Struct Skeleton 

pub struct Skeleton { /* private fields */ }

A joint hierarchy — parent/child relationships plus each joint’s fixed bind-pose data. Immutable once built; combine it with a per-frame Vec<Transform> (one local pose per joint, e.g. from AnimationClip::sample) via world_matrices/skinning_matrices to get the matrices your own shader/buffer actually needs.

Implementations

impl Skeleton

pub fn new(joints: Vec<Joint>) -> Self

Panics if any parent index is out of range, or the joint graph contains a cycle — both are a malformed skeleton (a genuine bug in whatever built joints), not a “not ready yet” condition worth tolerating. Does not require joints to already be in parent-before-child order.

pub fn joint_count(&self) -> usize

pub fn joint(&self, index: usize) -> &Joint

pub fn joint_index_by_name(&self, name: &str) -> Option<usize>

pub fn world_matrices(&self, local_poses: &[Transform]) -> Vec<Mat4>

Computes each joint’s world-space matrix from a set of local (parent-relative) poses — one linear pass over the precomputed topological order, no recursion needed. Panics if local_poses.len() != self.joint_count().

pub fn skinning_matrices(&self, local_poses: &[Transform]) -> Vec<Mat4>

The matrix palette your shader/buffer actually needs: each joint’s world matrix (from world_matrices) times its own inverse_bind_matrix, so the result transforms a vertex straight from mesh-bind space into the current pose.