Struct Skeleton 

pub struct Skeleton<const BONES: usize> { /* private fields */ }

An immutable, parent-first 2D skeleton evaluated without preceding frames.

This is forward kinematics only: no IK, constraints, dynamics, or mesh skinning. Multiple roots and empty skeletons are allowed. Solved coordinates are local to the skeleton; put the assembled scene inside a normal transformed group to position, scale, or mirror the complete character. No renderer changes are needed.

Example

use motion_core::prelude::*;
use motion_core::{
    DisplayList, RasterLimits, ResourcePool, ValidatedDisplayList, MAX_PATH_VERBS,
    MAX_STROKE_VERBS, MAX_SVG_PATH_BYTES, sample_offsets,
};
let rig = Skeleton::new([Bone::new(None, (0.0, 0.0)), Bone::new(Some(0), (60.0, 0.0))])?;
let mut pose = Pose::default();
pose.bones[0].rotation = std::f64::consts::FRAC_PI_2;
let joints = rig.solve(&pose)?;
assert!((joints[1].position().1 - 60.0).abs() < 0.001);
let artwork = joints[0]
    .apply(Path2D::parse_svg("M0 0L60 0")?.stroke(12.0, Color::from_hex(0x23272c)));

Implementations

impl<const BONES: usize> Skeleton<BONES>

pub fn new(bones: [Bone; BONES]) -> Result<Self, ValidationError>

Validates and stores the rest hierarchy without allocating a graph.

Errors

Returns std::io::ErrorKind::InvalidInput for a nonfinite rest offset or a parent index that is not smaller than its child index. The latter rejects self-parenting, cycles, forward references, and out-of-range parents.

pub fn solve( &self, pose: &Pose<BONES>, ) -> Result<[BoneTransform; BONES], ValidationError>

Solves joint pivots and orientations in skeleton space in one linear pass.

Takes only the rest skeleton and this pose; sampling out of order or concurrently has no hidden state. A bone’s translation is applied before its rotation, so its children inherit both the pivot and orientation.

Errors

Returns std::io::ErrorKind::InvalidInput for nonfinite channels, overflowing local translations, or nonrepresentable solved positions/angles. The complete result is discarded on error; no partially solved pose is returned.

Trait Implementations

impl<const BONES: usize> Clone for Skeleton<BONES>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<const BONES: usize> Debug for Skeleton<BONES>

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

Formats the value using the given formatter.