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) -> IkJoint

Returns a duplicate of the value. Read more

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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<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
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

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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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

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

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fn as_any(&self) -> &(dyn Any + 'static)

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

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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

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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