Librarified

.github/FUNDING.yml

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+github: [ecton]

.github/workflows/docs.yml

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+name: Docs
+
+on: [push, pull_request]
+
+jobs:
+  docs:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Install Rust
+        uses: hecrj/setup-rust-action@v1
+        with:
+          rust-version: nightly
+
+      - uses: actions/checkout@v3
+      - name: Generate Docs
+        run: |
+          cargo +nightly doc --no-deps --all-features --workspace
+
+      - name: Deploy Docs
+        if: github.ref == 'refs/heads/main'
+        uses: JamesIves/github-pages-deploy-action@releases/v4
+        with:
+          branch: gh-pages
+          folder: target/doc/
+          git-config-name: kl-botsu
+          git-config-email: [email protected]
+          target-folder: /main/
+          clean: true

.github/workflows/rust.yml

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+name: Tests
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Install Rust
+        uses: hecrj/setup-rust-action@v1
+
+      - name: Run clippy
+        run: |
+          cargo clippy
+
+      - name: Run unit tests
+        run: |
+          cargo test
+
+  build-msrv:
+    name: Test on MSRV
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install Rust
+        uses: hecrj/setup-rust-action@v1
+        with:
+          rust-version: 1.65.0
+      - name: Run unit tests
+        run: cargo test

Cargo.toml

@@ -1,7 +1,26 @@
 [package]
-name = "skeleton"
+name = "funnybones"
 version = "0.1.0"
 edition = "2021"
 
+[features]
+
+[[example]]
+name = "toy"
+required-features = ["cushy"]
+
 [dependencies]
-cushy = { path = "../cushy" }
+cushy = { git = "https://github.com/khonsulabs/cushy", optional = true }
+
+[dev-dependencies]
+cushy = { git = "https://github.com/khonsulabs/cushy" }
+
+[lints.clippy]
+pedantic = { level = "warn", priority = -1 }
+module_name_repetitions = "allow"
+missing_errors_doc = "allow"
+missing_panics_doc = "allow"
+
+[lints.rust]
+unsafe_code = "forbid"
+missing_docs = "warn"

README.md

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+# FunnyBones
+
+A simple 2D kinematics library for Rust
+
+## Motivation and Goals
+
+When looking at the libraries that support inverse kinematics in Rust in 2024,
+there are several fairly mature solutions that focus on 3D and robotics. For
+someone interested in 2D only, a lot of these libraries seemed like overkill for
+basic 2D games.
+
+This library implements a simplified forward and inverse kinematics model that
+only uses basic trigonometry and can be solved in one pass across the bone
+structure with no smoothing algorithms necessary. The initial implementation of
+this library was under 600 lines of code with no required dependencies.
+
+## How FunnyBones works
+
+FunnyBones has two main concepts: joints and bones.
+
+- *Joints* are used to connect a specific end of one bone to a specific end of
+another bone. Each joint can be assigned an angle which is applied as *forward
+kinematics* to create the angle using the two associated bones.
+- *Bones* are one-dimensional line segments that have a required length. Bones
+  can have a *desired position* for the end of the bone positioned furthest from
+  the skeleton root. If the desired position is set, it is applied as *inverse
+  kinematics*. 
+
+  In FunnyBones, bones come in two varieties: 
+
+  - *Rigid* bones are a single line segment of a fixed length. An example of a
+    rigid bone in a simple human skeleton might be a single bone representing
+    the spine.
+  - *Flexible* bones are two line segments of fixed lengths that bend and rotate
+    automatically (ignoring the connecting joint's angle) to ensure that both
+    leg segments are always the correct length. An example of a flexible bone in
+    a simple human skeleton might be a leg or an arm.
+
+A `Skeleton` is a collection of joints and bones. The first bone pushed is
+considered the root bone. When solving for updated positions, the algorithm
+starts by evaluating all joints connected to both ends of the root bone and
+continues until all reachable bones have been evaluated. The algorithm is
+single-pass and produces stable results.