Struct rapier2d::geometry::HeightField [−][src]
A 2D heightfield.
Implementations
impl HeightField
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pub fn aabb(&self, pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>) -> 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<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
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&self,
pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
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: Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>,
scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> HeightField
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heights: Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>,
scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> HeightField
Creates a new 2D heightfield with the given heights and scale factor.
pub fn num_cells(&self) -> usize
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The number of cells of this heightfield.
pub fn heights(
&self
) -> &Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>
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&self
) -> &Matrix<f32, Dynamic, Const<1_usize>, VecStorage<f32, Dynamic, Const<1_usize>>>
The height at each cell endpoint.
pub fn scale(
&self
) -> &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
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&self
) -> &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
The scale factor applied to this heightfield.
pub fn root_aabb(&self) -> &AABB
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The AABB of this heightfield.
pub fn cell_width(&self) -> f32
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The width of a single cell of this heightfield.
pub fn unit_cell_width(&self) -> f32
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The width of a single cell of this heightfield, without taking the scale factor into account.
pub fn start_x(&self) -> f32
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The left-most x-coordinate of this heightfield.
pub fn cell_at_point(&self, pt: &Point<f32, 2_usize>) -> Option<usize>
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Index of the cell a point is on after vertical projection.
pub fn segments(&'a self) -> impl Iterator<Item = Segment> + 'a
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Iterator through all the segments of this heightfield.
pub fn segment_at(&self, i: usize) -> Option<Segment>
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The i-th segment of the heightfield if it has not been removed.
pub fn set_segment_removed(&mut self, i: usize, removed: bool)
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Mark the i-th segment of this heightfield as removed or not.
pub fn is_segment_removed(&self, i: usize) -> bool
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Checks if the i-th segment has been removed.
pub fn map_elements_in_local_aabb(
&self,
aabb: &AABB,
f: &mut impl FnMut(u32, &Segment)
)
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&self,
aabb: &AABB,
f: &mut impl FnMut(u32, &Segment)
)
Applies f
to each segment of this heightfield that intersects the given aabb
.
Trait Implementations
impl Clone for HeightField
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pub fn clone(&self) -> HeightField
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pub fn clone_from(&mut self, source: &Self)
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impl Debug for HeightField
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impl PointQuery for HeightField
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pub fn project_local_point(
&self,
point: &Point<f32, 2_usize>,
bool
) -> PointProjection
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&self,
point: &Point<f32, 2_usize>,
bool
) -> PointProjection
pub fn project_local_point_and_get_feature(
&self,
point: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
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&self,
point: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
pub fn contains_local_point(&self, _point: &Point<f32, 2_usize>) -> bool
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pub fn distance_to_local_point(
&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
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&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
pub fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
pub fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
pub fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> bool
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> bool
impl PointQueryWithLocation for HeightField
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type Location = (usize, TrianglePointLocation)
Additional shape-specific projection information Read more
pub fn project_local_point_and_get_location(
&self,
_point: &Point<f32, 2_usize>,
bool
) -> (PointProjection, <HeightField as PointQueryWithLocation>::Location)
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&self,
_point: &Point<f32, 2_usize>,
bool
) -> (PointProjection, <HeightField as PointQueryWithLocation>::Location)
pub fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> (PointProjection, Self::Location)
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> (PointProjection, Self::Location)
impl RayCast for HeightField
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pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: f32,
bool
) -> Option<RayIntersection>
pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
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pub fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32
) -> bool
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32
) -> bool
impl Shape for HeightField
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pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
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pub fn compute_local_aabb(&self) -> AABB
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pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
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pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
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&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
pub fn mass_properties(&self, _density: f32) -> MassProperties
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pub fn shape_type(&self) -> ShapeType
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pub fn as_typed_shape(&self) -> TypedShape<'_>
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pub fn ccd_thickness(&self) -> f32
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pub fn ccd_angular_thickness(&self) -> f32
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pub fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
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&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
pub fn is_convex(&self) -> bool
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pub fn as_support_map(&self) -> Option<&dyn SupportMap>
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pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
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&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
pub fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
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&self,
_feature: FeatureId,
_point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
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> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
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>,