ncollide3d/query/point/
point_heightfield.rs

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1use crate::math::{Isometry, Point};
2use crate::query::{PointProjection, PointQuery, PointQueryWithLocation};
3use crate::shape::{FeatureId, HeightField, TrianglePointLocation};
4use na::{self, RealField};
5
6impl<N: RealField + Copy> PointQuery<N> for HeightField<N> {
7    #[inline]
8    fn project_point(&self, m: &Isometry<N>, point: &Point<N>, _: bool) -> PointProjection<N> {
9        let mut smallest_dist = N::max_value().unwrap();
10        let mut best_proj = PointProjection::new(false, *point);
11
12        #[cfg(feature = "dim2")]
13        let iter = self.segments();
14        #[cfg(feature = "dim3")]
15        let iter = self.triangles();
16        for elt in iter {
17            let proj = elt.project_point(m, point, false);
18            let dist = na::distance_squared(point, &proj.point);
19
20            if dist < smallest_dist {
21                smallest_dist = dist;
22                best_proj = proj;
23            }
24        }
25
26        best_proj
27    }
28
29    #[inline]
30    fn project_point_with_feature(
31        &self,
32        m: &Isometry<N>,
33        point: &Point<N>,
34    ) -> (PointProjection<N>, FeatureId) {
35        // FIXME: compute the feature properly.
36        (self.project_point(m, point, false), FeatureId::Unknown)
37    }
38
39    // FIXME: implement distance_to_point too?
40
41    #[inline]
42    fn contains_point(&self, _m: &Isometry<N>, _point: &Point<N>) -> bool {
43        false
44    }
45}
46
47impl<N: RealField + Copy> PointQueryWithLocation<N> for HeightField<N> {
48    type Location = (usize, TrianglePointLocation<N>);
49
50    #[inline]
51    fn project_point_with_location(
52        &self,
53        _m: &Isometry<N>,
54        _point: &Point<N>,
55        _: bool,
56    ) -> (PointProjection<N>, Self::Location) {
57        unimplemented!()
58    }
59}
ncollide3d/query/point/point_heightfield.rs

ncollide3d/query/point/
point_heightfield.rs
