There is an iter_joints() function, which works great for quickly iterating over all units -- but the lack of a mut variant means that you can't repurpose your ref for writing back to the state. This complicates some use cases considerably -- e.g., a UI that lets you interactively probe the state of a limb and set poses.
There is an
iter_joints()function, which works great for quickly iterating over all units -- but the lack of amutvariant means that you can't repurpose your ref for writing back to the state. This complicates some use cases considerably -- e.g., a UI that lets you interactively probe the state of a limb and set poses.