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kl-botsu committed Aug 15, 2024
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window.ALL_CRATES = ["funnybones"];
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<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="List of all items in this crate"><title>List of all items in this crate</title><script>if(window.location.protocol!=="file:")document.head.insertAdjacentHTML("beforeend","SourceSerif4-Regular-46f98efaafac5295.ttf.woff2,FiraSans-Regular-018c141bf0843ffd.woff2,FiraSans-Medium-8f9a781e4970d388.woff2,SourceCodePro-Regular-562dcc5011b6de7d.ttf.woff2,SourceCodePro-Semibold-d899c5a5c4aeb14a.ttf.woff2".split(",").map(f=>`<link rel="preload" as="font" type="font/woff2" crossorigin href="../static.files/${f}">`).join(""))</script><link rel="stylesheet" href="../static.files/normalize-76eba96aa4d2e634.css"><link rel="stylesheet" href="../static.files/rustdoc-b25d77b18a16a9a4.css"><meta name="rustdoc-vars" data-root-path="../" data-static-root-path="../static.files/" data-current-crate="funnybones" data-themes="" data-resource-suffix="" data-rustdoc-version="1.82.0-nightly (13a52890d 2024-08-14)" data-channel="nightly" data-search-js="search-ef54e092fea9c776.js" data-settings-js="settings-4313503d2e1961c2.js" ><script src="../static.files/storage-118b08c4c78b968e.js"></script><script defer src="../static.files/main-cb0df477c2d67d00.js"></script><noscript><link rel="stylesheet" href="../static.files/noscript-3b12f09e550e0385.css"></noscript><link rel="alternate icon" type="image/png" href="../static.files/favicon-32x32-422f7d1d52889060.png"><link rel="icon" type="image/svg+xml" href="../static.files/favicon-2c020d218678b618.svg"></head><body class="rustdoc mod sys"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="mobile-topbar"><button class="sidebar-menu-toggle" title="show sidebar"></button></nav><nav class="sidebar"><div class="sidebar-crate"><h2><a href="../funnybones/index.html">funnybones</a><span class="version">0.1.0</span></h2></div><div class="sidebar-elems"><section><ul class="block"><li><a href="#structs">Structs</a></li><li><a href="#enums">Enums</a></li></ul></section></div></nav><div class="sidebar-resizer"></div><main><div class="width-limiter"><rustdoc-search></rustdoc-search><section id="main-content" class="content"><h1>List of all items</h1><h3 id="structs">Structs</h3><ul class="all-items"><li><a href="struct.Bone.html">Bone</a></li><li><a href="struct.BoneAxis.html">BoneAxis</a></li><li><a href="struct.BoneId.html">BoneId</a></li><li><a href="struct.Joint.html">Joint</a></li><li><a href="struct.JointId.html">JointId</a></li><li><a href="struct.Rotation.html">Rotation</a></li><li><a href="struct.Skeleton.html">Skeleton</a></li><li><a href="struct.Vector.html">Vector</a></li></ul><h3 id="enums">Enums</h3><ul class="all-items"><li><a href="enum.BoneEnd.html">BoneEnd</a></li><li><a href="enum.BoneKind.html">BoneKind</a></li></ul></section></div></main></body></html>
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<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="FunnyBones"><title>funnybones - Rust</title><script>if(window.location.protocol!=="file:")document.head.insertAdjacentHTML("beforeend","SourceSerif4-Regular-46f98efaafac5295.ttf.woff2,FiraSans-Regular-018c141bf0843ffd.woff2,FiraSans-Medium-8f9a781e4970d388.woff2,SourceCodePro-Regular-562dcc5011b6de7d.ttf.woff2,SourceCodePro-Semibold-d899c5a5c4aeb14a.ttf.woff2".split(",").map(f=>`<link rel="preload" as="font" type="font/woff2" crossorigin href="../static.files/${f}">`).join(""))</script><link rel="stylesheet" href="../static.files/normalize-76eba96aa4d2e634.css"><link rel="stylesheet" href="../static.files/rustdoc-b25d77b18a16a9a4.css"><meta name="rustdoc-vars" data-root-path="../" data-static-root-path="../static.files/" data-current-crate="funnybones" data-themes="" data-resource-suffix="" data-rustdoc-version="1.82.0-nightly (13a52890d 2024-08-14)" data-channel="nightly" data-search-js="search-ef54e092fea9c776.js" data-settings-js="settings-4313503d2e1961c2.js" ><script src="../static.files/storage-118b08c4c78b968e.js"></script><script defer src="../crates.js"></script><script defer src="../static.files/main-cb0df477c2d67d00.js"></script><noscript><link rel="stylesheet" href="../static.files/noscript-3b12f09e550e0385.css"></noscript><link rel="alternate icon" type="image/png" href="../static.files/favicon-32x32-422f7d1d52889060.png"><link rel="icon" type="image/svg+xml" href="../static.files/favicon-2c020d218678b618.svg"></head><body class="rustdoc mod crate"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="mobile-topbar"><button class="sidebar-menu-toggle" title="show sidebar"></button></nav><nav class="sidebar"><div class="sidebar-crate"><h2><a href="../funnybones/index.html">funnybones</a><span class="version">0.1.0</span></h2></div><div class="sidebar-elems"><ul class="block"><li><a id="all-types" href="all.html">All Items</a></li></ul><section><ul class="block"><li><a href="#structs">Structs</a></li><li><a href="#enums">Enums</a></li></ul></section></div></nav><div class="sidebar-resizer"></div><main><div class="width-limiter"><rustdoc-search></rustdoc-search><section id="main-content" class="content"><div class="main-heading"><h1>Crate <a class="mod" href="#">funnybones</a><button id="copy-path" title="Copy item path to clipboard">Copy item path</button></h1><span class="out-of-band"><a class="src" href="../src/funnybones/lib.rs.html#1-661">source</a> · <button id="toggle-all-docs" title="collapse all docs">[<span>&#x2212;</span>]</button></span></div><details class="toggle top-doc" open><summary class="hideme"><span>Expand description</span></summary><div class="docblock"><h2 id="funnybones"><a class="doc-anchor" href="#funnybones">§</a>FunnyBones</h2>
<p>A simple 2D kinematics library for Rust</p>
<h3 id="motivation-and-goals"><a class="doc-anchor" href="#motivation-and-goals">§</a>Motivation and Goals</h3>
<p>When looking at the libraries that support inverse kinematics in Rust in 2024,
there are several fairly mature solutions that focus on 3D and robotics. For
someone interested in 2D only, a lot of these libraries seemed like overkill for
basic 2D games.</p>
<p>This library implements a simplified forward and inverse kinematics model that
only uses basic trigonometry and can be solved in one pass across the bone
structure with no smoothing algorithms necessary. The initial implementation of
this library was under 600 lines of code with no required dependencies.</p>
<h3 id="how-funnybones-works"><a class="doc-anchor" href="#how-funnybones-works">§</a>How FunnyBones works</h3>
<p>FunnyBones has two main concepts: joints and bones.</p>
<ul>
<li>
<p><em>Joints</em> are used to connect a specific end of one bone to a specific end of
another bone. Each joint can be assigned an angle which is applied as <em>forward
kinematics</em> to create the angle using the two associated bones.</p>
</li>
<li>
<p><em>Bones</em> are one-dimensional line segments that have a required length. Bones
can have a <em>desired position</em> for the end of the bone positioned furthest from
the skeleton root. If the desired position is set, it is applied as <em>inverse
kinematics</em>.</p>
<p>In FunnyBones, bones come in two varieties:</p>
<ul>
<li><em>Rigid</em> bones are a single line segment of a fixed length. An example of a
rigid bone in a simple human skeleton might be a single bone representing
the spine.</li>
<li><em>Flexible</em> bones are two line segments of fixed lengths that bend and rotate
automatically (ignoring the connecting joint’s angle) to ensure that both
leg segments are always the correct length. An example of a flexible bone in
a simple human skeleton might be a leg or an arm.</li>
</ul>
</li>
</ul>
<p>A <code>Skeleton</code> is a collection of joints and bones. The first bone pushed is
considered the root bone. When solving for updated positions, the algorithm
starts by evaluating all joints connected to both ends of the root bone and
continues until all reachable bones have been evaluated. The algorithm is
single-pass and produces stable results.</p>
</div></details><h2 id="structs" class="section-header">Structs<a href="#structs" class="anchor">§</a></h2><ul class="item-table"><li><div class="item-name"><a class="struct" href="struct.Bone.html" title="struct funnybones::Bone">Bone</a></div><div class="desc docblock-short">A bone in a <a href="struct.Skeleton.html" title="struct funnybones::Skeleton"><code>Skeleton</code></a>.</div></li><li><div class="item-name"><a class="struct" href="struct.BoneAxis.html" title="struct funnybones::BoneAxis">Bone<wbr>Axis</a></div><div class="desc docblock-short">A specific end of a specific bone.</div></li><li><div class="item-name"><a class="struct" href="struct.BoneId.html" title="struct funnybones::BoneId">BoneId</a></div><div class="desc docblock-short">The unique ID of a <a href="struct.Bone.html" title="struct funnybones::Bone"><code>Bone</code></a> in a <a href="struct.Skeleton.html" title="struct funnybones::Skeleton"><code>Skeleton</code></a>.</div></li><li><div class="item-name"><a class="struct" href="struct.Joint.html" title="struct funnybones::Joint">Joint</a></div><div class="desc docblock-short">A connection between two bones.</div></li><li><div class="item-name"><a class="struct" href="struct.JointId.html" title="struct funnybones::JointId">JointId</a></div><div class="desc docblock-short">The unique ID of a <a href="struct.Joint.html" title="struct funnybones::Joint"><code>Joint</code></a> in a <a href="struct.Skeleton.html" title="struct funnybones::Skeleton"><code>Skeleton</code></a>.</div></li><li><div class="item-name"><a class="struct" href="struct.Rotation.html" title="struct funnybones::Rotation">Rotation</a></div><div class="desc docblock-short">A value representing a rotation between no rotation and a full rotation.</div></li><li><div class="item-name"><a class="struct" href="struct.Skeleton.html" title="struct funnybones::Skeleton">Skeleton</a></div><div class="desc docblock-short">A collection of <a href="struct.Bone.html" title="struct funnybones::Bone"><code>Bone</code></a>s. connected by <a href="struct.Joint.html" title="struct funnybones::Joint"><code>Joint</code></a>s.</div></li><li><div class="item-name"><a class="struct" href="struct.Vector.html" title="struct funnybones::Vector">Vector</a></div><div class="desc docblock-short">A two dimensionsional offset/measurement.</div></li></ul><h2 id="enums" class="section-header">Enums<a href="#enums" class="anchor">§</a></h2><ul class="item-table"><li><div class="item-name"><a class="enum" href="enum.BoneEnd.html" title="enum funnybones::BoneEnd">BoneEnd</a></div><div class="desc docblock-short">A specific end of a <a href="struct.Bone.html" title="struct funnybones::Bone"><code>Bone</code></a>.</div></li><li><div class="item-name"><a class="enum" href="enum.BoneKind.html" title="enum funnybones::BoneKind">Bone<wbr>Kind</a></div><div class="desc docblock-short">A representation of a bone structure inside of a <a href="struct.Skeleton.html" title="struct funnybones::Skeleton"><code>Skeleton</code></a>.</div></li></ul></section></div></main></body></html>
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