tiny.rig.Skeleton

1pub const Skeleton = struct {2    /// Each joint's parent, or `none` for a root.3    parents: []const Joint,4    /// Each joint's rest transform relative to its parent.5    rest: []const Transform,67    pub fn init(parents: []const Joint, rest: []const Transform) Error!Skeleton {8        if (parents.len != rest.len) return error.InvalidLength;9        if (parents.len > max_joints) return error.InvalidLength;10        for (parents, 0..) |parent, index| {11            if (parent != none and parent >= index) return error.InvalidParent;12        }13        return .{ .parents = parents, .rest = rest };14    }1516    pub fn count(skeleton: Skeleton) usize {17        return skeleton.parents.len;18    }1920    /// World transforms from local ones. `world` may not alias `local`.21    pub fn forward(skeleton: Skeleton, local: []const Transform, world: []Transform) void {22        forwardParents(skeleton.parents, local, world);23    }2425    /// World transforms of the rest pose.26    pub fn restWorld(skeleton: Skeleton, world: []Transform) void {27        forwardParents(skeleton.parents, skeleton.rest, world);28    }2930    /// Whether `ancestor` is `joint` or lies on its path to the root.31    pub fn isAncestorOrSelf(skeleton: Skeleton, ancestor: Joint, joint: Joint) bool {32        return ancestorOrSelf(skeleton.parents, ancestor, joint);33    }34};

1pub const Skeleton = skeleton.Skeleton;