7 unstable releases (3 breaking)

0.4.0 Aug 2, 2021
0.3.0 Mar 19, 2021
0.2.0 Mar 19, 2021
0.1.3 Mar 18, 2021

#1405 in Algorithms

MIT/Apache

67KB
991 lines

skelly

crates docs actions MIT/Apache loc

Crate for skeleton animation.

Optionally provides inverse-kinematics functionality.

Example

use {skelly::Skelly, na::{Point3, Vector3, Isometry3}};

// build a skelly with leg and two arms.
let mut skelly = Skelly::<f32>::new();
let foot = skelly.add_root(Point3::origin());
let leg = skelly.attach(Vector3::z().into(), foot);
let waist = skelly.attach(Vector3::z().into(), leg);

let left_shoulder = skelly.attach(Vector3::z().into(), waist);
let left_arm = skelly.attach((-Vector3::x()).into(), left_shoulder);
let left_palm = skelly.attach((-Vector3::x()).into(), left_arm);

let right_shoulder = skelly.attach(Vector3::z().into(), waist);
let right_arm = skelly.attach(Vector3::x().into(), right_shoulder);
let right_palm = skelly.attach(Vector3::x().into(), right_arm);

// Write global isometries of every joint into an array.
let mut globals = vec![Isometry3::identity(); skelly.len()];
skelly.write_globals(&Isometry3::identity(), &mut globals);

See examples/demo.rs for working example.

License

Licensed under either of

at your option.

Contributions

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

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Dependencies

~3MB
~61K SLoC