commit a12794d7d8cc22705776f1b59fed9a3ce3f1cb38
Author: Bram Buurlage <brambuurlage@gmail.com>
Date:   Wed Sep 14 09:27:29 2022 +0200

    initial commit with very basic IK

diff --git a/.gitignore b/.gitignore
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--- /dev/null
+++ b/.gitignore
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+/target
+/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
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--- /dev/null
+++ b/Cargo.toml
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+[package]
+name = "bevy_mod_inverse_kinematics"
+version = "0.1.0"
+edition = "2021"
+categories = ["game-engines", "graphics", "rendering"]
+description = "An inverse kinematics plugin for the bevy game engine"
+keywords = [gamedev", "graphics", "bevy", "animation"]
+license = "MIT OR Apache-2.0"
+
+[dependencies]
+bevy = "0.8.1"
diff --git a/src/lib.rs b/src/lib.rs
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+++ b/src/lib.rs
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+use std::num::NonZeroUsize;
+use std::ops::Range;
+
+use bevy::ecs::query::QueryEntityError;
+use bevy::transform::TransformSystem;
+use bevy::prelude::*;
+
+pub struct InverseKinematicsPlugin;
+
+/// Inverse kintematics constraint to be added to the tail joint of
+/// the bone chain that should be constrained.
+#[derive(Component)]
+pub struct IkConstraint {
+    /// How many bones are included in the IK constraint.
+    pub chain_length: NonZeroUsize,
+    /// Maximum number of iterations to solve this constraint.
+    pub iterations: usize,
+    /// Target entity. The target must have a `Transform` and `GlobalTransform`.
+    pub target: Entity,
+    /// Target entity for pole rotation.
+    pub pole_target: Option<Entity>,
+    /// Offset for pole rotation in radians.
+    pub pole_angle: f32,
+}
+
+#[derive(Component)]
+pub struct CopyLocationConstraint {
+    /// Target entity. The target must have a `Transform` and `GlobalTransform`.
+    pub target: Entity,
+}
+
+#[derive(Component)]
+pub struct RotationConstraint {
+    /// The allowable range for yaw rotation.
+    pub yaw: Range<f32>,
+    /// The allowable range for pitch rotation.
+    pub pitch: Range<f32>,
+    /// The allowable range for roll rotation.
+    pub roll: Range<f32>,
+}
+
+pub fn inverse_kinematics_solver_system(
+    constraints_ik: Query<(Entity, &IkConstraint)>,
+    mut params: ParamSet<(
+        Query<&GlobalTransform>,
+        Query<(&mut Transform, &mut GlobalTransform, &Parent)>,
+    )>,
+) {
+    for (entity, constraint) in constraints_ik.iter() {
+        if let Err(e) = constraint.solve(entity, &mut params) {
+            bevy::log::warn!("Failed to solve IK constraint: {e}");
+        }
+    }
+}
+
+impl IkConstraint {
+    fn solve(
+        &self,
+        entity: Entity,
+        params: &mut ParamSet<(
+            Query<&GlobalTransform>,
+            Query<(&mut Transform, &mut GlobalTransform, &Parent)>,
+        )>,
+    ) -> Result<(), QueryEntityError> {
+        let (bone, parent) = params.p1()
+            .get(entity)
+            .map(|(t, _, p)| (t.translation, p.get()))?;
+        let tail = params.p0().get(self.target).map(GlobalTransform::translation)?;
+        let pole = if let Some(entity) = self.pole_target {
+            Some(params.p0().get(entity).map(GlobalTransform::translation)?)
+        } else {
+            None
+        };
+        Self::solve_recursive(parent, bone, tail, pole, &mut params.p1(), self.chain_length.get())?;
+        Ok(())
+    }
+
+    fn solve_recursive(
+        // the entity to rotate
+        entity: Entity,
+        // the translation vector of this bone
+        bone: Vec3,
+        // the desired tail of this bone
+        tail: Vec3,
+        // the desired up vector of this bone
+        pole: Option<Vec3>,
+        query: &mut Query<(&mut Transform, &mut GlobalTransform, &Parent)>,
+        chain: usize,
+    ) -> Result<GlobalTransform, QueryEntityError> {
+        if chain == 0 {
+            let (_, &global_transform, _) = query.get(entity)?;
+            return Ok(global_transform);
+        }
+
+        let (transform, global_transform, parent) =
+            query.get(entity).map(|(&t, &g, p)| (t, g, p.get()))?;
+        // the bone vector of the parent is the translation of this bone
+        let parent_bone = transform.translation;
+
+        // calculate absolute rotation in order to point this bone at the desired tail
+        let rotation = Quat::from_rotation_arc(
+            bone.normalize(),
+            (tail - global_transform.translation()).normalize(),
+        );
+        // calculate absolute translation so the tip of this bone touches the desired tail.
+        let head = tail - rotation.mul_vec3(bone);
+
+        // pass the targets to the parent to obtain the final global transform of the parent
+        let parent_global_transform =
+            Self::solve_recursive(parent, parent_bone, head, pole, query, chain - 1)?;
+
+        // determine the relative translation for this bone
+        let (mut transform, mut global_transform, _) = query.get_mut(entity).unwrap();
+        transform.rotation = Quat::from_affine3(&parent_global_transform.affine().inverse()) * rotation;
+        *global_transform = parent_global_transform.mul_transform(*transform);
+
+        Ok(*global_transform)
+    }
+}
+
+impl Plugin for InverseKinematicsPlugin {
+    fn build(&self, app: &mut App) {
+        app.add_system_to_stage(
+            CoreStage::PostUpdate,
+            inverse_kinematics_solver_system.after(TransformSystem::TransformPropagate),
+        );
+    }
+}