Struct rubullet::LoadModelFlags

pub struct LoadModelFlags { /* fields omitted */ }

Use flag for loading the model. Flags can be combined with the |-operator. Example:

let flags = LoadModelFlags::URDF_ENABLE_CACHED_GRAPHICS_SHAPES | LoadModelFlags::URDF_PRINT_URDF_INFO;
assert!(flags.contains(LoadModelFlags::URDF_PRINT_URDF_INFO));

Implementations

impl LoadModelFlags

pub const NONE: LoadModelFlags

use no flags (Default)

pub const URDF_USE_INERTIA_FROM_FILE: LoadModelFlags

Use the inertia tensor provided in the URDF.

By default, Bullet will recompute the inertial tensor based on the mass and volume of the collision shape. Use this is you can provide a more accurate inertia tensor.

pub const URDF_USE_SELF_COLLISION: LoadModelFlags

Enables self-collision.

pub const URDF_USE_SELF_COLLISION_EXCLUDE_PARENT: LoadModelFlags

pub const URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS: LoadModelFlags

will discard self-collisions between a child link and any of its ancestors (parents, parents of parents, up to the base). Needs to be used together with URDF_USE_SELF_COLLISION.

pub const URDF_RESERVED: LoadModelFlags

pub const URDF_USE_IMPLICIT_CYLINDER: LoadModelFlags

will use a smooth implicit cylinder. By default, Bullet will tesselate the cylinder into a convex hull.

pub const URDF_GLOBAL_VELOCITIES_MB: LoadModelFlags

pub const MJCF_COLORS_FROM_FILE: LoadModelFlags

pub const URDF_ENABLE_CACHED_GRAPHICS_SHAPES: LoadModelFlags

Caches as reuses graphics shapes. This will decrease loading times for similar objects

pub const URDF_ENABLE_SLEEPING: LoadModelFlags

Allow the disabling of simulation after a body hasn’t moved for a while.

Interaction with active bodies will re-enable simulation.

pub const URDF_INITIALIZE_SAT_FEATURES: LoadModelFlags

will create triangle meshes for convex shapes. This will improve visualization and also allow usage of the separating axis test (SAT) instead of GJK/EPA. Requires to enable_SAT using set_physics_engine_parameter. TODO

pub const URDF_USE_SELF_COLLISION_INCLUDE_PARENT: LoadModelFlags

will enable collision between child and parent, it is disabled by default. Needs to be used together with URDF_USE_SELF_COLLISION flag.

pub const URDF_PARSE_SENSORS: LoadModelFlags

pub const URDF_USE_MATERIAL_COLORS_FROM_MTL: LoadModelFlags

will use the RGB color from the Wavefront OBJ file, instead of from the URDF file.

pub const URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL: LoadModelFlags

pub const URDF_MAINTAIN_LINK_ORDER: LoadModelFlags

Try to maintain the link order from the URDF file.

pub const URDF_ENABLE_WAKEUP: LoadModelFlags

pub const URDF_MERGE_FIXED_LINKS: LoadModelFlags

this will remove fixed links from the URDF file and merge the resulting links. This is good for performance, since various algorithms (articulated body algorithm, forward kinematics etc) have linear complexity in the number of joints, including fixed joints.

pub const URDF_IGNORE_VISUAL_SHAPES: LoadModelFlags

pub const URDF_IGNORE_COLLISION_SHAPES: LoadModelFlags

pub const URDF_PRINT_URDF_INFO: LoadModelFlags

pub const URDF_GOOGLEY_UNDEFINED_COLORS: LoadModelFlags

pub const fn empty() -> LoadModelFlags

Returns an empty set of flags

pub const fn all() -> LoadModelFlags

Returns the set containing all flags.

pub const fn bits(&self) -> i32

Returns the raw value of the flags currently stored.

pub fn from_bits(bits: i32) -> Option<LoadModelFlags>

Convert from underlying bit representation, unless that representation contains bits that do not correspond to a flag.

pub const fn from_bits_truncate(bits: i32) -> LoadModelFlags

Convert from underlying bit representation, dropping any bits that do not correspond to flags.

pub const unsafe fn from_bits_unchecked(bits: i32) -> LoadModelFlags

Convert from underlying bit representation, preserving all bits (even those not corresponding to a defined flag).

pub const fn is_empty(&self) -> bool

Returns true if no flags are currently stored.

pub const fn is_all(&self) -> bool

Returns true if all flags are currently set.

pub const fn intersects(&self, other: LoadModelFlags) -> bool

Returns true if there are flags common to both self and other.

pub const fn contains(&self, other: LoadModelFlags) -> bool

Returns true all of the flags in other are contained within self.

pub fn insert(&mut self, other: LoadModelFlags)

Inserts the specified flags in-place.

pub fn remove(&mut self, other: LoadModelFlags)

Removes the specified flags in-place.

pub fn toggle(&mut self, other: LoadModelFlags)

Toggles the specified flags in-place.

pub fn set(&mut self, other: LoadModelFlags, value: bool)

Inserts or removes the specified flags depending on the passed value.

Trait Implementations

impl Binary for LoadModelFlags

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

Formats the value using the given formatter.

impl BitAnd<LoadModelFlags> for LoadModelFlags

type Output = LoadModelFlags

The resulting type after applying the & operator.

fn bitand(self, other: LoadModelFlags) -> LoadModelFlags

Returns the intersection between the two sets of flags.

impl BitAndAssign<LoadModelFlags> for LoadModelFlags

fn bitand_assign(&mut self, other: LoadModelFlags)

Disables all flags disabled in the set.

impl BitOr<LoadModelFlags> for LoadModelFlags

type Output = LoadModelFlags

The resulting type after applying the | operator.

fn bitor(self, other: LoadModelFlags) -> LoadModelFlags

Returns the union of the two sets of flags.

impl BitOrAssign<LoadModelFlags> for LoadModelFlags

fn bitor_assign(&mut self, other: LoadModelFlags)

Adds the set of flags.

impl BitXor<LoadModelFlags> for LoadModelFlags

type Output = LoadModelFlags

The resulting type after applying the ^ operator.

fn bitxor(self, other: LoadModelFlags) -> LoadModelFlags

Returns the left flags, but with all the right flags toggled.

impl BitXorAssign<LoadModelFlags> for LoadModelFlags

fn bitxor_assign(&mut self, other: LoadModelFlags)

Toggles the set of flags.

impl Clone for LoadModelFlags

fn clone(&self) -> LoadModelFlags

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for LoadModelFlags

impl Debug for LoadModelFlags

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

Formats the value using the given formatter.

impl Default for LoadModelFlags

fn default() -> Self

Returns the “default value” for a type.

impl Eq for LoadModelFlags

impl Extend<LoadModelFlags> for LoadModelFlags

fn extend<T: IntoIterator<Item = LoadModelFlags>>(&mut self, iterator: T)

Extends a collection with the contents of an iterator.

pub fn extend_one(&mut self, item: A)

🔬 This is a nightly-only experimental API. (extend_one)

Extends a collection with exactly one element.

pub fn extend_reserve(&mut self, additional: usize)

🔬 This is a nightly-only experimental API. (extend_one)

Reserves capacity in a collection for the given number of additional elements.

impl FromIterator<LoadModelFlags> for LoadModelFlags

fn from_iter<T: IntoIterator<Item = LoadModelFlags>>(
    iterator: T
) -> LoadModelFlags

Creates a value from an iterator.

impl Hash for LoadModelFlags

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

pub fn hash_slice<H>(data: &[Self], state: &mut H) where
    H: Hasher, 

Feeds a slice of this type into the given Hasher.

impl LowerHex for LoadModelFlags

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

Formats the value using the given formatter.

impl Not for LoadModelFlags

type Output = LoadModelFlags

The resulting type after applying the ! operator.

fn not(self) -> LoadModelFlags

Returns the complement of this set of flags.

impl Octal for LoadModelFlags

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

Formats the value using the given formatter.

impl Ord for LoadModelFlags

fn cmp(&self, other: &LoadModelFlags) -> Ordering

This method returns an Ordering between self and other.

#[must_use]pub fn max(self, other: Self) -> Self

Compares and returns the maximum of two values.

#[must_use]pub fn min(self, other: Self) -> Self

Compares and returns the minimum of two values.

#[must_use]pub fn clamp(self, min: Self, max: Self) -> Self

Restrict a value to a certain interval.

impl PartialEq<LoadModelFlags> for LoadModelFlags

fn eq(&self, other: &LoadModelFlags) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &LoadModelFlags) -> bool

This method tests for !=.

impl PartialOrd<LoadModelFlags> for LoadModelFlags

fn partial_cmp(&self, other: &LoadModelFlags) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

#[must_use]pub fn lt(&self, other: &Rhs) -> bool

This method tests less than (for self and other) and is used by the < operator.

#[must_use]pub fn le(&self, other: &Rhs) -> bool

This method tests less than or equal to (for self and other) and is used by the <= operator.

#[must_use]pub fn gt(&self, other: &Rhs) -> bool

This method tests greater than (for self and other) and is used by the > operator.

#[must_use]pub fn ge(&self, other: &Rhs) -> bool

This method tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralEq for LoadModelFlags

impl StructuralPartialEq for LoadModelFlags

impl Sub<LoadModelFlags> for LoadModelFlags

type Output = LoadModelFlags

The resulting type after applying the - operator.

fn sub(self, other: LoadModelFlags) -> LoadModelFlags

Returns the set difference of the two sets of flags.

impl SubAssign<LoadModelFlags> for LoadModelFlags

fn sub_assign(&mut self, other: LoadModelFlags)

Disables all flags enabled in the set.

impl UpperHex for LoadModelFlags

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

Formats the value using the given formatter.