Struct LoadModelFlags 

pub struct LoadModelFlags(/* private fields */);

Use flag for loading the model. Flags can be combined with the |-operator. Example:

let flags = LoadModelFlags::URDF_ENABLE_CACHED_GRAPHICS_SHAPES | LoadModelFlags::URDF_PRINT_URDF_INFO;
assert!(flags.contains(LoadModelFlags::URDF_PRINT_URDF_INFO));

Implementations

impl LoadModelFlags

pub const URDF_USE_INERTIA_FROM_FILE: Self

Use the inertia tensor provided in the URDF.

By default, Bullet will recompute the inertial tensor based on the mass and volume of the collision shape. Use this is you can provide a more accurate inertia tensor.

pub const URDF_USE_SELF_COLLISION: Self

Enables self-collision.

pub const URDF_USE_SELF_COLLISION_EXCLUDE_PARENT: Self

pub const URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS: Self

will discard self-collisions between a child link and any of its ancestors (parents, parents of parents, up to the base). Needs to be used together with URDF_USE_SELF_COLLISION.

pub const URDF_RESERVED: Self

pub const URDF_USE_IMPLICIT_CYLINDER: Self

will use a smooth implicit cylinder. By default, Bullet will tesselate the cylinder into a convex hull.

pub const URDF_GLOBAL_VELOCITIES_MB: Self

pub const MJCF_COLORS_FROM_FILE: Self

pub const URDF_ENABLE_CACHED_GRAPHICS_SHAPES: Self

Caches as reuses graphics shapes. This will decrease loading times for similar objects

pub const URDF_ENABLE_SLEEPING: Self

Allow the disabling of simulation after a body hasn’t moved for a while.

Interaction with active bodies will re-enable simulation.

pub const URDF_INITIALIZE_SAT_FEATURES: Self

will create triangle meshes for convex shapes. This will improve visualization and also allow usage of the separating axis test (SAT) instead of GJK/EPA. Requires to enable_SAT using set_physics_engine_parameter. TODO

pub const URDF_USE_SELF_COLLISION_INCLUDE_PARENT: Self

will enable collision between child and parent, it is disabled by default. Needs to be used together with URDF_USE_SELF_COLLISION flag.

pub const URDF_PARSE_SENSORS: Self

pub const URDF_USE_MATERIAL_COLORS_FROM_MTL: Self

will use the RGB color from the Wavefront OBJ file, instead of from the URDF file.

pub const URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL: Self

pub const URDF_MAINTAIN_LINK_ORDER: Self

Try to maintain the link order from the URDF file.

pub const URDF_ENABLE_WAKEUP: Self

pub const URDF_MERGE_FIXED_LINKS: Self

this will remove fixed links from the URDF file and merge the resulting links. This is good for performance, since various algorithms (articulated body algorithm, forward kinematics etc) have linear complexity in the number of joints, including fixed joints.

pub const URDF_IGNORE_VISUAL_SHAPES: Self

pub const URDF_IGNORE_COLLISION_SHAPES: Self

pub const URDF_PRINT_URDF_INFO: Self

pub const URDF_GOOGLEY_UNDEFINED_COLORS: Self

impl LoadModelFlags

pub const fn empty() -> Self

Get a flags value with all bits unset.

pub const fn all() -> Self

Get a flags value with all known bits set.

pub const fn bits(&self) -> i32

Get the underlying bits value.

The returned value is exactly the bits set in this flags value.

pub const fn from_bits(bits: i32) -> Option<Self>

Convert from a bits value.

This method will return None if any unknown bits are set.

pub const fn from_bits_truncate(bits: i32) -> Self

Convert from a bits value, unsetting any unknown bits.

pub const fn from_bits_retain(bits: i32) -> Self

Convert from a bits value exactly.

pub fn from_name(name: &str) -> Option<Self>

Get a flags value with the bits of a flag with the given name set.

This method will return None if name is empty or doesn’t correspond to any named flag.

pub const fn is_empty(&self) -> bool

Whether all bits in this flags value are unset.

pub const fn is_all(&self) -> bool

Whether all known bits in this flags value are set.

pub const fn intersects(&self, other: Self) -> bool

Whether any set bits in a source flags value are also set in a target flags value.

pub const fn contains(&self, other: Self) -> bool

Whether all set bits in a source flags value are also set in a target flags value.

pub fn insert(&mut self, other: Self)

The bitwise or (|) of the bits in two flags values.

pub fn remove(&mut self, other: Self)

The intersection of a source flags value with the complement of a target flags value (&!).

This method is not equivalent to self & !other when other has unknown bits set. remove won’t truncate other, but the ! operator will.

pub fn toggle(&mut self, other: Self)

The bitwise exclusive-or (^) of the bits in two flags values.

pub fn set(&mut self, other: Self, value: bool)

Call insert when value is true or remove when value is false.

pub const fn intersection(self, other: Self) -> Self

The bitwise and (&) of the bits in two flags values.

pub const fn union(self, other: Self) -> Self

The bitwise or (|) of the bits in two flags values.

pub const fn difference(self, other: Self) -> Self

The intersection of a source flags value with the complement of a target flags value (&!).

This method is not equivalent to self & !other when other has unknown bits set. difference won’t truncate other, but the ! operator will.

pub const fn symmetric_difference(self, other: Self) -> Self

The bitwise exclusive-or (^) of the bits in two flags values.

pub const fn complement(self) -> Self

The bitwise negation (!) of the bits in a flags value, truncating the result.

impl LoadModelFlags

pub const fn iter(&self) -> Iter<LoadModelFlags>

Yield a set of contained flags values.

Each yielded flags value will correspond to a defined named flag. Any unknown bits will be yielded together as a final flags value.

pub const fn iter_names(&self) -> IterNames<LoadModelFlags>

Yield a set of contained named flags values.

This method is like iter, except only yields bits in contained named flags. Any unknown bits, or bits not corresponding to a contained flag will not be yielded.

Trait Implementations

impl Binary for LoadModelFlags

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

Formats the value using the given formatter.

impl BitAnd for LoadModelFlags

fn bitand(self, other: Self) -> Self

The bitwise and (&) of the bits in two flags values.

type Output = LoadModelFlags

The resulting type after applying the & operator.

impl BitAndAssign for LoadModelFlags

fn bitand_assign(&mut self, other: Self)

The bitwise and (&) of the bits in two flags values.

impl BitOr for LoadModelFlags

fn bitor(self, other: LoadModelFlags) -> Self

The bitwise or (|) of the bits in two flags values.

type Output = LoadModelFlags

The resulting type after applying the | operator.

impl BitOrAssign for LoadModelFlags

fn bitor_assign(&mut self, other: Self)

The bitwise or (|) of the bits in two flags values.

impl BitXor for LoadModelFlags

fn bitxor(self, other: Self) -> Self

The bitwise exclusive-or (^) of the bits in two flags values.

type Output = LoadModelFlags

The resulting type after applying the ^ operator.

impl BitXorAssign for LoadModelFlags

fn bitxor_assign(&mut self, other: Self)

The bitwise exclusive-or (^) of the bits in two flags values.

impl Clone for LoadModelFlags

fn clone(&self) -> LoadModelFlags

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LoadModelFlags

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

Formats the value using the given formatter.

impl Extend<LoadModelFlags> for LoadModelFlags

fn extend<T: IntoIterator<Item = Self>>(&mut self, iterator: T)

The bitwise or (|) of the bits in each flags value.

fn extend_one(&mut self, item: A)

🔬This is a nightly-only experimental API. (extend_one)

Extends a collection with exactly one element.

fn extend_reserve(&mut self, additional: usize)

🔬This is a nightly-only experimental API. (extend_one)

Reserves capacity in a collection for the given number of additional elements.

impl Flags for LoadModelFlags

const FLAGS: &'static [Flag<LoadModelFlags>]

The set of defined flags.

type Bits = i32

The underlying bits type.

fn bits(&self) -> i32

Get the underlying bits value.

fn from_bits_retain(bits: i32) -> LoadModelFlags

Convert from a bits value exactly.

fn empty() -> Self

Get a flags value with all bits unset.

fn all() -> Self

Get a flags value with all known bits set.

fn contains_unknown_bits(&self) -> bool

This method will return true if any unknown bits are set.

fn from_bits(bits: Self::Bits) -> Option<Self>

Convert from a bits value.

fn from_bits_truncate(bits: Self::Bits) -> Self

Convert from a bits value, unsetting any unknown bits.

fn from_name(name: &str) -> Option<Self>

Get a flags value with the bits of a flag with the given name set.

fn iter(&self) -> Iter<Self>

Yield a set of contained flags values.

fn iter_names(&self) -> IterNames<Self>

Yield a set of contained named flags values.

fn is_empty(&self) -> bool

Whether all bits in this flags value are unset.

fn is_all(&self) -> bool

Whether all known bits in this flags value are set.

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

where Self: Sized,

Whether any set bits in a source flags value are also set in a target flags value.

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

where Self: Sized,

Whether all set bits in a source flags value are also set in a target flags value.

fn truncate(&mut self)

where Self: Sized,

Remove any unknown bits from the flags.

fn insert(&mut self, other: Self)

where Self: Sized,

The bitwise or (|) of the bits in two flags values.

fn remove(&mut self, other: Self)

where Self: Sized,

The intersection of a source flags value with the complement of a target flags value (&!).

fn toggle(&mut self, other: Self)

where Self: Sized,

The bitwise exclusive-or (^) of the bits in two flags values.

fn set(&mut self, other: Self, value: bool)

where Self: Sized,

Call Flags::insert when value is true or Flags::remove when value is false.

fn clear(&mut self)

where Self: Sized,

Unsets all bits in the flags.

fn intersection(self, other: Self) -> Self

The bitwise and (&) of the bits in two flags values.

fn union(self, other: Self) -> Self

The bitwise or (|) of the bits in two flags values.

fn difference(self, other: Self) -> Self

The intersection of a source flags value with the complement of a target flags value (&!).

fn symmetric_difference(self, other: Self) -> Self

The bitwise exclusive-or (^) of the bits in two flags values.

fn complement(self) -> Self

The bitwise negation (!) of the bits in a flags value, truncating the result.

impl From<LoadModelFlags> for Option<MjcfOptions>

fn from(flags: LoadModelFlags) -> Self

Converts to this type from the input type.

impl From<LoadModelFlags> for UrdfOptions

fn from(flags: LoadModelFlags) -> Self

Converts to this type from the input type.

impl FromIterator<LoadModelFlags> for LoadModelFlags

fn from_iter<T: IntoIterator<Item = Self>>(iterator: T) -> Self

The bitwise or (|) of the bits in each flags value.

impl IntoIterator for LoadModelFlags

type Item = LoadModelFlags

The type of the elements being iterated over.

type IntoIter = Iter<LoadModelFlags>

Which kind of iterator are we turning this into?

fn into_iter(self) -> Self::IntoIter

Creates an iterator from a value.

impl LowerHex for LoadModelFlags

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

Formats the value using the given formatter.

impl Not for LoadModelFlags

fn not(self) -> Self

The bitwise negation (!) of the bits in a flags value, truncating the result.

type Output = LoadModelFlags

The resulting type after applying the ! operator.

impl Octal for LoadModelFlags

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

Formats the value using the given formatter.

impl PublicFlags for LoadModelFlags

type Primitive = i32

The type of the underlying storage.

type Internal = InternalBitFlags

The type of the internal field on the generated flags type.

impl Sub for LoadModelFlags

fn sub(self, other: Self) -> Self

The intersection of a source flags value with the complement of a target flags value (&!).

This method is not equivalent to self & !other when other has unknown bits set. difference won’t truncate other, but the ! operator will.

type Output = LoadModelFlags

The resulting type after applying the - operator.

impl SubAssign for LoadModelFlags

fn sub_assign(&mut self, other: Self)

The intersection of a source flags value with the complement of a target flags value (&!).

This method is not equivalent to self & !other when other has unknown bits set. difference won’t truncate other, but the ! operator will.

impl UpperHex for LoadModelFlags

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

Formats the value using the given formatter.