Struct WorldGenerator 

pub struct WorldGenerator { /* private fields */ }

Procedural world generator with seeded randomness.

Implementations

impl WorldGenerator

pub fn new(seed: u64) -> Self

Create a new world generator with the given seed.

pub fn random_chain( &mut self, nlinkages: usize, mass_range: [f64; 2], length_range: [f64; 2], ) -> Model

Generate a random kinematic chain with n links.

Each link has randomized mass and length within the given ranges. All joints are revolute joints about the Z axis.

pub fn random_quadruped(&mut self) -> Model

Generate a random quadruped robot.

Creates a body with 4 legs, each leg having 2 revolute joints. Returns a model with 1 body + 4*2 = 8 linkages (9 bodies total including torso).

pub fn platform_with_obstacles( &mut self, width: f64, nobs: usize, obs_height_range: [f64; 2], ) -> Model

Generate a platform with randomly placed obstacles.

Creates a flat platform (fixed body) with n obstacles of varying heights. Obstacles are modeled as fixed bodies with box collision geometry.

pub fn random_tree(&mut self, depth: usize, branching_factor: usize) -> Model

Generate a random tree-like structure.

Creates a branching kinematic tree with random splits. Useful for testing tree traversal algorithms.