Struct MjcfLoaderOptions 

pub struct MjcfLoaderOptions {

    pub create_colliders_from_collision_shapes: bool,
    pub create_colliders_from_visual_shapes: bool,
    pub apply_imported_mass_props: bool,
    pub enable_joint_collisions: bool,
    pub make_roots_fixed: bool,
    pub trimesh_flags: TriMeshFlags,
    pub shift: Pose,
    pub scale: f32,
    pub collider_blueprint: ColliderBuilder,
    pub rigid_body_blueprint: RigidBodyBuilder,
    pub contact_filter_mode: ContactFilterMode,
    pub skip_plane_geoms: bool,
    pub disable_joint_motors: bool,
}

Configuration for MjcfRobot::from_model.

Fields

create_colliders_from_collision_shapes: bool

Build colliders for <geom> elements that participate in contact (contype != 0 or conaffinity != 0). Default true.

create_colliders_from_visual_shapes: bool

Build colliders for <geom> elements that don’t participate in contact (visual-only, contype == 0 && conaffinity == 0). Default false.

apply_imported_mass_props: bool

Use the model’s <inertial> elements (or compiler-derived inertias) to set the rigid-body’s mass properties. Default true.

enable_joint_collisions: bool

Allow contacts between two bodies sharing a joint. Default false.

make_roots_fixed: bool

If true, the rigid-bodies at the root of the kinematic chains are initialized as RigidBodyType::Fixed. Default false.

trimesh_flags: TriMeshFlags

Trimesh flags applied to mesh colliders when the default mesh converter is used.

shift: Pose

Transform appended to every created rigid-body (default identity).

scale: f32

Uniform scale applied to lengths read from the MJCF (default 1.0).

collider_blueprint: ColliderBuilder

Blueprint applied to every collider created by the loader (default has density 0 — physical mass comes from <inertial>).

rigid_body_blueprint: RigidBodyBuilder

Blueprint applied to every rigid-body created by the loader (default dynamic — root bodies are fixed if Self::make_roots_fixed).

contact_filter_mode: ContactFilterMode

How to encode contype/conaffinity into rapier InteractionGroups.

skip_plane_geoms: bool

If true, <geom type="plane"> elements are skipped entirely (no collider is created, the geom doesn’t contribute to derived inertia, and the body it belonged to is unaffected).

Default true.

disable_joint_motors: bool

If true, skip the per-joint motor setup that the loader normally applies for <joint stiffness>, <joint springdamper>, and <joint frictionloss> attributes (springs and Coulomb-friction approximations).

<joint damping> is intentionally not affected by this flag — per-DoF damping is a dynamics-level friction term, not a motor, and the multibody-joint insertion path still routes <joint damping> values through the multibody’s per-DoF damping vector. (The impulse-joint path has no per-DoF damping buffer, so damping is lost there when this flag is on.)

The joint kinematic structure (type, axis, anchor, limits) is still honored. Useful when:

• you want pure kinematic dynamics for debugging,
• the model declares spring stiffness that’s too high for your simulation timestep,
• you intend to drive every joint yourself through MjcfRobotHandles::apply_controls and don’t want the loader’s default motors fighting your controller.

Default false.

Trait Implementations

impl Clone for MjcfLoaderOptions

fn clone(&self) -> MjcfLoaderOptions

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MjcfLoaderOptions

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

Formats the value using the given formatter.

impl Default for MjcfLoaderOptions

fn default() -> Self

Returns the “default value” for a type.