module A: Ik.Acyclic(P)
val skel : Skel.skel
val n : int
val pos : Skel.point array
val nb_bones : int
val root : int Pervasives.ref
val bones : (int * int * float) array
The directed bones (source, destination, length).
val angles : Ik.angle array
Angles (orientation) of the bones.
val do_theta : float -> float -> float
val update_angles : unit -> unit
val init : int -> unit
Parse the skel, starting from the root,
in order to get the new bones, topologicaly sorted.
val equations : float option array -> float array array * float array