Struct HeightField

pub struct HeightField<N: RealField + Copy> { /* private fields */ }

An heightfield implicitly discretized with triangles.

Implementations

impl<N: RealField + Copy> HeightField<N>

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

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: &Point3<N>) -> 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) -> N

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

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

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

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

An iterator through all the triangles of this heightfield.

pub fn triangles_at( &self, i: usize, j: usize, ) -> (Option<Triangle<N>>, Option<Triangle<N>>)

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) -> &DMatrix<HeightFieldCellStatus>

The statuses of all the cells of this heightfield.

pub fn cells_statuses_mut(&mut self) -> &mut DMatrix<HeightFieldCellStatus>

The mutable statuses of all the cells of this heightfield.

pub fn heights(&self) -> &DMatrix<N>

The heights of this heightfield.

pub fn scale(&self) -> &Vector<N>

The scale factor applied to this heightfield.

pub fn cell_width(&self) -> N

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

pub fn cell_height(&self) -> N

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

pub fn unit_cell_width(&self) -> N

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

pub fn unit_cell_height(&self) -> N

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

pub fn aabb(&self) -> &AABB<N>

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<N>, f: &mut impl FnMut(usize, &Triangle<N>, &dyn ContactPreprocessor<N>), )

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

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for HeightField<N>

fn clone(&self) -> HeightField<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for HeightField<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> HasBoundingVolume<N, AABB<N>> for HeightField<N>

fn bounding_volume(&self, m: &Isometry<N>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N: RealField + Copy> HasBoundingVolume<N, BoundingSphere<N>> for HeightField<N>

fn bounding_volume(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N: RealField + Copy> PointQuery<N> for HeightField<N>

fn project_point( &self, m: &Isometry<N>, point: &Point<N>, _: bool, ) -> PointProjection<N>

Projects a point on self transformed by m.

fn project_point_with_feature( &self, m: &Isometry<N>, point: &Point<N>, ) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

fn contains_point(&self, _m: &Isometry<N>, _point: &Point<N>) -> bool

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

fn distance_to_point(&self, m: &Isometry<N>, pt: &Point<N>, solid: bool) -> N

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

impl<N: RealField + Copy> PointQueryWithLocation<N> for HeightField<N>

type Location = (usize, TrianglePointLocation<N>)

Additional shape-specific projection information

fn project_point_with_location( &self, _m: &Isometry<N>, _point: &Point<N>, _: bool, ) -> (PointProjection<N>, Self::Location)

Projects a point on self transformed by m.

impl<N: RealField + Copy> RayCast<N> for HeightField<N>

fn toi_and_normal_with_ray( &self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool, ) -> Option<RayIntersection<N>>

Computes the time of impact, and normal between this transformed shape and a ray.

fn toi_with_ray( &self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool, ) -> Option<N>

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

fn toi_and_normal_and_uv_with_ray( &self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N, solid: bool, ) -> Option<RayIntersection<N>>

Computes time of impact, normal, and texture coordinates (uv) between this transformed shape and a ray.

fn intersects_ray(&self, m: &Isometry<N>, ray: &Ray<N>, max_toi: N) -> bool

Tests whether a ray intersects this transformed shape.

impl<N: RealField + Copy> Shape<N> for HeightField<N>

fn aabb(&self, m: &Isometry<N>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere(&self, m: &Isometry<N>) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn tangent_cone_contains_dir( &self, _fid: FeatureId, _m: &Isometry<N>, _deformations: Option<&[N]>, _dir: &Unit<Vector<N>>, ) -> bool

Check if if the feature _feature of the i-th subshape of self transformed by m has a tangent cone that contains dir at the point pt.

fn subshape_containing_feature(&self, _id: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

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

The support mapping of self if applicable.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N: RealField + Copy> ToTriMesh<N> for HeightField<N>

type DiscretizationParameter = ()

fn to_trimesh(&self, _: ()) -> TriMesh<N>

Builds a triangle mesh from this shape.