Struct IkChainSolver 

pub struct IkChainSolver { /* private fields */ }

Implementations

impl IkChainSolver

pub fn new(definition: IkChainDefinition) -> Self

Create a solver with no local-axis bases (unit XYZ angle-limit frames).

pub fn new_with_local_axis_bases( definition: IkChainDefinition, local_axis_bases: Vec<Option<Quat>>, ) -> Self

Additive constructor: attach per-bone local-axis bases used only as the angle-limit evaluation frame. Shorter lists are padded with None; longer lists are truncated to the definition bone count.

pub fn solve(&mut self, input: IkChainPoseInput<'_>) -> IkChainSolveOutput

Trait Implementations

impl Debug for IkChainSolver

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

Formats the value using the given formatter.