skelly 0.3.0

Skeleton animation and IK
Documentation

skelly

crates docs actions MIT/Apache loc

Crate for skeleton animation.

Optionally provides inverse-kinematics functionality.

Example

// 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(&Isometry3::identity(), &mut globals);

IK example

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::fabrik::FabrikSolver;

// Using the skelly above, do some inverse-kinematics
let mut posture = Posture::new(&skelly);
let mut solver = FabrikSolver::new(0.01);

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

// Prepare global isometries array for every joint in the posture into an array.
let mut globals = vec![Isometry3::identity(); skelly.len()];

// Iteratively solve imposed constraints.
loop {
    solver.solve_step(&skelly, &mut posture);
    posture.write_globals(&skelly, &Isometry3::identity(), &mut globals);

    // Use `globals` to render skelly in partially solved posture.
}

See [demo] for working example.

License

Licensed under either of

at your option.

Contributions

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.