pub fn prepare_step(&mut self, motion: &mut WorldStepInfo) -> SimResult<()> {
        motion.clear();
        for i in 0..self.arms.len() {
            self.do_instruction(motion, i, self.timestep)?;
        }
        self.process_glyphs(motion, true);
        
        for i in 0..self.arms.len() {
            let position = self.arms[i].pos;
            for j in i+1..self.arms.len() {
                if position == self.arms[j].pos {
                    let location = pos_to_xy(position);
                    return Err(SimError{location, error_str: &"Arm-Arm collision!"});
                }
            }
        }
        Ok(())
    }
//returns the step size to be used for this timestep
returns the step size to be used for this timestep
returns the step size to be used for this timestep
pub fn prepare_step(&mut self, motion: &mut WorldStepInfo) -> SimResult<()> {
        motion.clear();
        for i in 0..self.arms.len() {
            self.do_instruction(motion, i, self.timestep)?;
        }
        self.process_glyphs(motion, true);
        for i in 0..self.arms.len() {
            let position = self.arms[i].pos;
            for j in i+1..self.arms.len() {
                if position == self.arms[j].pos {
                    let location = pos_to_xy(position);
                    return Err(SimError{location, error_str: &"Arm-Arm collision!"});
                }
            }
        }
        Ok(())
    }
pub fn prepare_step ( & mut self , motion : & mut WorldStepInfo ) -> SimResult < ( ) > { motion . clear ( ) ; for i in 0 .. self . arms . len ( ) { self . do_instruction ( motion , i , self . timestep ) ? ; } self . process_glyphs ( motion , true ) ; for i in 0 .. self . arms . len ( ) { let position = self . arms [ i ] . pos ; for j in i + 1 .. self . arms . len ( ) { if position == self . arms [ j ] . pos { let location = pos_to_xy ( position ) ; return Err ( SimError { location , error_str : & " " } ) ; } } } Ok ( ( ) ) }
returns the step size to be used for this timestep
returns the step size to be used for this timestep
&mut self
motion
&mut WorldStepInfo
&mut self
motion
&mut WorldStepInfo