Struct Maze 

pub struct Maze {
    pub lower_bounds: [f32; 3],
    pub upper_bounds: [f32; 3],
    pub obstacles: Vec<Obstacle>,
    pub obstacles_velocity_bounds: [f32; 3],
    pub obstacles_radius_bounds: [f32; 2],
    pub rng: ChaCha8Rng,
}

Represents a maze in the simulation

Example

use peng_quad::{Maze, Obstacle};
use rand_chacha::ChaCha8Rng;
use rand::SeedableRng;
use nalgebra::Vector3;
let maze = Maze {
    lower_bounds: [0.0, 0.0, 0.0],
    upper_bounds: [1.0, 1.0, 1.0],
    obstacles: vec![Obstacle::new(Vector3::new(0.0, 0.0, 0.0), Vector3::new(0.0, 0.0, 0.0), 1.0)],
    obstacles_velocity_bounds: [0.0, 0.0, 0.0],
    obstacles_radius_bounds: [0.0, 0.0],
    rng: ChaCha8Rng::from_rng(&mut rand::rng()),
};

Fields

lower_bounds: [f32; 3]

The lower bounds of the maze in the x, y, and z directions

upper_bounds: [f32; 3]

The upper bounds of the maze in the x, y, and z directions

obstacles: Vec<Obstacle>

The obstacles in the maze

obstacles_velocity_bounds: [f32; 3]

The bounds of the obstacles’ velocity

obstacles_radius_bounds: [f32; 2]

The bounds of the obstacles’ radius

rng: ChaCha8Rng

Rng for generating random numbers

Implementations

impl Maze

Implementation of the maze

pub fn new( lower_bounds: [f32; 3], upper_bounds: [f32; 3], num_obstacles: usize, obstacles_velocity_bounds: [f32; 3], obstacles_radius_bounds: [f32; 2], ) -> Self

Creates a new maze with the given bounds and number of obstacles

Arguments

• lower_bounds - The lower bounds of the maze
• upper_bounds - The upper bounds of the maze
• num_obstacles - The number of obstacles in the maze

Returns

• The new maze instance

Example

use peng_quad::Maze;
let maze = Maze::new([-1.0, -1.0, -1.0], [1.0, 1.0, 1.0], 5, [0.1, 0.1, 0.1], [0.1, 0.5]);

pub fn generate_obstacles(&mut self, num_obstacles: usize)

Generates the obstacles in the maze

Arguments

• num_obstacles - The number of obstacles to generate

Example

use peng_quad::Maze;
let mut maze = Maze::new([-1.0, -1.0, -1.0], [1.0, 1.0, 1.0], 5, [0.1, 0.1, 0.1], [0.1, 0.5]);
maze.generate_obstacles(5);

pub fn update_obstacles(&mut self, dt: f32)

Updates the obstacles in the maze, if an obstacle hits a boundary, it bounces off

Arguments

• dt - The time step

Example

use peng_quad::Maze;
let mut maze = Maze::new([-1.0, -1.0, -1.0], [1.0, 1.0, 1.0], 5, [0.1, 0.1, 0.1], [0.1, 0.5]);
maze.update_obstacles(0.1);