Struct IkChain 

pub struct IkChain {
    pub joints: Vec<IkJoint>,
    pub root_pin: Vec3,
    pub total_length: f32,
    pub tolerance: f32,
    pub fixed_root: bool,
}

A chain of joints that IK solvers operate on.

Fields

joints: Vec<IkJoint>

root_pin: Vec3

Root joint is pinned to this world-space position.

total_length: f32

Total reach of the chain.

tolerance: f32

Position tolerance: solver stops when end-effector is within this distance.

fixed_root: bool

Whether the root joint can move (false = fixed root).

Implementations

impl IkChain

pub fn new(positions: Vec<Vec3>) -> Self

Build a chain from a list of joint positions. Bone lengths are computed from consecutive positions.

pub fn uniform( root: Vec3, count: usize, bone_length: f32, direction: Vec3, ) -> Self

Build a chain from a root position, bone directions, and uniform bone length.

pub fn with_tolerance(self, t: f32) -> Self

pub fn end_effector(&self) -> Vec3

End-effector position (last joint).

pub fn bone_count(&self) -> usize

Number of bones in the chain.

pub fn can_reach(&self, target: Vec3) -> bool

Check if target is reachable.

pub fn rebuild_from_root(&mut self)

Reconstruct all joint positions from root_pin, preserving bone lengths.

Trait Implementations

impl Clone for IkChain

fn clone(&self) -> IkChain

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.