TODO.md

MVP

• Try out the nalgebra library
• Add testing for generating transform matrices
• Create function to generate vec of matrices from vecs of specs
• Test function
• Create forward and backward mat functions
• Test forward and backward mat functions
• Move origin outside function
• test updated functions
• Add solver
• Make solver and matrix methods have a common interface
• Add debug print method to solver
• Organize
• Test solver
• Implement and test loss function
• Test matrix functions against expected values from js
• Implement gradient descent for Solver
• Test gradient descent convergence
• Add momentum and learn rate for gradient descent
• Time functions
• Add solve method
• Fix the circular reference issue with the population/solver references
• Add threading with rayon
• Add GA Solver
• Test GA Solver
• Move Vector clone calls into IKSolverGA constructor
• Determine whether to use f32 or f64
• Add tests for CollisionManager arm collisions
• Add ncollide CollisionManager class
• Pass tests
• Add tests for CollisionManager world collisions
• pass tests
• Add CollisionManager to GA solver

Use in browser

• Export WASM
• Use in browser
• Allow user to control precision of solution
• Determine if WASM can store an object in the Rust end
• Set up persistent state wasm
• Export GA solver to wasm
• Test GA solver with collision
• Learn to use the Serde library
• Add serialization of colliders
• Add Rayon WASM support

https://github.com/GoogleChromeLabs/wasm-bindgen-rayon

Constraints

• Add angle constraints to both solvers
• Add collision constraints to both solvers

Improvements

• Implement collision avoidance jacobian for speedup