Struct IkChain 

pub struct IkChain {
    pub name: String,
    pub bones: Vec<BoneId>,
    pub target: Vec3,
    pub pole: Option<Vec3>,
    pub iterations: u32,
    pub tolerance: f32,
}

A chain of bone IDs from root to tip used for IK solving.

Fields

name: String

bones: Vec<BoneId>

Bones from root (index 0) to effector (last).

target: Vec3

pole: Option<Vec3>

iterations: u32

tolerance: f32

Implementations

impl IkChain

pub fn new(name: impl Into<String>, bones: Vec<BoneId>, target: Vec3) -> Self

pub fn solve_ccd(&self, skeleton: &mut BoneSkeleton) -> f32

CCD IK solver — modifies bone rotations to reach target. Returns the distance from tip to target after solving.

Trait Implementations

impl Clone for IkChain

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 IkChain

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

Formats the value using the given formatter.