Struct BoneDesc 

pub struct BoneDesc {

    pub id: BoneId,
    pub name: String,
    pub role: BoneRole,
    pub parent: BoneId,
    pub children: Vec<BoneId>,
    pub head: Vec3,
    pub tail: Vec3,
    pub roll: f32,
    pub envelope_radius: f32,
    pub envelope_head_dist: f32,
    pub envelope_tail_dist: f32,
    pub rest_rotation: Quat,
    pub pose_rotation: Quat,
    pub pose_translate: Vec3,
    pub constraint: BoneConstraint,
    pub ik_enabled: bool,
    pub ik_stretch: f32,
    pub visible: bool,
    pub locked: bool,
}

Descriptor for a single bone in the skeleton.

Fields

id: BoneId

name: String

role: BoneRole

parent: BoneId

children: Vec<BoneId>

head: Vec3

Head position in object (rest) space.

tail: Vec3

Tail position in object (rest) space.

roll: f32

Roll angle around the bone’s Y axis (radians).

envelope_radius: f32

Envelope capsule radius (for weight painting).

envelope_head_dist: f32

Envelope head/tail blending distances.

envelope_tail_dist: f32

rest_rotation: Quat

Rest rotation (local space).

pose_rotation: Quat

Current pose rotation (local space, FK only).

pose_translate: Vec3

Current pose translation offset from rest.

constraint: BoneConstraint

Constraint on rotation angles.

ik_enabled: bool

Whether this bone participates in IK.

ik_stretch: f32

IK stretch factor [0, 1].

visible: bool

locked: bool

Implementations

impl BoneDesc

pub fn new(id: BoneId, name: impl Into<String>, head: Vec3, tail: Vec3) -> Self

pub fn vector(&self) -> Vec3

Bone vector (head → tail).

pub fn length(&self) -> f32

Bone length.

pub fn direction(&self) -> Vec3

Bone direction (normalised).

pub fn midpoint(&self) -> Vec3

Mid-point of the bone.

pub fn bone_matrix(&self) -> Mat4

Local bone-space matrix (bone Y = bone direction, X = perp).

pub fn envelope_weight(&self, p: Vec3) -> f32

Compute skinning weight for a surface point p using capsule envelope.

pub fn world_head(&self, parent_world: Mat4) -> Vec3

FK: compute world-space head position given parent’s world matrix.

pub fn world_tail(&self, parent_world: Mat4) -> Vec3

FK: compute world-space tail position.

Trait Implementations

impl Clone for BoneDesc

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for BoneDesc

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

Formats the value using the given formatter.