Struct Bone 

pub struct Bone {
    pub name: String<32>,
    pub position: Vector3<f32>,
    pub rotation: UnitQuaternion<f32>,
    pub scale: Vector3<f32>,
    pub parent: Option<BoneId>,
    pub local_transform: Matrix4<f32>,
    pub world_transform: Matrix4<f32>,
    pub inverse_bind_pose: Matrix4<f32>,
}

A single bone in a skeleton hierarchy.

Each bone has a local transform relative to its parent, and a computed world transform used for skinning.

Fields

name: String<32>

Bone name for debugging

position: Vector3<f32>

Local position relative to parent

rotation: UnitQuaternion<f32>

Local rotation relative to parent

scale: Vector3<f32>

Local scale

parent: Option<BoneId>

Parent bone ID (None for root)

local_transform: Matrix4<f32>

Local transform matrix (position + rotation + scale)

world_transform: Matrix4<f32>

World transform matrix (accumulated from root)

inverse_bind_pose: Matrix4<f32>

Inverse bind pose matrix (transforms from model space to bone space)

Implementations

impl Bone

pub fn new(name: &str) -> Self

Create a new bone with default transform at origin.

pub fn with_position(self, position: Vector3<f32>) -> Self

Set the bone’s local position.

pub fn with_rotation(self, rotation: UnitQuaternion<f32>) -> Self

Set the bone’s local rotation.

pub fn with_scale(self, scale: Vector3<f32>) -> Self

Set the bone’s local scale.

pub fn update_local_transform(&mut self)

Update the local transform matrix from position, rotation, and scale.

pub fn set_position(&mut self, position: Vector3<f32>)

Set the position and update transform.

pub fn set_rotation(&mut self, rotation: UnitQuaternion<f32>)

Set the rotation and update transform.

Trait Implementations

impl Clone for Bone

fn clone(&self) -> Bone

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Bone

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

Formats the value using the given formatter.