Struct CollisionEvent 

pub struct CollisionEvent { /* private fields */ }

Collision event data from a collision sensor.

Generated when an actor with a collision sensor attached collides with another actor. Contains information about the collision force and the actors involved.

Corresponds to carla.CollisionEvent in the Python API.

Examples

use carla::{
    client::Client,
    sensor::{data::CollisionEvent, SensorDataBase},
};

let client = Client::default();
let mut world = client.world();

// Spawn vehicle with collision sensor
let bp_lib = world.blueprint_library();
let vehicle_bp = bp_lib.filter("vehicle.*").get(0).unwrap();
let collision_bp = bp_lib.find("sensor.other.collision").unwrap();

let spawn_points = world.map().recommended_spawn_points();
let vehicle = world
    .spawn_actor(&vehicle_bp, &spawn_points.get(0).unwrap())
    .unwrap();

let collision_sensor = world
    .spawn_actor_opt(
        &collision_bp,
        &nalgebra::Isometry3::identity(),
        Some(&vehicle),
        carla::rpc::AttachmentType::Rigid,
    )
    .unwrap();

let sensor: carla::client::Sensor = collision_sensor.try_into().unwrap();
sensor.listen(move |data| {
    if let Ok(collision) = CollisionEvent::try_from(data) {
        println!("Collision detected!");
        println!("  Impulse: {:?}", collision.normal_impulse());
        if let Some(other) = collision.other_actor() {
            println!("  Hit actor ID: {}", other.id());
        }
    }
});

Implementations

impl CollisionEvent

pub fn actor(&self) -> Actor

Returns the actor that owns the collision sensor.

This is the actor that experienced the collision and has the sensor attached. See carla.CollisionEvent.actor in the Python API.

Examples

let actor = collision.actor();
println!("Collision sensor actor ID: {}", actor.id());

pub fn other_actor(&self) -> Option<Actor>

Returns the actor that was hit in the collision, if any.

Returns None if the collision was with a static object (like a building or the ground). See carla.CollisionEvent.other_actor in the Python API.

Examples

if let Some(other) = collision.other_actor() {
    println!("Collided with actor ID: {}", other.id());
} else {
    println!("Collided with static object");
}

pub fn normal_impulse(&self) -> &Vector3D

Returns the normal impulse resulting from the collision.

The impulse is a 3D vector representing the force applied during the collision. The magnitude indicates collision severity, and the direction shows the impact vector.

Units: Newton-seconds (N·s) See carla.CollisionEvent.normal_impulse in the Python API.

Examples

let impulse = collision.normal_impulse();
let magnitude = (impulse.x * impulse.x + impulse.y * impulse.y + impulse.z * impulse.z).sqrt();
println!("Collision force: {} N·s", magnitude);

Trait Implementations

impl Clone for CollisionEvent

fn clone(&self) -> CollisionEvent

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CollisionEvent

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

Formats the value using the given formatter.

impl TryFrom<SensorData> for CollisionEvent

type Error = SensorData

The type returned in the event of a conversion error.

fn try_from(value: SensorData) -> Result<Self, Self::Error>

Performs the conversion.