Struct rapier3d::geometry::HeightField [−][src]
pub struct HeightField { /* fields omitted */ }
Expand description
An heightfield implicitly discretized with triangles.
Implementations
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the world-space bounding sphere of this height-field, transformed by pos
.
Computes the local-space bounding sphere of this height-field.
Initializes a new heightfield with the given heights and a scaling factor.
The pair of index of the cell containing the vertical projection of the given point.
The smallest x coordinate of the j
-th column of this heightfield.
The smallest z coordinate of the start of the i
-th row of this heightfield.
An iterator through all the triangles of this heightfield.
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).
The status of the (i, j)
-th cell.
Set the status of the (i, j)
-th cell.
pub fn cells_statuses(
&self
) -> &Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>
pub fn cells_statuses(
&self
) -> &Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>
The statuses of all the cells of this heightfield.
pub fn cells_statuses_mut(
&mut self
) -> &mut Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>
pub fn cells_statuses_mut(
&mut self
) -> &mut Matrix<HeightFieldCellStatus, Dynamic, Dynamic, VecStorage<HeightFieldCellStatus, Dynamic, Dynamic>>
The mutable statuses of all the cells of this heightfield.
The heights of this heightfield.
The scale factor applied to this heightfield.
The width (extent along its local x
axis) of each cell of this heightmap, including the scale factor.
The height (extent along its local z
axis) of each cell of this heightmap, including the scale factor.
The width (extent along its local x
axis) of each cell of this heightmap, excluding the scale factor.
The height (extent along its local z
axis) of each cell of this heightmap, excluding the scale factor.
Converts the FeatureID of the left or right triangle at the cell (i, j)
into a FeatureId
of the whole heightfield.
Trait Implementations
Performs the conversion.
pub fn project_local_point(
&self,
point: &OPoint<f32, Const<3_usize>>,
bool
) -> PointProjection
pub fn project_local_point(
&self,
point: &OPoint<f32, Const<3_usize>>,
bool
) -> PointProjection
Projects a point on self
. Read more
pub fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
pub fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
Tests if the given point is inside of self
.
Computes the minimal distance between a point and self
.
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
Computes the minimal distance between a point and self
transformed by m
.
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (PointProjection, FeatureId)
fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>
) -> (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. Read more
type Location = (usize, TrianglePointLocation)
type Location = (usize, TrianglePointLocation)
Additional shape-specific projection information Read more
pub fn project_local_point_and_get_location(
&self,
_point: &OPoint<f32, Const<3_usize>>,
bool
) -> (PointProjection, <HeightField as PointQueryWithLocation>::Location)
pub fn project_local_point_and_get_location(
&self,
_point: &OPoint<f32, Const<3_usize>>,
bool
) -> (PointProjection, <HeightField as PointQueryWithLocation>::Location)
Projects a point on self
.
fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, Self::Location)
fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pt: &OPoint<f32, Const<3_usize>>,
solid: bool
) -> (PointProjection, Self::Location)
Projects a point on self
transformed by m
.
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
Computes the time of impact between this transform shape and a ray.
Tests whether a ray intersects this transformed shape.
Computes the time of impact between this transform shape and a ray.
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
ray: &Ray,
max_toi: f32
) -> bool
Tests whether a ray intersects this transformed shape.
Clones this shape into a boxed trait-object.
Computes the AABB of this shape.
Computes the bounding-sphere of this shape.
Computes the AABB of this shape with the given position.
Compute the mass-properties of this shape given its uniform density.
Gets the type tag of this shape.
Gets the underlying shape as an enum.
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> BoundingSphere
Computes the bounding-sphere of this shape with the given position.
Convents this shape into its support mapping, if it has one.
Converts this shape to a polygonal feature-map, if it is one.
The shape’s normal at the given point located on a specific feature.
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
end_pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> 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. Read more
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
Mutably borrows from an owned value. Read more
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
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
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
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
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
(and can be converted to it).
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
The inclusion map: converts self
to the equivalent element of its superset.