Struct Viewer 

pub struct Viewer {
    pub arc_ball: ArcBall,
    /* private fields */
}

Fields

arc_ball: ArcBall

Implementations

impl Viewer

pub fn new(title: &str) -> (Viewer, Window)

pub fn with_background_color( title: &str, color: (f32, f32, f32), ) -> (Viewer, Window)

pub fn disable_texture(&mut self)

pub fn enable_texture(&mut self)

pub fn disable_assimp(&mut self)

pub fn enable_assimp(&mut self)

if assimp feature is disabled, this method does nothing.

pub fn add_robot( &mut self, window: &mut Window, urdf_robot: &Robot, package_path: &HashMap<String, String>, )

pub fn add_robot_with_base_dir( &mut self, window: &mut Window, urdf_robot: &Robot, base_dir: Option<&Path>, package_path: &HashMap<String, String>, )

pub fn add_robot_with_base_dir_and_collision_flag( &mut self, window: &mut Window, urdf_robot: &Robot, base_dir: Option<&Path>, is_collision: bool, package_path: &HashMap<String, String>, )

pub fn remove_robot(&mut self, window: &mut Window, urdf_robot: &Robot)

pub fn add_axis_cylinders(&mut self, window: &mut Window, name: &str, size: f32)

pub fn add_axis_cylinders_with_scale( &mut self, window: &mut Window, name: &str, size: f32, scale: f32, )

pub fn scene_node(&self, name: &str) -> Option<&SceneNode>

pub fn scene_node_mut(&mut self, name: &str) -> Option<&mut SceneNode>

pub fn update<T>(&mut self, robot: &Chain<T>)

where T: RealField + SubsetOf<f64> + SubsetOf<f32>,

pub fn draw_text( &mut self, window: &mut Window, text: &str, size: f32, pos: &Point2<f32>, color: &Point3<f32>, )

pub fn draw_text_from_3d( &mut self, window: &mut Window, text: &str, size: f32, pos: &Point3<f32>, color: &Point3<f32>, )

pub fn set_temporal_color(&mut self, link_name: &str, r: f32, g: f32, b: f32)

pub fn reset_temporal_color(&mut self, link_name: &str)

pub fn add_ground( &mut self, window: &mut Window, ground_height: f32, panel_size: f32, half_panel_num: i32, ground_color1: (f32, f32, f32), ground_color2: (f32, f32, f32), ) -> Vec<SceneNode>

Trait Implementations

impl Debug for Viewer

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

Formats the value using the given formatter.