Struct CuCollisionEnv 

pub struct CuCollisionEnv<'a> { /* private fields */ }

Borrowed view of the collision environment: world obstacles, attached shapes, and exclusions.

The view copies nothing. Build it from raw obstacle shapes with new, or from a planning scene with CuPlanningScene::collision_env (which also carries obstacle IDs, so obstacle exclusions resolve). EMPTY checks the robot against itself only.

Attached shapes

Attached shapes are transformed by their frame (None = base frame) and checked against each other, the robot’s own shapes, and the obstacles:

• attached vs. robot and attached vs. attached report CuContactKind::SelfCollision;
• attached vs. obstacle reports CuContactKind::EnvironmentCollision.

Attached shapes on the same frame (including two None) are one rigid body and are never checked against each other. Attached-vs-robot pairs are never skipped automatically; exclude mounting contact explicitly with CuSceneExclusions.

Contact index encoding

For attached-shape contacts link_index is robot_shape_count + attached_index, so it never collides with robot shape indices 0..robot_shape_count. partner_index is the robot shape index, robot_shape_count + attached_index for attached partners, or the obstacle index.

Exclusions

Exclusions are validated at the start of every check: unassigned IDs, IDs absent from the view, self-references, and out-of-range robot shape indices fail the check and leave the report unmodified.

Implementations

impl<'a> CuCollisionEnv<'a>

pub const EMPTY: CuCollisionEnv<'static>

No obstacles, attached shapes, or exclusions: self-collision only.

pub const fn new(obstacles: &'a [CuCollisionShape]) -> Self

Environment of anonymous world-frame obstacles.

pub const fn with_attached(self, attached: &'a [CuAttachedShape]) -> Self

Adds shapes attached to robot frames (or the base frame).

pub fn with_exclusions<const MAX_EXCLUSIONS: usize>( self, exclusions: &'a CuSceneExclusions<MAX_EXCLUSIONS>, ) -> Self

Adds stable-ID pair exclusions for the attached shapes.

pub const fn obstacles(&self) -> &'a [CuCollisionShape]

World-frame obstacle shapes.

pub const fn attached(&self) -> &'a [CuAttachedShape]

Attached shapes.

pub const fn exclusions(&self) -> &'a [CuSceneExclusion]

Stable-ID exclusions.

Trait Implementations

impl<'a> Clone for CuCollisionEnv<'a>

fn clone(&self) -> CuCollisionEnv<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Copy for CuCollisionEnv<'a>

impl<'a> Debug for CuCollisionEnv<'a>

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

Formats the value using the given formatter.

impl<'a> Default for CuCollisionEnv<'a>

fn default() -> CuCollisionEnv<'a>

Returns the “default value” for a type.