Struct IKTwoJoint 

pub struct IKTwoJoint { /* private fields */ }

IK2J — Two-joint IK solver (v0, 48 bytes)

Classic two-bone IK (e.g. elbow/knee) with hinge axis, angle limits, and search range for target acquisition.

Implementations

impl IKTwoJoint

pub fn new() -> Self

Panics

Panics if the native allocation fails.

pub fn dependents(&self) -> &[u16]

Dependent bone indices (U16_) Zero-copy view of the underlying std::vector.

pub fn dependents_mut(&mut self) -> &mut [u16]

Zero-copy mutable view. Resize first — the borrow forbids it after.

pub fn set_dependents(&mut self, values: &[u16])

pub fn resize_dependents(&mut self, count: usize)

pub fn bone_base(&self) -> u16

Base bone (e.g. upper arm/thigh)

pub fn set_bone_base(&mut self, value: u16)

pub fn bone_target(&self) -> u16

Target bone (e.g. forearm/shin)

pub fn set_bone_target(&mut self, value: u16)

pub fn bone_end(&self) -> u16

End effector bone (e.g. hand/foot)

pub fn set_bone_end(&mut self, value: u16)

pub fn padding(&self) -> u16

Alignment padding

pub fn set_padding(&mut self, value: u16)

pub fn hinge_axis(&self) -> Vector3f

Hinge rotation axis

pub fn set_hinge_axis(&mut self, value: Vector3f)

pub fn max_angle_inner(&self) -> f32

Maximum inner angle

pub fn set_max_angle_inner(&mut self, value: f32)

pub fn max_angle_outer(&self) -> f32

Maximum outer angle

pub fn set_max_angle_outer(&mut self, value: f32)

pub fn search_up(&self) -> f32

Search range upward

pub fn set_search_up(&mut self, value: f32)

pub fn search_down(&self) -> f32

Search range downward

pub fn set_search_down(&mut self, value: f32)

Trait Implementations

impl Debug for IKTwoJoint

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

Formats the value using the given formatter.

impl Default for IKTwoJoint

fn default() -> Self

Returns the “default value” for a type.

impl Drop for IKTwoJoint

fn drop(&mut self)

Executes the destructor for this type.

fn pin_drop(self: Pin<&mut Self>)

🔬This is a nightly-only experimental API. (pin_ergonomics)

Execute the destructor for this type, but different to Drop::drop, it requires self to be pinned.

impl Send for IKTwoJoint