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//!
//! Crate for skeleton animation.
//!
//! Optionally provides inverse-kinematics functionality.
//!
//! # Example
//! ```
//! # use {skelly::Skelly, na::{Point3, Vector3, Isometry3}};
//! // build a skelly with leg and two arms.
//! let mut skelly = Skelly::<f32>::new();
//! let foot = skelly.add_root(Point3::origin());
//! let leg = skelly.attach(Vector3::z().into(), foot);
//! let waist = skelly.attach(Vector3::z().into(), leg);
//!
//! let left_shoulder = skelly.attach(Vector3::z().into(), waist);
//! let left_arm = skelly.attach((-Vector3::x()).into(), left_shoulder);
//! let left_palm = skelly.attach((-Vector3::x()).into(), left_arm);
//!
//! let right_shoulder = skelly.attach(Vector3::z().into(), waist);
//! let right_arm = skelly.attach(Vector3::x().into(), right_shoulder);
//! let right_palm = skelly.attach(Vector3::x().into(), right_arm);
//!
//! // Write global isometries of every joint into an array.
//! let mut globals = vec![Isometry3::identity(); skelly.len()];
//! skelly.write_globals(&mut globals);
//!
//! ```
//!
#![cfg_attr(
    feature = "ik",
    doc = r###"
# IK example

```
# use {skelly::Skelly, na::{Point3, Vector3, Isometry3}};
# let mut skelly = Skelly::<f32>::new();
# let foot = skelly.add_root(Point3::origin());
# let leg = skelly.attach(Vector3::z().into(), foot);
# let waist = skelly.attach(Vector3::z().into(), leg);
# let left_shoulder = skelly.attach(Vector3::z().into(), waist);
# let left_arm = skelly.attach((-Vector3::x()).into(), left_shoulder);
# let left_palm = skelly.attach((-Vector3::x()).into(), left_arm);
# let right_shoulder = skelly.attach(Vector3::z().into(), waist);
# let right_arm = skelly.attach(Vector3::x().into(), right_shoulder);
# let right_palm = skelly.attach(Vector3::x().into(), right_arm);
# use skelly::ik::rotor::RotorSolver;

// Using the skelly above, do some inverse-kinematics
let mut posture = skelly.make_posture();
let mut solver = RotorSolver::new(0.01);

// move left palm to the foot.
solver.set_position_goal(left_palm, Point3::origin());

// Iteratively solve imposed constraints.
for _ in 0..100 {
  solver.solve_step(&skelly, &mut posture);
}

// Write global isometries of every joint in the posture into an array.
let mut globals = vec![Isometry3::identity(); skelly.len()];
skelly.write_globals_for_posture(&posture, &mut globals);
```
"###
)]
//!
//!
//! See `examples/demo.rs` for working example.
//!

#[cfg(feature = "ik")]
pub mod ik;

mod skelly;

pub use self::skelly::*;