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Shortening embedded example
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Also making the example easier to follow.
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@ecton
ecton committed Aug 15, 2024
1 parent f290765 commit c7dc912
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57 changes: 10 additions & 47 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,14 @@ settings of a basic humanoid skeleton:

```rust,ignore
let mut skeleton = Skeleton::default();
// Create our root bone: the spine
let spine = skeleton.push_bone(BoneKind::Rigid { length: 3. }, "spine");
// Create the right-half of the hips.
let r_hip = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_hip");
// Connect the right hip to the spine.
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
// Create the right leg as a jointed bone with equal sizes for the upper and
// lower leg.
let r_leg = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.5,
Expand All @@ -67,56 +73,13 @@ let r_leg = skeleton.push_bone(
},
"r_leg",
);
let r_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_foot");
let l_hip = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_hip");
let l_leg = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.5,
end_length: 1.5,
inverse: false,
},
"l_leg",
);
let l_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_foot");
let r_shoulder = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_shoulder");
let r_arm = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.0,
end_length: 1.0,
inverse: true,
},
"r_arm",
);
let r_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "r_hand");
let l_shoulder = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_shoulder");
let l_arm = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.0,
end_length: 1.0,
inverse: false,
},
"l_arm",
);
let l_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "l_hand");
let head = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "head");
let neck = skeleton.push_joint(Rotation::degrees(180.), spine.axis_b(), head.axis_a());
// Create some width for the legs to be spaced.
skeleton.push_joint(Rotation::degrees(90.), spine.axis_a(), l_hip.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
skeleton.push_joint(Rotation::degrees(90.), l_hip.axis_b(), l_leg.axis_a());
let l_ankle_id = skeleton.push_joint(Rotation::degrees(-90.), l_leg.axis_b(), l_foot.axis_a());
// Connect the right leg to the right hip.
skeleton.push_joint(Rotation::degrees(-90.), r_hip.axis_b(), r_leg.axis_a());
// Create the right foot.
let r_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_foot");
// Connect the right foot to the right leg.
let r_ankle_id = skeleton.push_joint(Rotation::degrees(90.), r_leg.axis_b(), r_foot.axis_a());
skeleton.push_joint(Rotation::degrees(90.), spine.axis_b(), l_shoulder.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_b(), r_shoulder.axis_a());
let l_arm_socket =
skeleton.push_joint(Rotation::degrees(90.), l_shoulder.axis_b(), l_arm.axis_a());
let l_wrist_id = skeleton.push_joint(Rotation::degrees(-175.), l_arm.axis_b(), l_hand.axis_a());
let r_arm_socket =
skeleton.push_joint(Rotation::degrees(-90.), r_shoulder.axis_b(), r_arm.axis_a());
let r_wrist_id = skeleton.push_joint(Rotation::degrees(175.), r_arm.axis_b(), r_hand.axis_a());
```

<video src="https://raw.githubusercontent.com/khonsulabs/FunnyBones/gh-pages/20240815-1619-47.3700715.mp4" controls="true" autoplay="true" loop="true" muted="true"></video>
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49 changes: 31 additions & 18 deletions examples/skeleton.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,14 @@ use funnybones::{BoneId, BoneKind, JointId, Rotation, Skeleton, Vector};
fn main() {
// begin rustme snippet: readme
let mut skeleton = Skeleton::default();
// Create our root bone: the spine
let spine = skeleton.push_bone(BoneKind::Rigid { length: 3. }, "spine");
// Create the right-half of the hips.
let r_hip = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_hip");
// Connect the right hip to the spine.
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
// Create the right leg as a jointed bone with equal sizes for the upper and
// lower leg.
let r_leg = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.5,
Expand All @@ -32,8 +38,18 @@ fn main() {
},
"r_leg",
);

// Connect the right leg to the right hip.
skeleton.push_joint(Rotation::degrees(-90.), r_hip.axis_b(), r_leg.axis_a());
// Create the right foot.
let r_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_foot");
// Connect the right foot to the right leg.
let r_ankle_id = skeleton.push_joint(Rotation::degrees(90.), r_leg.axis_b(), r_foot.axis_a());
// end rustme snippet

// Create the left-half of our lower half.
let l_hip = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_hip");
skeleton.push_joint(Rotation::degrees(90.), spine.axis_a(), l_hip.axis_a());
let l_leg = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.5,
Expand All @@ -42,8 +58,13 @@ fn main() {
},
"l_leg",
);
skeleton.push_joint(Rotation::degrees(90.), l_hip.axis_b(), l_leg.axis_a());
let l_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_foot");
let l_ankle_id = skeleton.push_joint(Rotation::degrees(-90.), l_leg.axis_b(), l_foot.axis_a());

// Create our two arms in the same fashion as our leg structure.
let r_shoulder = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_shoulder");
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_b(), r_shoulder.axis_a());
let r_arm = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.0,
Expand All @@ -52,8 +73,13 @@ fn main() {
},
"r_arm",
);
let r_arm_socket =
skeleton.push_joint(Rotation::degrees(-90.), r_shoulder.axis_b(), r_arm.axis_a());
let r_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "r_hand");
let r_wrist_id = skeleton.push_joint(Rotation::degrees(175.), r_arm.axis_b(), r_hand.axis_a());

let l_shoulder = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_shoulder");
skeleton.push_joint(Rotation::degrees(90.), spine.axis_b(), l_shoulder.axis_a());
let l_arm = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.0,
Expand All @@ -62,27 +88,14 @@ fn main() {
},
"l_arm",
);
let l_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "l_hand");
let head = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "head");

let neck = skeleton.push_joint(Rotation::degrees(180.), spine.axis_b(), head.axis_a());
// Create some width for the legs to be spaced.
skeleton.push_joint(Rotation::degrees(90.), spine.axis_a(), l_hip.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
skeleton.push_joint(Rotation::degrees(90.), l_hip.axis_b(), l_leg.axis_a());
let l_ankle_id = skeleton.push_joint(Rotation::degrees(-90.), l_leg.axis_b(), l_foot.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), r_hip.axis_b(), r_leg.axis_a());
let r_ankle_id = skeleton.push_joint(Rotation::degrees(90.), r_leg.axis_b(), r_foot.axis_a());

skeleton.push_joint(Rotation::degrees(90.), spine.axis_b(), l_shoulder.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_b(), r_shoulder.axis_a());
let l_arm_socket =
skeleton.push_joint(Rotation::degrees(90.), l_shoulder.axis_b(), l_arm.axis_a());
let l_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "l_hand");
let l_wrist_id = skeleton.push_joint(Rotation::degrees(-175.), l_arm.axis_b(), l_hand.axis_a());
let r_arm_socket =
skeleton.push_joint(Rotation::degrees(-90.), r_shoulder.axis_b(), r_arm.axis_a());
let r_wrist_id = skeleton.push_joint(Rotation::degrees(175.), r_arm.axis_b(), r_hand.axis_a());
// end rustme snippet

// Finally, create a bone to represent our head.
let head = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "head");
let neck = skeleton.push_joint(Rotation::degrees(180.), spine.axis_b(), head.axis_a());

let skeleton = Dynamic::new(skeleton);

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57 changes: 10 additions & 47 deletions src/.crate-docs.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,14 @@ settings of a basic humanoid skeleton:

```rust,ignore
let mut skeleton = Skeleton::default();
// Create our root bone: the spine
let spine = skeleton.push_bone(BoneKind::Rigid { length: 3. }, "spine");
// Create the right-half of the hips.
let r_hip = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_hip");
// Connect the right hip to the spine.
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
// Create the right leg as a jointed bone with equal sizes for the upper and
// lower leg.
let r_leg = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.5,
Expand All @@ -65,56 +71,13 @@ let r_leg = skeleton.push_bone(
},
"r_leg",
);
let r_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_foot");
let l_hip = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_hip");
let l_leg = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.5,
end_length: 1.5,
inverse: false,
},
"l_leg",
);
let l_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_foot");
let r_shoulder = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_shoulder");
let r_arm = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.0,
end_length: 1.0,
inverse: true,
},
"r_arm",
);
let r_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "r_hand");
let l_shoulder = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "l_shoulder");
let l_arm = skeleton.push_bone(
BoneKind::Jointed {
start_length: 1.0,
end_length: 1.0,
inverse: false,
},
"l_arm",
);
let l_hand = skeleton.push_bone(BoneKind::Rigid { length: 0.3 }, "l_hand");
let head = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "head");
let neck = skeleton.push_joint(Rotation::degrees(180.), spine.axis_b(), head.axis_a());
// Create some width for the legs to be spaced.
skeleton.push_joint(Rotation::degrees(90.), spine.axis_a(), l_hip.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_a(), r_hip.axis_a());
skeleton.push_joint(Rotation::degrees(90.), l_hip.axis_b(), l_leg.axis_a());
let l_ankle_id = skeleton.push_joint(Rotation::degrees(-90.), l_leg.axis_b(), l_foot.axis_a());
// Connect the right leg to the right hip.
skeleton.push_joint(Rotation::degrees(-90.), r_hip.axis_b(), r_leg.axis_a());
// Create the right foot.
let r_foot = skeleton.push_bone(BoneKind::Rigid { length: 0.5 }, "r_foot");
// Connect the right foot to the right leg.
let r_ankle_id = skeleton.push_joint(Rotation::degrees(90.), r_leg.axis_b(), r_foot.axis_a());
skeleton.push_joint(Rotation::degrees(90.), spine.axis_b(), l_shoulder.axis_a());
skeleton.push_joint(Rotation::degrees(-90.), spine.axis_b(), r_shoulder.axis_a());
let l_arm_socket =
skeleton.push_joint(Rotation::degrees(90.), l_shoulder.axis_b(), l_arm.axis_a());
let l_wrist_id = skeleton.push_joint(Rotation::degrees(-175.), l_arm.axis_b(), l_hand.axis_a());
let r_arm_socket =
skeleton.push_joint(Rotation::degrees(-90.), r_shoulder.axis_b(), r_arm.axis_a());
let r_wrist_id = skeleton.push_joint(Rotation::degrees(175.), r_arm.axis_b(), r_hand.axis_a());
```

<video src="https://raw.githubusercontent.com/khonsulabs/FunnyBones/gh-pages/20240815-1619-47.3700715.mp4" controls="true" autoplay="true" loop="true" muted="true"></video>
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