Struct IkChain2D 

pub struct IkChain2D {
    pub positions: Vec<Vec2>,
    pub bone_lengths: Vec<f32>,
    pub root_pin: Vec2,
    pub tolerance: f32,
}

2D IK chain for flat simulations (Vec2 joints).

Fields

positions: Vec<Vec2>

bone_lengths: Vec<f32>

root_pin: Vec2

tolerance: f32

Implementations

impl IkChain2D

pub fn new(positions: Vec<Vec2>) -> Self

pub fn total_length(&self) -> f32

pub fn end_effector(&self) -> Vec2

pub fn solve_fabrik(&mut self, target: Vec2, max_iter: usize) -> bool

FABRIK solve in 2D.

Trait Implementations

impl Clone for IkChain2D

fn clone(&self) -> IkChain2D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for IkChain2D

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

Formats the value using the given formatter.