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feat: add simple inverse-kinematics solver for multibodies (#632)

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* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies

* feat: add 2d inverse kinematics example

* feat: make forward_kinematics auto-fix the root’s degrees of freedom

* feat: add 3d inverse kinematics example

* chore: update changelog

* chore: clippy fixes

* chore: more clippy fixes

* fix tests
This commit is contained in:
Sébastien Crozet
2024-05-25 10:36:34 +02:00
committed by GitHub
parent af1ac9baa2
commit 62379de9ec
22 changed files with 755 additions and 212 deletions
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src_testbed/lib.rs
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@@ -25,6 +25,7 @@ mod camera3d;
mod debug_render;
mod graphics;
pub mod harness;
mod mouse;
pub mod objects;
pub mod physics;
#[cfg(all(feature = "dim3", feature = "other-backends"))]