Type Definition parry3d::shape::HeightField

pub type HeightField = GenericHeightField<DMatrix<Real>, DMatrix<HeightFieldCellStatus>>;

A 3D heightfield.

Implementations

impl HeightField

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

Initializes a new heightfield with the given heights and a scaling factor.

Trait Implementations

impl Shape for HeightField

fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

Computes the AABB of this shape with the given position.

fn mass_properties(&self, _density: Real) -> MassProperties

Compute the mass-properties of this shape given its uniform density.

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> Real

fn ccd_angular_thickness(&self) -> Real

fn compute_bounding_sphere(&self, position: &Isometry<Real>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex?

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

Convents this shape into its support mapping, if it has one.

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>

Converts this shape to a polygonal feature-map, if it is one.

fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<Real>
) -> Option<Unit<Vector<Real>>>

The shape’s normal at the given point located on a specific feature.

fn compute_swept_aabb(
    &self,
    start_pos: &Isometry<Real>,
    end_pos: &Isometry<Real>
) -> AABB

Computes the swept AABB of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.