scene:animate

(scene:animate v &optional hook)

Draws at 60 fps, calling hook once before each frame. The hook is where a pose changes -- a joint angle, an IK step, a target that moves -- and it costs the renderer nothing, because a solid that moves needs no re-upload. Part of the scene package, a 3-D viewer for geom solids written in rontolisp over metal and appkit and loaded on first use: macOS (java -jar, the rontolisp binary, or a compiled .class / .jar; never a .wasm), with a display. See the solid modeling guide.

CL-USER> (scene:animate *v* (lambda () (geom:rotate *joint* 0.02 :z)))
NIL