Struct Skeleton 

pub struct Skeleton {
    pub bones: Vec<Bone>,
    pub name_index: HashMap<String, BoneId>,
}

The bone hierarchy for a character or object.

Bones are stored in a flat Vec sorted so that parents always appear before their children (topological order). This allows a single forward pass to compute world-space transforms.

Fields

bones: Vec<Bone>

name_index: HashMap<String, BoneId>

Implementations

impl Skeleton

pub fn new() -> Self

Create an empty skeleton.

pub fn len(&self) -> usize

Number of bones.

pub fn is_empty(&self) -> bool

pub fn bone_by_name(&self, name: &str) -> Option<&Bone>

Look up a bone by name.

pub fn bone(&self, id: BoneId) -> Option<&Bone>

Look up a bone by id.

pub fn bone_mut(&mut self, id: BoneId) -> Option<&mut Bone>

Mutable access to a bone by id.

pub fn root_id(&self) -> Option<BoneId>

Return the id of the root bone (first bone, if any).

pub fn compute_bind_world_matrices(&self) -> Vec<Mat4>

Compute the world-space (model-space) bind pose matrices for all bones. Returned in bone-index order.

pub fn recompute_inv_bind_matrices(&mut self)

Recompute all inv_bind_matrix fields from current bind pose.

pub fn rest_pose(&self) -> Pose

Build the bind rest pose.

pub fn topological_order(&self) -> Vec<BoneId>

Collect all bone ids in topological order (parent before child).

pub fn children_of(&self, id: BoneId) -> &[BoneId]

Get child ids of a bone.

impl Skeleton

pub fn standard_humanoid() -> Self

Build a minimal standard humanoid skeleton (22 bones).

Trait Implementations

impl Clone for Skeleton

fn clone(&self) -> Skeleton

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Skeleton

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

Formats the value using the given formatter.

impl Default for Skeleton

fn default() -> Self

Returns the “default value” for a type.