# IKRig.Joint.LimitsDefinition A definition of joint rotation limits. ``` struct LimitsDefinition ``` ## Overview Limit angles are defined as relative to the rest pose. > Important: The minimum angles need to be less than the maximum angles. ## Topics ### Initializers [`init(weight: Float, boneAxis: IKRig.Joint.LimitsDefinition.Axis, minimumAngles: SIMD3, maximumAngles: SIMD3)`](/documentation/RealityKit/IKRig/Joint/LimitsDefinition/init(weight:boneAxis:minimumAngles:maximumAngles:)) Creates a joint limits definition. ### Instance Properties [`var boneAxis: IKRig.Joint.LimitsDefinition.Axis`](/documentation/RealityKit/IKRig/Joint/LimitsDefinition/boneAxis) The axis around which the bone twists. [`var maximumAngles: SIMD3`](/documentation/RealityKit/IKRig/Joint/LimitsDefinition/maximumAngles) The positive delta from the rest pose per-axis in radians. [`var minimumAngles: SIMD3`](/documentation/RealityKit/IKRig/Joint/LimitsDefinition/minimumAngles) The negative delta from the rest pose per-axis in radians. [`var weight: Float`](/documentation/RealityKit/IKRig/Joint/LimitsDefinition/weight) The weight of the joint rotation limit demand. ### Enumerations [`enum Axis`](/documentation/RealityKit/IKRig/Joint/LimitsDefinition/Axis) --- 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)