--- title: "Multiple End Effectors in FABRIK with Bevy" url: https://daily.dev/posts/multiple-end-effectors-in-fabrik-with-bevy-8mevtgpc8 source_url: https://www.youtube.com/watch?v=HJoudRS-jbU type: video:youtube source: "chris biscardi" published: 2026-05-31T07:48:48.099Z updated: 2026-05-31T09:16:54.446Z tags: ["game-development", "rust"] reading_time: 192 upvotes: 0 comments: 0 language: en --- > ## Documentation Index > Fetch the complete documentation index at: https://daily.dev/llms.txt > Use this file to discover all available pages before exploring further. # Multiple End Effectors in FABRIK with Bevy **[chris biscardi](https://daily.dev/sources/chrisbiscardi)** · 192 min read · 0 upvotes · 0 comments ## Summary A live coding session implementing multiple end effector support for the FABRIK inverse kinematics algorithm in the Bevy game engine using Rust. The session covers building a tree/graph structure to represent branching IK chains (Y-shaped skeletons), identifying subbases where chains meet, computing bone lengths from initial joint positions, and iterating from end effectors up to a shared root. Key challenges include grouping end effectors by their root entity, discovering subbase nodes, and designing a data structure that can later support loops for model constraints. The session also touches on Rust formatting preferences, algorithm patents (XPBD), and the conceptual nature of bones as transforms with distances rather than explicit data structures. ## Full article daily.dev links to this article rather than hosting it. Read it at the original source: --- Tags: [#game-development](https://daily.dev/tags/game-development), [#rust](https://daily.dev/tags/rust) [View this post on daily.dev](https://daily.dev/posts/multiple-end-effectors-in-fabrik-with-bevy-8mevtgpc8)