Struct parry3d_f64::shape::HeightField [−][src]
An heightfield implicitly discretized with triangles.
Implementations
impl HeightField
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pub fn aabb(&self, pos: &Isometry<Real>) -> AABB
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Computes the world-space AABB of this heightfield, transformed by pos
.
pub fn local_aabb(&self) -> AABB
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Computes the local-space AABB of this heightfield.
impl HeightField
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pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
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Computes the world-space bounding sphere of this height-field, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the local-space bounding sphere of this height-field.
impl HeightField
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pub fn new(heights: DMatrix<Real>, scale: Vector<Real>) -> Self
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Initializes a new heightfield with the given heights and a scaling factor.
pub fn nrows(&self) -> usize
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The number of rows of this heightfield.
pub fn ncols(&self) -> usize
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The number of columns of this heightfield.
pub fn cell_at_point(&self, pt: &Point3<Real>) -> Option<(usize, usize)>
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The pair of index of the cell containing the vertical projection of the given point.
pub fn x_at(&self, j: usize) -> Real
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The smallest x coordinate of the j
-th column of this heightfield.
pub fn z_at(&self, i: usize) -> Real
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The smallest z coordinate of the start of the i
-th row of this heightfield.
pub fn triangles<'a>(&'a self) -> impl Iterator<Item = Triangle> + 'a
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An iterator through all the triangles of this heightfield.
pub fn triangles_at(
&self,
i: usize,
j: usize
) -> (Option<Triangle>, Option<Triangle>)
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&self,
i: usize,
j: usize
) -> (Option<Triangle>, Option<Triangle>)
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 cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus
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The status of the (i, j)
-th cell.
pub fn set_cell_status(
&mut self,
i: usize,
j: usize,
status: HeightFieldCellStatus
)
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&mut self,
i: usize,
j: usize,
status: HeightFieldCellStatus
)
Set the status of the (i, j)
-th cell.
pub fn cells_statuses(&self) -> &DMatrix<HeightFieldCellStatus>
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The statuses of all the cells of this heightfield.
pub fn cells_statuses_mut(&mut self) -> &mut DMatrix<HeightFieldCellStatus>
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The mutable statuses of all the cells of this heightfield.
pub fn heights(&self) -> &DMatrix<Real>
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The heights of this heightfield.
pub fn scale(&self) -> &Vector<Real>
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The scale factor applied to this heightfield.
pub fn cell_width(&self) -> Real
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The width (extent along its local x
axis) of each cell of this heightmap, including the scale factor.
pub fn cell_height(&self) -> Real
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The height (extent along its local z
axis) of each cell of this heightmap, including the scale factor.
pub fn unit_cell_width(&self) -> Real
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The width (extent along its local x
axis) of each cell of this heightmap, excluding the scale factor.
pub fn unit_cell_height(&self) -> Real
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The height (extent along its local z
axis) of each cell of this heightmap, excluding the scale factor.
pub fn root_aabb(&self) -> &AABB
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The AABB of this heightmap.
pub fn convert_triangle_feature_id(
&self,
i: usize,
j: usize,
left: bool,
fid: FeatureId
) -> FeatureId
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&self,
i: usize,
j: usize,
left: bool,
fid: FeatureId
) -> FeatureId
Converts the FeatureID of the left or right triangle at the cell (i, j)
into a FeatureId
of the whole heightfield.
pub fn map_elements_in_local_aabb(
&self,
aabb: &AABB,
f: &mut impl FnMut(u32, &Triangle)
)
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&self,
aabb: &AABB,
f: &mut impl FnMut(u32, &Triangle)
)
Applies the function f
to all the triangles of this heightfield intersecting the given AABB.
impl HeightField
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pub fn to_trimesh(&self) -> (Vec<Point3<Real>>, Vec<[u32; 3]>)
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Discretize the boundary of this ball as a triangle-mesh.
Trait Implementations
impl Clone for HeightField
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fn clone(&self) -> HeightField
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl Debug for HeightField
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impl From<HeightField> for TriMesh
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fn from(heightfield: HeightField) -> Self
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impl PointQuery for HeightField
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fn project_local_point(&self, point: &Point<Real>, _: bool) -> PointProjection
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fn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
fn contains_local_point(&self, _point: &Point<Real>) -> bool
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fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
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fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
fn project_point_and_get_feature(
&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool
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impl PointQueryWithLocation for HeightField
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type Location = (usize, TrianglePointLocation)
Additional shape-specific projection information Read more
fn project_local_point_and_get_location(
&self,
_point: &Point<Real>,
_: bool
) -> (PointProjection, Self::Location)
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&self,
_point: &Point<Real>,
_: bool
) -> (PointProjection, Self::Location)
fn project_point_and_get_location(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> (PointProjection, Self::Location)
impl RayCast for HeightField
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fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
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fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool
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impl Shape for HeightField
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fn clone_box(&self) -> Box<dyn Shape>
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fn compute_local_aabb(&self) -> AABB
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fn compute_local_bounding_sphere(&self) -> BoundingSphere
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fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
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fn mass_properties(&self, _density: Real) -> MassProperties
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fn shape_type(&self) -> ShapeType
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fn as_typed_shape(&self) -> TypedShape<'_>
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fn ccd_thickness(&self) -> Real
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fn ccd_angular_thickness(&self) -> Real
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fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere
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fn is_convex(&self) -> bool
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fn as_support_map(&self) -> Option<&dyn SupportMap>
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
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fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
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&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
Auto Trait Implementations
impl RefUnwindSafe for HeightField
impl Send for HeightField
impl Sync for HeightField
impl Unpin for HeightField
impl UnwindSafe for HeightField
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,