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TwoBoneSolver

proof_engine::animation::ik

Struct TwoBoneSolver

pub struct TwoBoneSolver;

Expand description

Closed-form IK for a 2-bone chain (3 joints: shoulder, elbow, wrist/hand).

Uses the law of cosines for exact, instantaneous solution. Supports a pole vector to control the elbow/knee direction.

Implementations§

impl TwoBoneSolver

pub fn solve( root: Vec3, mid: Vec3, len_a: f32, len_b: f32, target: Vec3, pole: Option<Vec3>, ) -> TwoBoneResult

Solve a 2-bone chain.

root : shoulder/hip position
mid : current elbow/knee position (used for initial plane)
len_a : upper bone length (shoulder to elbow)
len_b : lower bone length (elbow to wrist)
target : desired wrist/ankle position
pole : pole vector pointing toward desired elbow direction

pub fn apply( chain: &mut IkChain, target: Vec3, pole: Option<Vec3>, ) -> TwoBoneResult

Apply the solve result to a 3-joint chain in place.

Auto Trait Implementations§

impl Freeze for TwoBoneSolver

impl RefUnwindSafe for TwoBoneSolver

impl Send for TwoBoneSolver

impl Sync for TwoBoneSolver

impl Unpin for TwoBoneSolver

impl UnsafeUnpin for TwoBoneSolver

impl UnwindSafe for TwoBoneSolver

Blanket Implementations§

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