Struct MjcfVisualMesh 

pub struct MjcfVisualMesh {
    pub shape: SharedShape,
    pub local_pose: Pose,
    pub rgba: Option<[f32; 4]>,
    pub uvs: Option<Vec<[f32; 2]>>,
    pub normals: Option<Vec<[f32; 3]>>,
    pub texture: Option<PathBuf>,
    pub material: Option<MjcfRenderMaterial>,
}

A render-only mesh declared by an MJCF <geom> (typically a <geom type="mesh"> with contype = conaffinity = 0). The loader surfaces these so the caller can render them attached to the parent body without inserting them into the physics collider set.

Fields

shape: SharedShape

Shape, ready to be handed to a renderer.

local_pose: Pose

Pose of the mesh in the body’s local frame.

rgba: Option<[f32; 4]>

Resolved color, prioritized in this order: <geom rgba> over the MJCF <material rgba> over the OBJ MTL diffuse color. None when no source set one — the caller’s fallback applies.

uvs: Option<Vec<[f32; 2]>>

Per-vertex texture coordinates parallel to the shape’s vertex buffer. Some only for mesh geoms loaded from an asset that carried UV data; None for primitives and for meshes whose source didn’t include texture coordinates.

normals: Option<Vec<[f32; 3]>>

Per-vertex normals parallel to the shape’s vertex buffer. Computed from the geometry (crease-aware smoothing, honoring the asset’s smoothnormal) the way MuJoCo generates mesh normals — faceted sources like STL carry no usable shared-vertex normals of their own. Some for mesh geoms; None for primitives. When present, a renderer should use these directly instead of recomputing flat per-face normals, so meshes render smooth-shaded like MuJoCo’s viewer rather than faceted.

texture: Option<PathBuf>

Resolved filesystem path to a 2D color texture. Pulled from the MJCF <material texture=…> when set, otherwise from the OBJ MTL’s map_Kd. None for geoms that aren’t textured.

material: Option<MjcfRenderMaterial>

PBR shading parameters resolved from the geom’s <material>. None when the geom references no material — the renderer then keeps its own default shading rather than being forced to a metallic-roughness look.

Trait Implementations

impl Clone for MjcfVisualMesh

fn clone(&self) -> MjcfVisualMesh

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MjcfVisualMesh

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

Formats the value using the given formatter.