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# MeshResource.Skeleton.Joint

A named joint in a [`MeshResource.Skeleton`](/documentation/RealityKit/MeshResource/Skeleton).

```
struct Joint
```

## Topics

### Initializers

[`init(name: String, parentIndex: Int?, inverseBindPoseMatrix: simd_float4x4, restPoseTransform: Transform)`](/documentation/RealityKit/MeshResource/Skeleton/Joint/init(name:parentIndex:inverseBindPoseMatrix:restPoseTransform:))

Creates a single joint in a skeleton.

### Instance Properties

[`var inverseBindPoseMatrix: simd_float4x4`](/documentation/RealityKit/MeshResource/Skeleton/Joint/inverseBindPoseMatrix)

A matrix which transforms from the authored pose (the “bind pose”) of the bound model
to the local space of this joint.

[`var name: String`](/documentation/RealityKit/MeshResource/Skeleton/Joint/name)

The name of this joint.

[`var parentIndex: Int?`](/documentation/RealityKit/MeshResource/Skeleton/Joint/parentIndex)

The index of this joint’s parent, or nil if this joint has no parent.

[`var restPoseTransform: Transform`](/documentation/RealityKit/MeshResource/Skeleton/Joint/restPoseTransform)

The local transform of this joint in skeleton’s rest pose, specified relative to
this joint’s parent (or relative to model space, if this joint has no parent).

## Relationships

### Conforms To

[`Equatable`](/documentation/Swift/Equatable)

---

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