Struct ModelBuilder 

pub struct ModelBuilder { /* private fields */ }

Builder for constructing models.

Implementations

impl ModelBuilder

pub fn new() -> Self

Start building a new model.

pub fn gravity(self, g: Vec3) -> Self

Set the gravity vector.

pub fn dt(self, dt: f64) -> Self

Set the timestep.

pub fn add_revolute_body( self, name: &str, parent: i32, parent_to_joint: SpatialTransform, inertia: SpatialInertia, ) -> Self

Add a body with a revolute joint attached to the given parent.

parent is the index of the parent body, or -1 for world. parent_to_joint is the transform from parent body frame to joint frame. inertia is the body’s spatial inertia in its own frame.

pub fn add_prismatic_body( self, name: &str, parent: i32, parent_to_joint: SpatialTransform, axis: Vec3, inertia: SpatialInertia, ) -> Self

Add a body with a prismatic joint attached to the given parent.

pub fn add_spherical_body( self, name: &str, parent: i32, parent_to_joint: SpatialTransform, inertia: SpatialInertia, ) -> Self

Add a body with a spherical (ball) joint attached to the given parent.

pub fn add_free_body( self, name: &str, parent: i32, parent_to_joint: SpatialTransform, inertia: SpatialInertia, ) -> Self

Add a body with a free joint (6 DOF) attached to the given parent.

pub fn add_fixed_body( self, name: &str, parent: i32, parent_to_joint: SpatialTransform, inertia: SpatialInertia, ) -> Self

Add a body with a fixed joint (0 DOF) attached to the given parent.

pub fn add_body( self, name: &str, parent: i32, joint: Joint, inertia: SpatialInertia, ) -> Self

Add a generic joint and body.

pub fn add_free_body_with_geometry( self, name: &str, parent: i32, parent_to_joint: SpatialTransform, inertia: SpatialInertia, geometry: Body, ) -> Self

Add a free body with collision geometry (useful for dropping objects).

pub fn build(self) -> Model

Build the model.

Trait Implementations

impl Default for ModelBuilder

fn default() -> Self

Returns the “default value” for a type.