Struct Voxels 

pub struct Voxels { /* private fields */ }

A shape made of axis-aligned, uniformly sized, cubes (aka. voxels).

This shape is specialized to handle voxel worlds and voxelized obojects efficiently why ensuring that collision-detection isn’t affected by the so-called “internal edges problem” that can create artifacts when another object rolls or slides against a flat voxelized surface.

The internal storage is compact (but not sparse at the moment), storing only one byte per voxel in the allowed domain. This has a generally smaller memory footprint than a mesh representation of the voxels.

Implementations

impl Voxels

pub fn aabb(&self, pos: &Isometry<f32>) -> Aabb

Computes the world-space Aabb of this set of voxels, transformed by pos.

pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this set of voxels.

impl Voxels

pub fn bounding_sphere(&self, pos: &Isometry<f32>) -> BoundingSphere

Computes the world-space bounding sphere of this set of voxels, transformed by pos.

pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this set of voxels.

impl Voxels

pub fn new(voxel_size: Vector<f32>, grid_coordinates: &[Point<i32>]) -> Self

Initializes a voxel shapes from the voxels grid coordinates.

Each voxel will have its bottom-left-back corner located at grid_coordinates * voxel_size; and its center at (grid_coordinates + 0.5) * voxel_size.

pub fn from_points(voxel_size: Vector<f32>, points: &[Point<f32>]) -> Self

Computes a voxels shape from the set of points.

The points are mapped to a regular grid centered at the provided point with smallest coordinates, and with grid cell size equal to scale. It is OK if multiple points fall into the same grid cell.

pub fn domain(&self) -> [Point<i32>; 2]

The semi-open range of voxels in shape.

This provides conservative bounds on the range of voxel indices that might be set to filled.

pub fn voxel_size(&self) -> Vector<f32>

The size of each voxel part this Voxels shape.

pub fn scaled(self, scale: &Vector<f32>) -> Self

Scale this shape.

pub fn chunk_ref(&self, chunk_id: u32) -> VoxelsChunkRef<'_>

A reference to the chunk with id chunk_id.

Panics if the chunk doesn’t exist.

pub fn voxel_aabb(&self, key: Point<i32>) -> Aabb

The AABB of the voxel with the given quantized key.

pub fn voxel_state(&self, key: Point<i32>) -> Option<VoxelState>

Returns the state of a given voxel.

pub fn voxel_at_point(&self, point: Point<f32>) -> Point<i32>

Calculates the grid coordinates of the voxel containing the given point, regardless of whether this voxel is filled oor empty.

pub fn voxel_at_flat_id(&self, id: u32) -> Option<Point<i32>>

Gets the voxel at the given flat voxel index.

pub fn voxel_range_intersecting_local_aabb( &self, aabb: &Aabb, ) -> [Point<i32>; 2]

The range of grid coordinates of voxels intersecting the given AABB.

The returned range covers both empty and non-empty voxels, and is not limited to the bounds defined by Self::domain. The range is semi, open, i.e., the range along each dimension i is understood as the semi-open interval: range[0][i]..range[1][i].

pub fn voxel_range_aabb(&self, mins: Point<i32>, maxs: Point<i32>) -> Aabb

The AABB of a given range of voxels.

The AABB is computed independently of Self::domain and independently of whether the voxels contained within are empty or not.

pub fn align_aabb_to_grid(&self, aabb: &Aabb) -> Aabb

Aligns the given AABB with the voxelized grid.

The aligned is calculated such that the returned AABB has corners lying at the grid intersections (i.e. matches voxel corners) and fully contains the input aabb.

pub fn voxels_intersecting_local_aabb( &self, aabb: &Aabb, ) -> impl Iterator<Item = VoxelData> + '_

Iterates through every voxel intersecting the given aabb.

Returns the voxel’s linearized id, center, and state.

pub fn voxels(&self) -> impl Iterator<Item = VoxelData> + '_

The center point of all the voxels in this shape (including empty ones).

The voxel data associated to each center is provided to determine what kind of voxel it is (and, in particular, if it is empty or full).

pub fn voxels_in_range( &self, mins: Point<i32>, maxs: Point<i32>, ) -> impl Iterator<Item = VoxelData> + '_

Iterate through the data of all the voxels within the given (semi-open) voxel grid indices.

Note that this yields both empty and non-empty voxels within the range. This does not include any voxel that falls outside Self::domain.

pub fn linear_index(&self, voxel_key: Point<i32>) -> Option<VoxelIndex>

The linearized index associated to the given voxel key.

pub fn voxel_center(&self, key: Point<i32>) -> Point<f32>

The center of the voxel with the given key.

impl Voxels

pub fn set_voxel_size(&mut self, new_size: Vector<f32>)

Sets the size of each voxel along each local coordinate axis.

Since the internal spatial acceleration structure needs to be updated, this operation runs in O(n) time, where n is the number of voxels.

pub fn set_voxel(&mut self, key: Point<i32>, is_filled: bool) -> VoxelState

Inserts or remove a voxel from this shape.

Return the previous VoxelState of this voxel.

pub fn crop(&mut self, domain_mins: Point<i32>, domain_maxs: Point<i32>)

Crops in-place the voxel shape with a rectangular domain.

This removes every voxels out of the [domain_mins, domain_maxs] bounds.

pub fn cropped( &self, domain_mins: Point<i32>, domain_maxs: Point<i32>, ) -> Option<Self>

Returns a cropped version of this voxel shape with a rectangular domain.

This removes every voxels out of the [domain_mins, domain_maxs] bounds.

pub fn split_with_box(&self, aabb: &Aabb) -> (Option<Self>, Option<Self>)

Splits this voxels shape into two subshapes.

The first subshape contains all the voxels which centers are inside the aabb. The second subshape contains all the remaining voxels.

impl Voxels

pub fn propagate_voxel_change( &mut self, other: &mut Self, voxel: Point<i32>, origin_shift: Vector<i32>, )

Merges voxel state (neighborhood) information of a given voxel (and all its neighbors) from self and other, to account for a recent change to the given voxel in self.

This is designed to be called after self was modified with Voxels::set_voxel.

This is the same as Voxels::combine_voxel_states but localized to a single voxel and its neighbors.

pub fn combine_voxel_states( &mut self, other: &mut Self, origin_shift: Vector<i32>, )

Merges voxel state (neighborhood) information of each voxel from self and other.

This allows each voxel from one shape to be aware of the presence of neighbors belonging to the other so that collision detection is capable of transitioning between the boundaries of one shape to the other without hitting an internal edge.

Both voxels shapes are assumed to have the same Self::voxel_size. If other lives in a coordinate space with a different origin than self, then origin_shift represents the distance (as a multiple of the voxel_size) from the origin of self to the origin of other. Therefore, a voxel with coordinates key on other will have coordinates key + origin_shift on self.

impl Voxels

pub fn total_memory_size(&self) -> usize

An approximation of the memory usage (in bytes) for this struct plus the memory it allocates dynamically.

pub fn heap_memory_size(&self) -> usize

An approximation of the memory dynamically-allocated by this struct.

impl Voxels

pub fn to_outline(&self) -> (Vec<Point<f32>>, Vec<[u32; 2]>)

Outlines this voxels shape as a set of polylines.

The outline is such that only convex edges are output in the polyline.

pub fn iter_outline(&self, f: impl FnMut(Point<f32>, Point<f32>))

Outlines this voxels shape using segments.

The outline is such that only convex edges are output in the polyline.

impl Voxels

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

Computes an unoptimized mesh representation of this shape.

Each free face of each voxel will result in two triangles. No effort is made to merge adjacent triangles on large flat areas.

Trait Implementations

impl Clone for Voxels

fn clone(&self) -> Voxels

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Voxels

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

Formats the value using the given formatter.

impl PointQuery for Voxels

fn project_local_point(&self, pt: &Point<f32>, solid: bool) -> PointProjection

Projects a point on self.

fn project_local_point_and_get_feature( &self, pt: &Point<f32>, ) -> (PointProjection, FeatureId)

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

fn project_local_point_with_max_dist( &self, pt: &Point<f32>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance.

fn project_point_with_max_dist( &self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.

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

Computes the minimal distance between a point and self.

fn contains_local_point(&self, pt: &Point<f32>) -> bool

Tests if the given point is inside of self.

fn project_point( &self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.

fn distance_to_point( &self, m: &Isometry<f32>, pt: &Point<f32>, solid: bool, ) -> f32

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

fn project_point_and_get_feature( &self, m: &Isometry<f32>, pt: &Point<f32>, ) -> (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.

fn contains_point(&self, m: &Isometry<f32>, pt: &Point<f32>) -> bool

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

impl RayCast for Voxels

fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<RayIntersection>

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

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

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

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

Tests whether a ray intersects this transformed shape.

fn cast_ray( &self, m: &Isometry<f32>, ray: &Ray, max_time_of_impact: f32, solid: bool, ) -> Option<f32>

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

fn cast_ray_and_get_normal( &self, m: &Isometry<f32>, ray: &Ray, max_time_of_impact: 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>, ray: &Ray, max_time_of_impact: f32, ) -> bool

Tests whether a ray intersects this transformed shape.

impl Shape for Voxels

Available on crate feature alloc only.

fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.

fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.

fn clone_dyn(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.

fn scale_dyn( &self, scale: &Vector<f32>, _num_subdivisions: u32, ) -> Option<Box<dyn Shape>>

Scales this shape by scale into a boxed trait-object.

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

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

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

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

Gets the underlying shape as an enum.

fn ccd_thickness(&self) -> f32

fn ccd_angular_thickness(&self) -> f32

fn clone_box(&self) -> Box<dyn Shape>

👎Deprecated: renamed to clone_dyn

Clones this shape into a boxed trait-object.

fn compute_aabb(&self, position: &Isometry<f32>) -> Aabb

Computes the Aabb of this shape with the given position.

fn compute_bounding_sphere(&self, position: &Isometry<f32>) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex?

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

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

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

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

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

fn feature_normal_at_point( &self, _feature: FeatureId, _point: &Point<f32>, ) -> Option<Unit<Vector<f32>>>

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

fn compute_swept_aabb( &self, start_pos: &Isometry<f32>, end_pos: &Isometry<f32>, ) -> 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.