Struct IkJoint

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pub struct IkJoint {
    pub position: Vec3,
    pub bone_length: f32,
    pub angle_limit: Option<(f32, f32)>,
    pub twist_limit: Option<(f32, f32)>,
    pub stiffness: f32,
}

Expand description

A single joint in an IK chain.

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§position: Vec3

World-space position of this joint.

§bone_length: f32

Length of the bone from this joint to the next.

§angle_limit: Option<(f32, f32)>

Optional angle constraint: (min_angle, max_angle) in radians relative to parent.

§twist_limit: Option<(f32, f32)>

Optional twist limit around the bone axis (radians).

§stiffness: f32

Stiffness [0, 1]: how much this joint resists rotation. 0 = free, 1 = locked.

Implementations§

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pub fn with_stiffness(self, s: f32) -> Self

Trait Implementations§

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impl Clone for IkJoint

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fn clone(&self) -> Self

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

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impl Debug for IkJoint

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl Freeze for IkJoint

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impl RefUnwindSafe for IkJoint

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impl Send for IkJoint

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impl Sync for IkJoint

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impl Unpin for IkJoint

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impl UnsafeUnpin for IkJoint

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impl UnwindSafe for IkJoint

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<ST, DT> CastableFrom<ST, Initialized, Initialized> for DT
where ST: ?Sized, DT: ?Sized,

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impl<ST, DT> CastableFrom<ST, Uninit, Uninit> for DT
where ST: ?Sized, DT: ?Sized,

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> Downcast for T
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Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.

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Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.

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Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.

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impl<T> DowncastSync for T
where T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send> ⓘ

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.

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where T: FromSample<S> + ToSample<S>,

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<S> FromSample<S> for S

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fn from_sample_(s: S) -> S

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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self> ⓘ

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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Instruments this type with the current Span, returning an Instrumented wrapper. Read more

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self> ⓘ
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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