Limb solver marlin (#237)

Work on #234 


![image](https://github.com/MarginallyClever/Robot-Overlord-App/assets/1464454/7a285ee7-9b58-4dbb-af37-d1ca8fd28d53)

![image](https://github.com/MarginallyClever/Robot-Overlord-App/assets/1464454/91d89bb3-90f0-4df7-98e7-fa6564913144)

![image](https://github.com/MarginallyClever/Robot-Overlord-App/assets/1464454/3ab24ced-90bb-4f42-9807-daf6fc88b5b1)

src/main/java/com/marginallyclever/convenience/helpers/MatrixHelper.java

@@ -88,7 +88,7 @@ static public void createMesh(GL3 gl, Vector3d p, Vector3d u, Vector3d v, Vector
 
 	/**
 	 * Draw the three vectors of a matrix at a point
-	 * @param gl render context
+	 * @param gl viewport context
 	 * @param p position at which to draw
 	 * @param u in yellow (1,1,0)
 	 * @param v in teal (0,1,1)
@@ -915,7 +915,7 @@ public static FloatBuffer matrixToFloatBuffer(Matrix4d m) {
 
 	/**
 	 *
-	 * @param gl render context
+	 * @param gl viewport context
 	 * @param type either GL3.GL_MODELVIEW_MATRIX or GL3.GL_PROJECTION_MATRIX
 	 * @return
 	 */

src/main/java/com/marginallyclever/ro3/Registry.java

@@ -5,6 +5,9 @@
 import com.marginallyclever.ro3.node.nodes.*;
 import com.marginallyclever.ro3.node.Node;
 import com.marginallyclever.ro3.node.nodes.marlinrobotarm.MarlinRobotArm;
+import com.marginallyclever.ro3.node.nodes.pose.Limb;
+import com.marginallyclever.ro3.node.nodes.pose.LookAt;
+import com.marginallyclever.ro3.node.nodes.pose.MeshInstance;
 import com.marginallyclever.ro3.texture.TextureFactory;
 
 import javax.swing.event.EventListenerList;
@@ -34,14 +37,15 @@ public static void start() {
         Factory.Category<Node> nodule = nodeFactory.getRoot().add("Node", Node::new);
         nodule.add("DHParameter", DHParameter::new);
         nodule.add("HingeJoint", HingeJoint::new);
+        nodule.add("LimbSolver", LimbSolver::new);
         nodule.add("MarlinRobotArm", MarlinRobotArm::new);
         nodule.add("Material", Material::new);
         nodule.add("MeshInstance", MeshInstance::new);
         nodule.add("Motor", Motor::new);
         Factory.Category<Node> pose = nodule.add("Pose", Pose::new);
             pose.add("Camera", Camera::new);
             pose.add("LookAt", LookAt::new);
-
+            pose.add("Limb", Limb::new);
         reset();
     }
 

src/main/java/com/marginallyclever/ro3/apps/RO3Frame.java

@@ -20,8 +20,8 @@
 import com.marginallyclever.ro3.apps.nodetreeview.NodeTreeView;
 import com.marginallyclever.ro3.apps.shared.PersistentJFileChooser;
 import com.marginallyclever.ro3.apps.webcampanel.WebCamPanel;
-import com.marginallyclever.ro3.apps.render.OpenGLPanel;
-import com.marginallyclever.ro3.apps.render.Viewport;
+import com.marginallyclever.ro3.apps.viewport.OpenGLPanel;
+import com.marginallyclever.ro3.apps.viewport.Viewport;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 

src/main/java/com/marginallyclever/ro3/apps/RO3FrameDropTarget.java

@@ -2,7 +2,7 @@
 
 import com.marginallyclever.ro3.Registry;
 import com.marginallyclever.ro3.apps.commands.ImportScene;
-import com.marginallyclever.ro3.node.nodes.MeshInstance;
+import com.marginallyclever.ro3.node.nodes.pose.MeshInstance;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 

src/main/java/com/marginallyclever/ro3/apps/render/OpenGLPanel.java → src/main/java/com/marginallyclever/ro3/apps/viewport/OpenGLPanel.java

@@ -1,10 +1,9 @@
-package com.marginallyclever.ro3.apps.render;
+package com.marginallyclever.ro3.apps.viewport;
 
 import com.jogamp.opengl.*;
 import com.jogamp.opengl.awt.GLJPanel;
 import com.jogamp.opengl.util.FPSAnimator;
 import com.marginallyclever.ro3.apps.App;
-import com.marginallyclever.ro3.apps.DockingPanel;
 import com.marginallyclever.ro3.Registry;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;

src/main/java/com/marginallyclever/ro3/apps/render/RenderPass.java → src/main/java/com/marginallyclever/ro3/apps/viewport/RenderPass.java

@@ -1,4 +1,4 @@
-package com.marginallyclever.ro3.apps.render;
+package com.marginallyclever.ro3.apps.viewport;
 
 import com.jogamp.opengl.GLEventListener;
 import com.marginallyclever.ro3.Registry;
@@ -30,7 +30,7 @@ public interface RenderPass extends GLEventListener {
     String getName();
 
     /**
-     * Draw this render pass.
+     * Draw this viewport pass.
      * @param viewport the viewport to draw into
      */
     void draw(Viewport viewport);