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FabrikSolver

proof_engine::animation::ik

Struct FabrikSolver

pub struct FabrikSolver;

Expand description

FABRIK: Forward And Backward Reaching IK.

Iteratively moves joints forward (end to root) then backward (root to end) until the end-effector reaches the target or iterations are exhausted.

Implementations§

impl FabrikSolver

pub fn solve( chain: &mut IkChain, target: Vec3, max_iterations: usize, ) -> Option<usize>

Solve the chain in place. Returns the number of iterations taken, or None if target was unreachable.

pub fn solve_with_pole( chain: &mut IkChain, target: Vec3, pole: Vec3, max_iterations: usize, ) -> Option<usize>

Solve with a pole vector hint for elbow/knee direction.

Auto Trait Implementations§

impl Freeze for FabrikSolver

impl RefUnwindSafe for FabrikSolver

impl Send for FabrikSolver

impl Sync for FabrikSolver

impl Unpin for FabrikSolver

impl UnsafeUnpin for FabrikSolver

impl UnwindSafe for FabrikSolver

Blanket Implementations§

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