Struct Visual 

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

One shape a link is drawn with.

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

use phoxal_model::AssetId;
use phoxal_model::builder::{Link, Material, RobotBuilder, Visual};
use phoxal_model::structure::Geometry;

let robot = RobotBuilder::new("rover")
    .link(Link {
        name: "base_link",
        visuals: vec![Visual {
            material: Some(Material {
                color: Some([0.2, 0.2, 0.2, 1.0]),
                ..Material::new("carbon")
            }),
            ..Visual::new(Geometry::Mesh {
                asset: AssetId::new("meshes/chassis.stl")?,
                scale: None,
            })
        }],
        ..Link::default()
    })
    .build()?;

let base = robot.structure().link("base_link").expect("the stated link");
assert_eq!(base.visuals().len(), 1);

Fields

name: Option<&'a str>

The visual’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.

material: Option<Material<'a>>

How the shape is rendered, when the structure says.

Implementations

impl Visual<'_>

pub fn new(geometry: Geometry) -> Self

An unnamed, unpainted visual of geometry at the link’s own origin.

Trait Implementations

impl<'a> Clone for Visual<'a>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Debug for Visual<'a>

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

Formats the value using the given formatter.