Struct Collision 

pub struct Collision<'a> {
    pub name: Option<&'a str>,
    pub xyz: [f64; 3],
    pub rpy: [f64; 3],
    pub geometry: Geometry,
}

One shape a link collides with.

The shape itself is the one thing a collision cannot default, so Collision::new takes it and leaves the rest to ...

Fields

name: Option<&'a str>

The collision’s own name, when the structure gives it one.

xyz: [f64; 3]

The shape’s offset from the link’s origin, in metres.

rpy: [f64; 3]

The shape’s roll, pitch and yaw relative to the link, in radians.

geometry: Geometry

The shape itself.

Implementations

impl Collision<'_>

pub fn new(geometry: Geometry) -> Self

An unnamed collision of geometry at the link’s own origin.

Trait Implementations

impl<'a> Clone for Collision<'a>

fn clone(&self) -> Collision<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Debug for Collision<'a>

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

Formats the value using the given formatter.