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Fix non-square Collider::heightfield row and column count order #568

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Fix non-square Collider::heightfield row and column count order #568

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2 changes: 1 addition & 1 deletion src/collision/collider/parry/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -868,7 +868,7 @@ impl Collider {
"Each row in `heights` must have the same amount of points"
);

let heights = nalgebra::DMatrix::from_vec(row_count, column_count, data);
let heights = nalgebra::DMatrix::from_vec(column_count, row_count, data);
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@Nopey Nopey Jul 20, 2025 •
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Please do not pass column_count to the nrows argument.

DMatrix::from_vec's first argument is nrows, and second is ncol; the bug is in the calculation of column and row count, and the general confusion of order.
Instead of switching the order of the arguments, the two variables' assignments should be switched.

EDIT: the above assertion "Each row in heights must have the same amount of points" also insists that heights/data is row-major, which doesn't match what's being done with nalgebra below. Adding a transpose would preserve the original intention of ::heightfield, but may be considered a breaking change.

EDIT 2: DMatrix::from_row_iterator is the only row-major DMatrix constructor I see that wouldn't necessitate an additional allocation.

SharedShape::heightfield(heights, scale.into()).into()
}

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