Struct CollisionBuilder

pub struct CollisionBuilder { /* private fields */ }

The builder for Collision components.

The CollisionBuilder is used to construct Collision elements of Links.

This will configure the collision data:

• geometry: The geometry used for collision checking¹.
• transform (Optional): The transform from the Link frame to the geometry.
• name (Optional): The string identifier (or name) of this collision element. For practical purposes, it is recommended to use unique identifiers/names.

They can be added to a LinkBuilder while constructing a Link by calling add_collider.

A CollisionBuilder can be converted to a VisualBuilder to make defining Visual easier. If this is used, it might be easier to first create the VisualBuilder, and convert that back to a CollisionBuilder, since it contains more information.

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1. WARNING: It is not recommended to use high-detail meshes for collision geometries, since this will slow down the collision checking process. Also, keep in mind, that some simulators only support the use of convex meshes for collisions, if at all. ↩

Implementations

impl CollisionBuilder

pub fn new( geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>>, ) -> Self

Create a new CollisionBuilder with the specified Geometry.

pub fn new_full( name: Option<String>, transform: Option<Transform>, geometry: impl Into<Box<dyn GeometryInterface + Sync + Send>>, ) -> Self

Create a new CollisionBuilder with all fields specified.

pub fn named(self, name: impl Into<String>) -> Self

Sets the name of this CollisionBuilder.

pub fn transformed(self, transform: Transform) -> Self

Specify a transform for this CollisionBuilder.

The default is a no transformation (The frame of the Collision will be the same as the frame of the parent Link).

pub fn to_visual(&self) -> VisualBuilder

Creates a VisualBuilder from this CollisionBuilder reference by upgrading.

Creates a VisualBuilder from the CollisionBuilder by cloning the following fields:

• name
• transform
• geometry The other fields are left empty, since they are optional.

impl CollisionBuilder

Non-builder methods

pub fn name(&self) -> Option<&String>

Gets an optional reference to the name of this CollisionBuilder.

pub fn transform(&self) -> Option<&Transform>

Gets an optional reference to the transform of this CollisionBuilder.

pub fn geometry(&self) -> &Box<dyn GeometryInterface + Sync + Send>

Gets a reference to the geometry of this CollisionBuilder.

Trait Implementations

impl Clone for CollisionBuilder

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CollisionBuilder

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

Formats the value using the given formatter.

impl From<CollisionBuilder> for Collision

fn from(value: CollisionBuilder) -> Self

Converts to this type from the input type.

impl GroupIDChanger for CollisionBuilder

unsafe fn change_group_id_unchecked(&mut self, new_group_id: &str)

Unchecked replacement of the GroupID of the builder tree with new_group_id.

fn apply_group_id(&mut self)

Applies GroupID delimiter replacements.

fn change_group_id( &mut self, new_group_id: impl GroupID, ) -> Result<(), GroupIDError>

Replaces the GroupID of the builder tree with new_group_id.

impl PartialEq for CollisionBuilder

fn eq(&self, other: &Self) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.