Struct ode_rs::ode::ODE

pub struct ODE {
    pub cams: BTreeMap<usize, Cam>,
    pub t_delta: dReal,
    /* private fields */
}

ODE singleton

Fields

cams: BTreeMap<usize, Cam>

viewpoint(s)

t_delta: dReal

step

Implementations

impl ODE

singleton interface

pub fn new(delta: dReal) -> ODE

construct (must not call it, auto instanciate by once_cell lazy)

pub fn open()

ODE initialize

pub fn close()

ODE finalize

pub fn create_world()

auto called by ODE::open() (custom start callback to create your objects)

pub fn destroy_world()

auto called by ODE::close()

pub fn modify(&mut self)

modify

pub fn is_modified(&mut self, f: bool) -> bool

is modified (set false when f is false, otherwise through)

pub fn num(&self) -> usize

number of elements

pub fn reg_mgm(&mut self, geom: dGeomID, mi: Box<dyn MetaInf>) -> dVector4

reg mgm (MetaInf, TCMaterial) (geom to HashMap) returns color

pub fn reg_obg(&mut self, obg: Obg) -> dBodyID

reg obg (body to HashMap, BTreeMap, and VecDeque) returns body

pub fn creator_dm( &mut self, key: &str, mi: Box<dyn MetaInf>, fmdm: bool ) -> (dBodyID, dGeomID, Box<dMass>)

create primitive object (register it to show on the ODE space world)

pub fn creator_m( &mut self, key: &str, mi: Box<dyn MetaInf> ) -> (dBodyID, dGeomID, Box<dMass>)

create primitive object as m (register it to show on the ODE space world)

pub fn creator( &mut self, key: &str, mi: Box<dyn MetaInf> ) -> (dBodyID, dGeomID, Box<dMass>)

create primitive object as dm (register it to show on the ODE space world)

pub fn creator_composite( &mut self, key: &str, mi: Box<dyn MetaInf> ) -> (dBodyID, dGeomID, Box<dMass>)

create composite object (register it to show on the ODE space world)

pub fn get_grand_parent(&self, id: dGeomID) -> dBodyID

search grand parent body

pub fn get_bounce(&self, id: dGeomID) -> dReal

search bounce (especially support GeomTransform)

pub fn get_krp(&self, id: dGeomID) -> &Krp

search Krp (from HashMap)

pub fn get_mgm_mut( &mut self, id: dGeomID ) -> Result<&mut Box<dyn MetaInf>, Box<dyn Error>>

search MetaInf, TCMaterial mut (from HashMap)

pub fn get_mgm(&self, id: dGeomID) -> Result<&Box<dyn MetaInf>, Box<dyn Error>>

search MetaInf, TCMaterial (from HashMap)

pub fn get_id(&self, k: String) -> Result<dBodyID, Box<dyn Error>>

search id (from BTreeMap)

pub fn get_mut(&mut self, id: dBodyID) -> Result<&mut Obg, Box<dyn Error>>

search object mut (from HashMap)

pub fn find_mut(&mut self, k: String) -> Result<&mut Obg, Box<dyn Error>>

search object mut (from BTreeMap and HashMap)

pub fn get(&self, id: dBodyID) -> Result<&Obg, Box<dyn Error>>

search object (from HashMap)

pub fn find(&self, k: String) -> Result<&Obg, Box<dyn Error>>

search object (from BTreeMap and HashMap)

pub fn each_id(&self, la: fn(key: &str, id: dBodyID) -> bool) -> Vec<dBodyID>

each_id (may use immutable result with get_mut to avoid dup mutable borrow)

pub fn each(&self, la: fn(key: &str, id: dBodyID, obg: &Obg) -> bool) -> bool

each (can break by result of lambda)

pub fn destroy_obg(obg: &Obg)

destroy object (not unregister)

pub fn clear_obgs()

destroy and unregister all objects

pub fn clear_contactgroup()

destroy contact group and re initialize it

pub fn viewpoint_()

set viewpoint (from the current viewpoint Cam[sw_viewpoint])

pub fn viewpoint(f: bool)

get viewpoint (f: true, save to the current viewpoint Cam[sw_viewpoint])

pub fn sim_loop(width: i32, height: i32, r_sim: Option<Box<dyn Sim>>, a: &[u8])

default simulation loop

Trait Implementations

impl Drop for ODE

binding finalize ODE (auto called)

fn drop(&mut self)

Executes the destructor for this type.

impl Sim for ODE

trait Sim must have callback functions

fn draw_objects(&mut self)

implements drawing composite wire_solid i32 false/true for bunny

fn draw_geom( &self, geom: dGeomID, pos: Option<*const dReal>, rot: Option<*const dReal>, ws: i32 )

draw_geom (called by draw_objects and recursive)

fn start_callback(&mut self)

start default callback function

fn near_callback(&mut self, dat: *mut c_void, o1: dGeomID, o2: dGeomID)

near default callback function

fn step_callback(&mut self, pause: i32)

step default callback function

fn command_callback(&mut self, cmd: i32)

command default callback function

fn stop_callback(&mut self)

stop default callback function

fn super_mut(&mut self) -> &mut ODE

self.super mutable

fn super_get(&self) -> &ODE

self.super immutable

fn set_pos_R(&mut self, b: dBodyID, p: dVector3, m: dMatrix3)

set pos and rotation (dMatrix3)

fn set_pos_Q(&mut self, b: dBodyID, p: dVector3, q: dQuaternion)

set pos and rotation (dQuaternion)