# IKRig.Constraint A definition of a rig constraint. ``` struct Constraint ``` ## Overview Each constraint can have its position and orientation demands enabled individually. ## Topics ### Structures [`struct ID`](/documentation/RealityKit/IKRig/Constraint/ID-swift.struct) The identity type for a constraint in a rig. [`struct IKOrientationDemand`](/documentation/RealityKit/IKRig/Constraint/IKOrientationDemand) A definition of an orientational demand. [`struct IKPositionDemand`](/documentation/RealityKit/IKRig/Constraint/IKPositionDemand) A definition of a positional demand. ### Instance Properties [`var id: IKRig.Constraint.ID`](/documentation/RealityKit/IKRig/Constraint/id-swift.property) The identifier of the constraint. [`var jointName: String`](/documentation/RealityKit/IKRig/Constraint/jointName) The name of the constrained joint. [`var name: String`](/documentation/RealityKit/IKRig/Constraint/name) The name of the constraint. [`var offset: Transform`](/documentation/RealityKit/IKRig/Constraint/offset) A constraint target offset. [`var orientationDemand: IKRig.Constraint.IKOrientationDemand?`](/documentation/RealityKit/IKRig/Constraint/orientationDemand) The settings of the orientational demand. [`var positionDemand: IKRig.Constraint.IKPositionDemand?`](/documentation/RealityKit/IKRig/Constraint/positionDemand) The settings of the positional demand. ### Type Methods [`static func lookAtAbsolute(named: String, on: String, lookingAlong: SIMD3, orientationWeight: SIMD3) -> IKRig.Constraint`](/documentation/RealityKit/IKRig/Constraint/lookAtAbsolute(named:on:lookingAlong:orientationWeight:)) Creates a constraint with only an orientational demand in absolute look-at mode. [`static func lookAtAdditive(named: String, on: String, lookingAlong: SIMD3, orientationWeight: SIMD3) -> IKRig.Constraint`](/documentation/RealityKit/IKRig/Constraint/lookAtAdditive(named:on:lookingAlong:orientationWeight:)) Creates a constraint with only an orientational demand in additive look-at mode. [`static func orient(named: String, on: String, orientationWeight: SIMD3) -> IKRig.Constraint`](/documentation/RealityKit/IKRig/Constraint/orient(named:on:orientationWeight:)) Creates a constraint with only an orientation demand. [`static func parent(named: String, on: String, positionWeight: SIMD3, orientationWeight: SIMD3) -> IKRig.Constraint`](/documentation/RealityKit/IKRig/Constraint/parent(named:on:positionWeight:orientationWeight:)) Creates a constraint with both a positional and an orientational demands. [`static func point(named: String, on: String, positionWeight: SIMD3) -> IKRig.Constraint`](/documentation/RealityKit/IKRig/Constraint/point(named:on:positionWeight:)) Creates a constraint with only a positional demand. ## Relationships ### Conforms To [`Identifiable`](/documentation/Swift/Identifiable) --- Copyright © 2026 Apple Inc. All rights reserved. | [Terms of Use](https://www.apple.com/legal/internet-services/terms/site.html) | [Privacy Policy](https://www.apple.com/privacy/privacy-policy)