---
title: IKRig.Constraint
framework: realitykit
role: symbol
role_heading: Structure
path: realitykit/ikrig/constraint
---

# IKRig.Constraint

A definition of a rig constraint.

## Declaration

```swift
struct Constraint
```

## Overview

Overview Each constraint can have its position and orientation demands enabled individually.

## Topics

### Structures

- [IKRig.Constraint.ID](realitykit/ikrig/constraint/id-swift.struct.md)
- [IKRig.Constraint.IKOrientationDemand](realitykit/ikrig/constraint/ikorientationdemand.md)
- [IKRig.Constraint.IKPositionDemand](realitykit/ikrig/constraint/ikpositiondemand.md)

### Instance Properties

- [id](realitykit/ikrig/constraint/id-swift.property.md)
- [jointName](realitykit/ikrig/constraint/jointname.md)
- [name](realitykit/ikrig/constraint/name.md)
- [offset](realitykit/ikrig/constraint/offset.md)
- [orientationDemand](realitykit/ikrig/constraint/orientationdemand.md)
- [positionDemand](realitykit/ikrig/constraint/positiondemand.md)

### Type Methods

- [lookAtAbsolute(named:on:lookingAlong:orientationWeight:)](realitykit/ikrig/constraint/lookatabsolute(named:on:lookingalong:orientationweight:).md)
- [lookAtAdditive(named:on:lookingAlong:orientationWeight:)](realitykit/ikrig/constraint/lookatadditive(named:on:lookingalong:orientationweight:).md)
- [orient(named:on:orientationWeight:)](realitykit/ikrig/constraint/orient(named:on:orientationweight:).md)
- [parent(named:on:positionWeight:orientationWeight:)](realitykit/ikrig/constraint/parent(named:on:positionweight:orientationweight:).md)
- [point(named:on:positionWeight:)](realitykit/ikrig/constraint/point(named:on:positionweight:).md)

## Relationships

### Conforms To

- [Identifiable](swift/identifiable.md)

## See Also

### Inverse kinematics rigs

- [IKRig](realitykit/ikrig.md)
- [IKRig.Joint](realitykit/ikrig/joint.md)
- [IKRig.JointCollection](realitykit/ikrig/jointcollection.md)
- [IKRig.ConstraintsCollection](realitykit/ikrig/constraintscollection.md)