Struct parry3d::shape::GenericHeightField
source · [−]#[repr(C)]pub struct GenericHeightField<Heights, Status> { /* private fields */ }
Expand description
A 3D heightfield with a generic storage buffer for its height grid.
Implementations
sourceimpl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
sourceimpl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
sourcepub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
pub fn bounding_sphere(&self, pos: &Isometry<Real>) -> BoundingSphere
Computes the world-space bounding sphere of this height-field, transformed by pos
.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
Computes the local-space bounding sphere of this height-field.
sourceimpl GenericHeightField<Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>, Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>>
impl GenericHeightField<Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>, Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>>
sourceimpl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
sourcepub fn closest_cell_at_point(&self, pt: &Point3<Real>) -> (usize, usize)
pub fn closest_cell_at_point(&self, pt: &Point3<Real>) -> (usize, usize)
The pair of index of the cell containing the vertical projection of the given point.
sourcepub fn cell_at_point(&self, pt: &Point3<Real>) -> Option<(usize, usize)>
pub fn cell_at_point(&self, pt: &Point3<Real>) -> Option<(usize, usize)>
The pair of index of the cell containing the vertical projection of the given point.
sourcepub fn x_at(&self, j: usize) -> Real
pub fn x_at(&self, j: usize) -> Real
The smallest x coordinate of the j
-th column of this heightfield.
sourcepub fn z_at(&self, i: usize) -> Real
pub fn z_at(&self, i: usize) -> Real
The smallest z coordinate of the start of the i
-th row of this heightfield.
sourcepub fn triangles<'a>(&'a self) -> impl Iterator<Item = Triangle> + 'a
pub fn triangles<'a>(&'a self) -> impl Iterator<Item = Triangle> + 'a
An iterator through all the triangles of this heightfield.
sourcepub fn triangles_around_point<'a>(
&'a self,
point: &Point3<Real>
) -> HeightFieldRadialTriangles<'_, Heights, Status>
pub fn triangles_around_point<'a>(
&'a self,
point: &Point3<Real>
) -> HeightFieldRadialTriangles<'_, Heights, Status>
An iterator through all the triangles around the given point, after vertical projection on the heightfield.
sourcepub fn triangles_at(
&self,
i: usize,
j: usize
) -> (Option<Triangle>, Option<Triangle>)
pub fn triangles_at(
&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).
sourcepub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus
pub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus
The status of the (i, j)
-th cell.
sourcepub fn set_cell_status(
&mut self,
i: usize,
j: usize,
status: HeightFieldCellStatus
)
pub fn set_cell_status(
&mut self,
i: usize,
j: usize,
status: HeightFieldCellStatus
)
Set the status of the (i, j)
-th cell.
sourcepub fn cells_statuses(&self) -> &Status
pub fn cells_statuses(&self) -> &Status
The statuses of all the cells of this heightfield.
sourcepub fn cells_statuses_mut(&mut self) -> &mut Status
pub fn cells_statuses_mut(&mut self) -> &mut Status
The mutable statuses of all the cells of this heightfield.
sourcepub fn set_scale(&mut self, new_scale: Vector<Real>)
pub fn set_scale(&mut self, new_scale: Vector<Real>)
Sets the scale factor applied to this heightfield.
sourcepub fn scaled(self, scale: &Vector<Real>) -> Self
pub fn scaled(self, scale: &Vector<Real>) -> Self
Returns a scaled version of this heightfield.
sourcepub fn cell_width(&self) -> Real
pub fn cell_width(&self) -> Real
The width (extent along its local x
axis) of each cell of this heightmap, including the scale factor.
sourcepub fn cell_height(&self) -> Real
pub fn cell_height(&self) -> Real
The height (extent along its local z
axis) of each cell of this heightmap, including the scale factor.
sourcepub fn unit_cell_width(&self) -> Real
pub fn unit_cell_width(&self) -> Real
The width (extent along its local x
axis) of each cell of this heightmap, excluding the scale factor.
sourcepub fn unit_cell_height(&self) -> Real
pub fn unit_cell_height(&self) -> Real
The height (extent along its local z
axis) of each cell of this heightmap, excluding the scale factor.
sourceimpl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
Trait Implementations
sourceimpl<Heights: Clone, Status: Clone> Clone for GenericHeightField<Heights, Status>
impl<Heights: Clone, Status: Clone> Clone for GenericHeightField<Heights, Status>
sourcefn clone(&self) -> GenericHeightField<Heights, Status>
fn clone(&self) -> GenericHeightField<Heights, Status>
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl<Heights: Debug, Status: Debug> Debug for GenericHeightField<Heights, Status>
impl<Heights: Debug, Status: Debug> Debug for GenericHeightField<Heights, Status>
sourceimpl<Heights, Status> From<GenericHeightField<Heights, Status>> for TriMesh where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> From<GenericHeightField<Heights, Status>> for TriMesh where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
sourcefn from(heightfield: GenericHeightField<Heights, Status>) -> Self
fn from(heightfield: GenericHeightField<Heights, Status>) -> Self
Converts to this type from the input type.
sourceimpl<Heights, Status> PointQuery for GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> PointQuery for GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
sourcefn project_local_point_with_max_dist(
&self,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
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. Read more
sourcefn project_local_point(&self, point: &Point<Real>, _: bool) -> PointProjection
fn project_local_point(&self, point: &Point<Real>, _: bool) -> PointProjection
Projects a point on self
. Read more
sourcefn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
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. Read more
sourcefn contains_local_point(&self, _point: &Point<Real>) -> bool
fn contains_local_point(&self, _point: &Point<Real>) -> bool
Tests if the given point is inside of self
.
sourcefn project_point_with_max_dist(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool,
max_dist: Real
) -> Option<PointProjection>
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.
sourcefn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
Computes the minimal distance between a point and self
.
sourcefn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
sourcefn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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
.
sourceimpl<Heights, Status> PointQueryWithLocation for GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> PointQueryWithLocation for GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
type Location = (usize, TrianglePointLocation)
type Location = (usize, TrianglePointLocation)
Additional shape-specific projection information Read more
sourcefn project_local_point_and_get_location(
&self,
_point: &Point<Real>,
_: bool
) -> (PointProjection, Self::Location)
fn project_local_point_and_get_location(
&self,
_point: &Point<Real>,
_: bool
) -> (PointProjection, Self::Location)
Projects a point on self
.
sourceimpl<Heights, Status> RayCast for GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
impl<Heights, Status> RayCast for GenericHeightField<Heights, Status> where
Heights: HeightFieldStorage<Item = Real>,
Status: HeightFieldStorage<Item = HeightFieldCellStatus>,
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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.
sourcefn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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.
impl<Heights: Copy, Status: Copy> Copy for GenericHeightField<Heights, Status>
Auto Trait Implementations
impl<Heights, Status> RefUnwindSafe for GenericHeightField<Heights, Status> where
Heights: RefUnwindSafe,
Status: RefUnwindSafe,
impl<Heights, Status> Send for GenericHeightField<Heights, Status> where
Heights: Send,
Status: Send,
impl<Heights, Status> Sync for GenericHeightField<Heights, Status> where
Heights: Sync,
Status: Sync,
impl<Heights, Status> Unpin for GenericHeightField<Heights, Status> where
Heights: Unpin,
Status: Unpin,
impl<Heights, Status> UnwindSafe for GenericHeightField<Heights, Status> where
Heights: UnwindSafe,
Status: UnwindSafe,
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more