

Returns true when the grid contains no voxels.

pub fn index(&self, x: usize, y: usize, z: usize) -> usize

Flatten (x, y, z) grid coordinates to a linear index.

Panics

In debug builds, panics if any coordinate is out of range.

pub fn coords(&self, idx: usize) -> (usize, usize, usize)

Convert a linear index back to (x, y, z) coordinates.

pub fn occupied_count(&self) -> usize

Count occupied voxels.

Trait Implementations

impl Clone for GpuVoxelGrid

fn clone(&self) -> GpuVoxelGrid

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GpuVoxelGrid

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

Formats the value using the given formatter.