Struct InverseKinematicsOption

pub struct InverseKinematicsOption {
    pub damping: f32,
    pub max_iters: usize,
    pub constrained_axes: JointAxesMask,
    pub epsilon_linear: f32,
    pub epsilon_angular: f32,
}

Options for the jacobian-based Inverse Kinematics solver for multibodies.

Fields

damping: f32

A damping coefficient.

Small value can lead to overshooting preventing convergence. Large values can slow down convergence, requiring more iterations to converge.

max_iters: usize

The maximum number of iterations the iterative IK solver can take.

constrained_axes: JointAxesMask

The axes the IK solver will solve for.

epsilon_linear: f32

The error threshold on the linear error.

If errors on both linear and angular parts fall below this threshold, the iterative resolution will stop.

epsilon_angular: f32

The error threshold on the angular error.

If errors on both linear and angular parts fall below this threshold, the iterative resolution will stop.

Trait Implementations

impl Clone for InverseKinematicsOption

fn clone(&self) -> InverseKinematicsOption

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for InverseKinematicsOption

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

Formats the value using the given formatter.

impl Default for InverseKinematicsOption

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for InverseKinematicsOption

fn eq(&self, other: &InverseKinematicsOption) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for InverseKinematicsOption

impl StructuralPartialEq for InverseKinematicsOption