Struct Body 

pub struct Body {
    pub name: String,
    pub inertia: SpatialInertia,
    pub parent: i32,
    pub joint_idx: usize,
    pub geometry: Option<Geometry>,
}

A rigid body in the kinematic tree.

Fields

name: String

Name of the body (optional, for debugging).

inertia: SpatialInertia

Spatial inertia in body-local frame.

parent: i32

Index of the parent body (-1 for world/root).

joint_idx: usize

Index of the joint connecting this body to its parent.

geometry: Option<Geometry>

Collision geometry (if any).

Trait Implementations

impl Clone for Body

fn clone(&self) -> Body

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Body

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

Formats the value using the given formatter.