Expand description
Kinematic joints as PGA motors animated over time t (Phase 2).
“Joints as kinematic multivectors”: a joint’s pose at time t is a pure function returning a
render::pga::Motor (the even-subalgebra multivector: rotation + translation). Identity at
t = 0; deterministic (same t → same motor). Composing joints is motor multiplication, so a
chain (arm → forearm → hand) is motor_a ⊗ motor_b ⊗ … with no heap.
Structs§
- Joint
- A single-DOF kinematic joint driven by a constant
rate.
Enums§
- Joint
Kind - The kind of single-DOF joint.
Functions§
- chain_
motor_ at - Compose a chain of joint motors at time
t(root-first):m0 ⊗ m1 ⊗ … ⊗ mn. Zero-alloc.