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/**
* @author takahiro / https://github.com/takahirox
*
* CCD Algorithm
* - https://sites.google.com/site/auraliusproject/ccd-algorithm
*
* // ik parameter example
* //
* // target, effector, index in links are bone index in skeleton.bones.
* // the bones relation should be
* // <-- parent child -->
* // links[ n ], links[ n - 1 ], ..., links[ 0 ], effector
* iks = [ {
* target: 1,
* effector: 2,
* links: [ { index: 5, limitation: new THREE.Vector3( 1, 0, 0 ) }, { index: 4, enabled: false }, { index : 3 } ],
* iteration: 10,
* minAngle: 0.0,
* maxAngle: 1.0,
* } ];
*/
THREE.CCDIKSolver = ( function () {
/**
* @param {THREE.SkinnedMesh} mesh
* @param {Array<Object>} iks
*/
function CCDIKSolver( mesh, iks ) {
this.mesh = mesh;
this.iks = iks || [];
this._valid();
}
CCDIKSolver.prototype = {
constructor: CCDIKSolver,
/**
* Update IK bones.
*
* @return {THREE.CCDIKSolver}
*/
update: function () {
var q = new THREE.Quaternion();
var targetPos = new THREE.Vector3();
var targetVec = new THREE.Vector3();
var effectorPos = new THREE.Vector3();
var effectorVec = new THREE.Vector3();
var linkPos = new THREE.Vector3();
var invLinkQ = new THREE.Quaternion();
var linkScale = new THREE.Vector3();
var axis = new THREE.Vector3();
var vector = new THREE.Vector3();
return function update() {
var bones = this.mesh.skeleton.bones;
var iks = this.iks;
// for reference overhead reduction in loop
var math = Math;
for ( var i = 0, il = iks.length; i < il; i++ ) {
var ik = iks[ i ];
var effector = bones[ ik.effector ];
var target = bones[ ik.target ];
// don't use getWorldPosition() here for the performance
// because it calls updateMatrixWorld( true ) inside.
targetPos.setFromMatrixPosition( target.matrixWorld );
var links = ik.links;
var iteration = ik.iteration !== undefined ? ik.iteration : 1;
for ( var j = 0; j < iteration; j++ ) {
var rotated = false;
for ( var k = 0, kl = links.length; k < kl; k++ ) {
var link = bones[ links[ k ].index ];
// skip this link and following links.
// this skip is used for MMD performance optimization.
if ( links[ k ].enabled === false ) break;
var limitation = links[ k ].limitation;
var rotationMin = links[ k ].rotationMin;
var rotationMax = links[ k ].rotationMax;
// don't use getWorldPosition/Quaternion() here for the performance
// because they call updateMatrixWorld( true ) inside.
link.matrixWorld.decompose( linkPos, invLinkQ, linkScale );
invLinkQ.inverse();
effectorPos.setFromMatrixPosition( effector.matrixWorld );
// work in link world
effectorVec.subVectors( effectorPos, linkPos );
effectorVec.applyQuaternion( invLinkQ );
effectorVec.normalize();
targetVec.subVectors( targetPos, linkPos );
targetVec.applyQuaternion( invLinkQ );
targetVec.normalize();
var angle = targetVec.dot( effectorVec );
if ( angle > 1.0 ) {
angle = 1.0;
} else if ( angle < -1.0 ) {
angle = -1.0;
}
angle = math.acos( angle );
// skip if changing angle is too small to prevent vibration of bone
// Refer to http://www20.atpages.jp/katwat/three.js_r58/examples/mytest37/mmd.three.js
if ( angle < 1e-5 ) continue;
if ( ik.minAngle !== undefined && angle < ik.minAngle ) {
angle = ik.minAngle;
}
if ( ik.maxAngle !== undefined && angle > ik.maxAngle ) {
angle = ik.maxAngle;
}
axis.crossVectors( effectorVec, targetVec );
axis.normalize();
q.setFromAxisAngle( axis, angle );
link.quaternion.multiply( q );
// TODO: re-consider the limitation specification
if ( limitation !== undefined ) {
var c = link.quaternion.w;
if ( c > 1.0 ) c = 1.0;
var c2 = math.sqrt( 1 - c * c );
link.quaternion.set( limitation.x * c2,
limitation.y * c2,
limitation.z * c2,
c );
}
if ( rotationMin !== undefined ) {
link.rotation.setFromVector3(
link.rotation
.toVector3( vector )
.max( rotationMin ) );
}
if ( rotationMax !== undefined ) {
link.rotation.setFromVector3(
link.rotation
.toVector3( vector )
.min( rotationMax ) );
}
link.updateMatrixWorld( true );
rotated = true;
}
if ( ! rotated ) break;
}
}
return this;
};
}(),
/**
* Creates Helper
*
* @return {CCDIKHelper}
*/
createHelper: function () {
return new CCDIKHelper( this.mesh, this.mesh.geometry.userData.MMD.iks );
},
// private methods
_valid: function () {
var iks = this.iks;
var bones = this.mesh.skeleton.bones;
for ( var i = 0, il = iks.length; i < il; i ++ ) {
var ik = iks[ i ];
var effector = bones[ ik.effector ];
var links = ik.links;
var link0, link1;
link0 = effector;
for ( var j = 0, jl = links.length; j < jl; j ++ ) {
link1 = bones[ links[ j ].index ];
if ( link0.parent !== link1 ) {
console.warn( 'THREE.CCDIKSolver: bone ' + link0.name + ' is not the child of bone ' + link1.name );
}
link0 = link1;
}
}
}
};
/**
* Visualize IK bones
*
* @param {SkinnedMesh} mesh
* @param {Array<Object>} iks
*/
function CCDIKHelper( mesh, iks ) {
THREE.Object3D.call( this );
this.root = mesh;
this.iks = iks || [];
this.matrix.copy( mesh.matrixWorld );
this.matrixAutoUpdate = false;
this.sphereGeometry = new THREE.SphereBufferGeometry( 0.25, 16, 8 );
this.targetSphereMaterial = new THREE.MeshBasicMaterial( {
color: new THREE.Color( 0xff8888 ),
depthTest: false,
depthWrite: false,
transparent: true
} );
this.effectorSphereMaterial = new THREE.MeshBasicMaterial( {
color: new THREE.Color( 0x88ff88 ),
depthTest: false,
depthWrite: false,
transparent: true
} );
this.linkSphereMaterial = new THREE.MeshBasicMaterial( {
color: new THREE.Color( 0x8888ff ),
depthTest: false,
depthWrite: false,
transparent: true
} );
this.lineMaterial = new THREE.LineBasicMaterial( {
color: new THREE.Color( 0xff0000 ),
depthTest: false,
depthWrite: false,
transparent: true
} );
this._init();
}
CCDIKHelper.prototype = Object.assign( Object.create( THREE.Object3D.prototype ), {
constructor: CCDIKHelper,
/**
* Updates IK bones visualization.
*/
updateMatrixWorld: function () {
var matrix = new THREE.Matrix4();
var vector = new THREE.Vector3();
function getPosition( bone, matrixWorldInv ) {
return vector
.setFromMatrixPosition( bone.matrixWorld )
.applyMatrix4( matrixWorldInv );
}
function setPositionOfBoneToAttributeArray( array, index, bone, matrixWorldInv ) {
var v = getPosition( bone, matrixWorldInv );
array[ index * 3 + 0 ] = v.x;
array[ index * 3 + 1 ] = v.y;
array[ index * 3 + 2 ] = v.z;
}
return function updateMatrixWorld( force ) {
var mesh = this.root;
if ( this.visible ) {
var offset = 0;
var iks = this.iks;
var bones = mesh.skeleton.bones;
matrix.getInverse( mesh.matrixWorld );
for ( var i = 0, il = iks.length; i < il; i ++ ) {
var ik = iks[ i ];
var targetBone = bones[ ik.target ];
var effectorBone = bones[ ik.effector ];
var targetMesh = this.children[ offset ++ ];
var effectorMesh = this.children[ offset ++ ];
targetMesh.position.copy( getPosition( targetBone, matrix ) );
effectorMesh.position.copy( getPosition( effectorBone, matrix ) );
for ( var j = 0, jl = ik.links.length; j < jl; j ++ ) {
var link = ik.links[ j ];
var linkBone = bones[ link.index ];
var linkMesh = this.children[ offset ++ ];
linkMesh.position.copy( getPosition( linkBone, matrix ) );
}
var line = this.children[ offset ++ ];
var array = line.geometry.attributes.position.array;
setPositionOfBoneToAttributeArray( array, 0, targetBone, matrix );
setPositionOfBoneToAttributeArray( array, 1, effectorBone, matrix );
for ( var j = 0, jl = ik.links.length; j < jl; j ++ ) {
var link = ik.links[ j ];
var linkBone = bones[ link.index ];
setPositionOfBoneToAttributeArray( array, j + 2, linkBone, matrix );
}
line.geometry.attributes.position.needsUpdate = true;
}
}
this.matrix.copy( mesh.matrixWorld );
THREE.Object3D.prototype.updateMatrixWorld.call( this, force );
};
}(),
// private method
_init: function () {
var self = this;
var iks = this.iks;
function createLineGeometry( ik ) {
var geometry = new THREE.BufferGeometry();
var vertices = new Float32Array( ( 2 + ik.links.length ) * 3 );
geometry.addAttribute( 'position', new THREE.BufferAttribute( vertices, 3 ) );
return geometry;
}
function createTargetMesh() {
return new THREE.Mesh( self.sphereGeometry, self.targetSphereMaterial );
}
function createEffectorMesh() {
return new THREE.Mesh( self.sphereGeometry, self.effectorSphereMaterial );
}
function createLinkMesh() {
return new THREE.Mesh( self.sphereGeometry, self.linkSphereMaterial );
}
function createLine( ik ) {
return new THREE.Line( createLineGeometry( ik ), self.lineMaterial );
}
for ( var i = 0, il = iks.length; i < il; i ++ ) {
var ik = iks[ i ];
this.add( createTargetMesh() );
this.add( createEffectorMesh() );
for ( var j = 0, jl = ik.links.length; j < jl; j ++ ) {
this.add( createLinkMesh() );
}
this.add( createLine( ik ) );
}
}
} );
return CCDIKSolver;
} )();
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