Struct rapier3d::geometry::HeightField

pub struct HeightField { /* fields omitted */ }

An heightfield implicitly discretized with triangles.

Implementations

impl HeightField

pub fn aabb(&self, pos: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>) -> AABB

Computes the world-space AABB of this heightfield, transformed by pos.

pub fn local_aabb(&self) -> AABB

Computes the local-space AABB of this heightfield.

impl HeightField

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.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this height-field.

impl HeightField

pub fn new(
    heights: Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>,
    scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> HeightField

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

pub fn nrows(&self) -> usize

The number of rows of this heightfield.

pub fn ncols(&self) -> usize

The number of columns of this heightfield.

pub fn cell_at_point(&self, pt: &Point<f32, 3_usize>) -> Option<(usize, usize)>

The pair of index of the cell containing the vertical projection of the given point.

pub fn x_at(&self, j: usize) -> f32

The smallest x coordinate of the j-th column of this heightfield.

pub fn z_at(&self, i: usize) -> f32

The smallest z coordinate of the start of the i-th row of this heightfield.

pub fn triangles(&'a self) -> impl Iterator<Item = Triangle> + 'a

An iterator through all the triangles of this heightfield.

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).

pub fn cell_status(&self, i: usize, j: usize) -> HeightFieldCellStatus

The status of the (i, j)-th cell.

pub fn set_cell_status(
    &mut self,
    i: usize,
    j: usize,
    status: HeightFieldCellStatus
)

Set the status of the (i, j)-th cell.

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>>

The mutable statuses of all the cells of this heightfield.

pub fn heights(
    &self
) -> &Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>

The heights of this heightfield.

pub fn scale(
    &self
) -> &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The scale factor applied to this heightfield.

pub fn cell_width(&self) -> f32

The width (extent along its local x axis) of each cell of this heightmap, including the scale factor.

pub fn cell_height(&self) -> f32

The height (extent along its local z axis) of each cell of this heightmap, including the scale factor.

pub fn unit_cell_width(&self) -> f32

The width (extent along its local x axis) of each cell of this heightmap, excluding the scale factor.

pub fn unit_cell_height(&self) -> f32

The height (extent along its local z axis) of each cell of this heightmap, excluding the scale factor.

pub fn root_aabb(&self) -> &AABB

The AABB of this heightmap.

pub fn convert_triangle_feature_id(
    &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)
)

Applies the function f to all the triangles of this heightfield intersecting the given AABB.

impl HeightField

pub fn to_trimesh(
    &self
) -> (Vec<Point<f32, 3_usize>, Global>, Vec<[u32; 3], Global>)

Discretize the boundary of this ball as a triangle-mesh.

Trait Implementations

impl Clone for HeightField

pub fn clone(&self) -> HeightField

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for HeightField

pub fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl From<HeightField> for TriMesh

pub fn from(heightfield: HeightField) -> TriMesh

Performs the conversion.

impl PointQuery for HeightField

pub fn project_local_point(
    &self,
    point: &Point<f32, 3_usize>,
    bool
) -> PointProjection

Projects a point on self.

pub fn project_local_point_and_get_feature(
    &self,
    point: &Point<f32, 3_usize>
) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.

pub fn contains_local_point(&self, _point: &Point<f32, 3_usize>) -> bool

Tests if the given point is inside of self.

pub fn distance_to_local_point(
    &self,
    pt: &Point<f32, 3_usize>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self.

pub fn project_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &Point<f32, 3_usize>,
    solid: bool
) -> PointProjection

Projects a point on self transformed by m.

pub fn distance_to_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &Point<f32, 3_usize>,
    solid: bool
) -> f32

Computes the minimal distance between a point and self transformed by m.

pub fn project_point_and_get_feature(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &Point<f32, 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.

pub fn contains_point(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &Point<f32, 3_usize>
) -> bool

Tests if the given point is inside of self transformed by m.

impl PointQueryWithLocation for HeightField

type Location = (usize, TrianglePointLocation)

Additional shape-specific projection information

pub fn project_local_point_and_get_location(
    &self,
    _point: &Point<f32, 3_usize>,
    bool
) -> (PointProjection, <HeightField as PointQueryWithLocation>::Location)

Projects a point on self.

pub fn project_point_and_get_location(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    pt: &Point<f32, 3_usize>,
    solid: bool
) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.

impl RayCast for HeightField

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.

pub fn cast_local_ray(
    &self,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.

pub fn cast_ray(
    &self,
    m: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
    ray: &Ray,
    max_toi: f32,
    solid: bool
) -> Option<f32>

Computes the time of impact between this transform shape and a ray.

pub 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.

pub 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.

impl Shape for HeightField

pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>

Clones this shape into a boxed trait-object.

pub fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

pub fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

pub fn compute_aabb(
    &self,
    position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Computes the AABB of this shape with the given position.

pub fn mass_properties(&self, _density: f32) -> MassProperties

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

pub fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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

Gets the underlying shape as an enum.

pub fn ccd_thickness(&self) -> f32

pub fn ccd_angular_thickness(&self) -> f32

pub 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.

pub fn is_convex(&self) -> bool

Is this shape known to be convex?

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

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

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

pub fn as_polygonal_feature_map(
    &self
) -> Option<(&dyn PolygonalFeatureMap, f32)>

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

pub fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<f32, 3_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>>

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