Struct parry2d::shape::GenericHeightField

#[repr(C)]
pub struct GenericHeightField<Storage: HeightFieldStorage> { /* private fields */ }

A 2D heightfield with a generic storage buffer for its heights.

Implementations

impl<Storage: HeightFieldStorage> GenericHeightField<Storage>

pub fn aabb(&self, pos: &Isometry<Real>) -> 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<Storage: HeightFieldStorage> GenericHeightField<Storage>

pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> 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 GenericHeightField<DefaultStorage>

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

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

impl<Storage: HeightFieldStorage> GenericHeightField<Storage>

pub fn num_cells(&self) -> usize

The number of cells of this heightfield.

pub fn heights(&self) -> &Storage::Heights

The height at each cell endpoint.

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

The scale factor applied to this heightfield.

pub fn set_scale(&mut self, new_scale: Vector<Real>)

Sets the scale factor applied to this heightfield.

pub fn scaled(self, scale: &Vector<Real>) -> Self

Returns a scaled version of this heightfield.

pub fn root_aabb(&self) -> &Aabb

The Aabb of this heightfield.

pub fn cell_width(&self) -> Real

The width of a single cell of this heightfield.

pub fn unit_cell_width(&self) -> Real

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

pub fn start_x(&self) -> Real

The left-most x-coordinate of this heightfield.

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

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

pub fn height_at_point(&self, pt: &Point2<Real>) -> Option<Real>

Height of the heightfield a the given point after vertical projection on the heightfield surface.

pub fn segments<'a>(&'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 unclamped_elements_range_in_local_aabb( &self, aabb: &Aabb ) -> Range<isize>

The range of segment ids that may intersect the given local Aabb.

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.

impl GenericHeightField<DefaultStorage>

pub fn to_polyline(&self) -> (Vec<Point2<Real>>, Vec<[u32; 2]>)

Rasterize this heightfield as a (potentially discontinuous) polyline.

Trait Implementations

impl<Storage> Clone for GenericHeightField<Storage>

where Storage: HeightFieldStorage, Storage::Heights: Clone, Storage::Status: Clone,

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<Storage: Debug + HeightFieldStorage> Debug for GenericHeightField<Storage>

where Storage::Heights: Debug, Storage::Status: Debug,

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

Formats the value using the given formatter.

impl<Storage: HeightFieldStorage> PointQuery for GenericHeightField<Storage>

fn project_local_point_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance.

fn project_local_point(&self, point: &Point<Real>, _: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, point: &Point<Real> ) -> (PointProjection, FeatureId)

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

fn contains_local_point(&self, _point: &Point<Real>) -> bool

Tests if the given point is inside of self.

fn project_point_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real

Computes the minimal distance between a point and self.

fn project_point( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> PointProjection

Projects a point on self transformed by m.

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

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

fn project_point_and_get_feature( &self, m: &Isometry<Real>, pt: &Point<Real> ) -> (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.

fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool

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

impl<Storage: HeightFieldStorage> PointQueryWithLocation for GenericHeightField<Storage>

type Location = (usize, TrianglePointLocation)

Additional shape-specific projection information

fn project_local_point_and_get_location( &self, _point: &Point<Real>, _: bool ) -> (PointProjection, Self::Location)

Projects a point on self.

fn project_point_and_get_location( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool ) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

fn project_local_point_and_get_location_with_max_dist( &self, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<(PointProjection, Self::Location)>

Projects a point on self, with a maximum projection distance.

fn project_point_and_get_location_with_max_dist( &self, m: &Isometry<Real>, pt: &Point<Real>, solid: bool, max_dist: Real ) -> Option<(PointProjection, Self::Location)>

Projects a point on self transformed by m, with a maximum projection distance.

impl<Storage: HeightFieldStorage> RayCast for GenericHeightField<Storage>

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

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

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

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

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

Tests whether a ray intersects this transformed shape.

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

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

fn cast_ray_and_get_normal( &self, m: &Isometry<Real>, ray: &Ray, max_toi: Real, solid: bool ) -> Option<RayIntersection>

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

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

Tests whether a ray intersects this transformed shape.

impl<Storage> Copy for GenericHeightField<Storage>

where Storage: HeightFieldStorage, Storage::Heights: Copy, Storage::Status: Copy,