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CcdSolver

proof_engine::animation::ik

Struct CcdSolver 

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pub struct CcdSolver;
Expand description

CCD: Cyclic Coordinate Descent IK.

Rotates each joint in the chain to minimize the angular error at the end-effector. Slower convergence than FABRIK but naturally respects local joint angle limits.

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impl CcdSolver

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

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