# skelly

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Crate for skeleton animation.

Optionally provides inverse-kinematics functionality.

## Example
```rust
use {skelly::Skelly, na::{Point3, Vector3, Isometry3}};

// build a skelly with leg and two arms.
let mut skelly = Skelly::<f32>::new();
let foot = skelly.add_root(Point3::origin());
let leg = skelly.attach(Vector3::z().into(), foot);
let waist = skelly.attach(Vector3::z().into(), leg);

let left_shoulder = skelly.attach(Vector3::z().into(), waist);
let left_arm = skelly.attach((-Vector3::x()).into(), left_shoulder);
let left_palm = skelly.attach((-Vector3::x()).into(), left_arm);

let right_shoulder = skelly.attach(Vector3::z().into(), waist);
let right_arm = skelly.attach(Vector3::x().into(), right_shoulder);
let right_palm = skelly.attach(Vector3::x().into(), right_arm);

// Write global isometries of every joint into an array.
let mut globals = vec![Isometry3::identity(); skelly.len()];
skelly.write_globals(&Isometry3::identity(), &mut globals);

```

See `examples/demo.rs` for working example.


## License

Licensed under either of

* Apache License, Version 2.0, ([license/APACHE](license/APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
* MIT license ([license/MIT](license/MIT) or http://opensource.org/licenses/MIT)

at your option.

## Contributions

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

## Donate

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