Struct GeomInstance 

pub struct GeomInstance {
    pub name: Option<String>,
    pub origin: SpatialTransform<f64>,
    pub geometry: Geometry,
}

A geometry placed at an offset within a body frame.

Fields

name: Option<String>

Optional name from the source file.

origin: SpatialTransform<f64>

Placement of the shape within the body frame.

Follows the same convention as crate::Joint::parent_to_joint: origin.pos is the shape origin expressed in body coordinates and origin.rot is the coordinate transform body → shape, so the shape’s orientation in the body frame is origin.rot.transpose().

geometry: Geometry

The shape itself.

Implementations

impl GeomInstance

pub fn new(geometry: Geometry, origin: SpatialTransform<f64>) -> GeomInstance

Create a geom instance at the given offset.

pub fn centered(geometry: Geometry) -> GeomInstance

Create a geom instance centred on the body frame.

pub fn is_centered(&self) -> bool

True if this shape sits exactly on the body frame.

Trait Implementations

impl Clone for GeomInstance

fn clone(&self) -> GeomInstance

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GeomInstance

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

Formats the value using the given formatter.