485 lines
9.7 KiB
JavaScript
485 lines
9.7 KiB
JavaScript
import {
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BufferAttribute,
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BufferGeometry,
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Color,
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Line,
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LineBasicMaterial,
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Matrix4,
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Mesh,
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MeshBasicMaterial,
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Object3D,
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Quaternion,
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SphereGeometry,
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Vector3
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} from 'three';
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const _q = new Quaternion();
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const _targetPos = new Vector3();
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const _targetVec = new Vector3();
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const _effectorPos = new Vector3();
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const _effectorVec = new Vector3();
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const _linkPos = new Vector3();
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const _invLinkQ = new Quaternion();
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const _linkScale = new Vector3();
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const _axis = new Vector3();
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const _vector = new Vector3();
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const _matrix = new Matrix4();
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/**
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* CCD Algorithm
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* - https://sites.google.com/site/auraliusproject/ccd-algorithm
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*
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* // ik parameter example
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* //
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* // target, effector, index in links are bone index in skeleton.bones.
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* // the bones relation should be
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* // <-- parent child -->
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* // links[ n ], links[ n - 1 ], ..., links[ 0 ], effector
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* iks = [ {
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* target: 1,
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* effector: 2,
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* links: [ { index: 5, limitation: new Vector3( 1, 0, 0 ) }, { index: 4, enabled: false }, { index : 3 } ],
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* iteration: 10,
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* minAngle: 0.0,
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* maxAngle: 1.0,
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* } ];
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*/
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class CCDIKSolver {
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/**
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* @param {THREE.SkinnedMesh} mesh
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* @param {Array<Object>} iks
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*/
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constructor( mesh, iks = [] ) {
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this.mesh = mesh;
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this.iks = iks;
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this._valid();
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}
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/**
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* Update all IK bones.
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*
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* @return {CCDIKSolver}
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*/
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update() {
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const iks = this.iks;
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for ( let i = 0, il = iks.length; i < il; i ++ ) {
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this.updateOne( iks[ i ] );
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}
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return this;
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}
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/**
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* Update one IK bone
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*
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* @param {Object} ik parameter
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* @return {CCDIKSolver}
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*/
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updateOne( ik ) {
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const bones = this.mesh.skeleton.bones;
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// for reference overhead reduction in loop
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const math = Math;
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const effector = bones[ ik.effector ];
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const target = bones[ ik.target ];
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// don't use getWorldPosition() here for the performance
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// because it calls updateMatrixWorld( true ) inside.
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_targetPos.setFromMatrixPosition( target.matrixWorld );
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const links = ik.links;
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const iteration = ik.iteration !== undefined ? ik.iteration : 1;
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for ( let i = 0; i < iteration; i ++ ) {
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let rotated = false;
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for ( let j = 0, jl = links.length; j < jl; j ++ ) {
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const link = bones[ links[ j ].index ];
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// skip this link and following links.
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// this skip is used for MMD performance optimization.
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if ( links[ j ].enabled === false ) break;
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const limitation = links[ j ].limitation;
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const rotationMin = links[ j ].rotationMin;
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const rotationMax = links[ j ].rotationMax;
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// don't use getWorldPosition/Quaternion() here for the performance
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// because they call updateMatrixWorld( true ) inside.
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link.matrixWorld.decompose( _linkPos, _invLinkQ, _linkScale );
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_invLinkQ.invert();
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_effectorPos.setFromMatrixPosition( effector.matrixWorld );
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// work in link world
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_effectorVec.subVectors( _effectorPos, _linkPos );
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_effectorVec.applyQuaternion( _invLinkQ );
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_effectorVec.normalize();
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_targetVec.subVectors( _targetPos, _linkPos );
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_targetVec.applyQuaternion( _invLinkQ );
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_targetVec.normalize();
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let angle = _targetVec.dot( _effectorVec );
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if ( angle > 1.0 ) {
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angle = 1.0;
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} else if ( angle < - 1.0 ) {
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angle = - 1.0;
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}
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angle = math.acos( angle );
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// skip if changing angle is too small to prevent vibration of bone
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if ( angle < 1e-5 ) continue;
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if ( ik.minAngle !== undefined && angle < ik.minAngle ) {
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angle = ik.minAngle;
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}
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if ( ik.maxAngle !== undefined && angle > ik.maxAngle ) {
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angle = ik.maxAngle;
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}
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_axis.crossVectors( _effectorVec, _targetVec );
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_axis.normalize();
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_q.setFromAxisAngle( _axis, angle );
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link.quaternion.multiply( _q );
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// TODO: re-consider the limitation specification
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if ( limitation !== undefined ) {
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let c = link.quaternion.w;
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if ( c > 1.0 ) c = 1.0;
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const c2 = math.sqrt( 1 - c * c );
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link.quaternion.set( limitation.x * c2,
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limitation.y * c2,
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limitation.z * c2,
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c );
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}
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if ( rotationMin !== undefined ) {
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link.rotation.setFromVector3( _vector.setFromEuler( link.rotation ).max( rotationMin ) );
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}
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if ( rotationMax !== undefined ) {
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link.rotation.setFromVector3( _vector.setFromEuler( link.rotation ).min( rotationMax ) );
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}
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link.updateMatrixWorld( true );
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rotated = true;
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}
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if ( ! rotated ) break;
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}
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return this;
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}
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/**
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* Creates Helper
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*
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* @param {number} sphereSize
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* @return {CCDIKHelper}
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*/
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createHelper( sphereSize ) {
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return new CCDIKHelper( this.mesh, this.iks, sphereSize );
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}
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// private methods
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_valid() {
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const iks = this.iks;
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const bones = this.mesh.skeleton.bones;
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for ( let i = 0, il = iks.length; i < il; i ++ ) {
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const ik = iks[ i ];
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const effector = bones[ ik.effector ];
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const links = ik.links;
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let link0, link1;
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link0 = effector;
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for ( let j = 0, jl = links.length; j < jl; j ++ ) {
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link1 = bones[ links[ j ].index ];
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if ( link0.parent !== link1 ) {
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console.warn( 'THREE.CCDIKSolver: bone ' + link0.name + ' is not the child of bone ' + link1.name );
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}
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link0 = link1;
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}
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}
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}
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}
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function getPosition( bone, matrixWorldInv ) {
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return _vector
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.setFromMatrixPosition( bone.matrixWorld )
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.applyMatrix4( matrixWorldInv );
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}
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function setPositionOfBoneToAttributeArray( array, index, bone, matrixWorldInv ) {
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const v = getPosition( bone, matrixWorldInv );
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array[ index * 3 + 0 ] = v.x;
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array[ index * 3 + 1 ] = v.y;
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array[ index * 3 + 2 ] = v.z;
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}
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/**
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* Visualize IK bones
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*
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* @param {SkinnedMesh} mesh
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* @param {Array<Object>} iks
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* @param {number} sphereSize
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*/
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class CCDIKHelper extends Object3D {
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constructor( mesh, iks = [], sphereSize = 0.25 ) {
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super();
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this.root = mesh;
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this.iks = iks;
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this.matrix.copy( mesh.matrixWorld );
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this.matrixAutoUpdate = false;
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this.sphereGeometry = new SphereGeometry( sphereSize, 16, 8 );
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this.targetSphereMaterial = new MeshBasicMaterial( {
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color: new Color( 0xff8888 ),
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depthTest: false,
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depthWrite: false,
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transparent: true
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} );
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this.effectorSphereMaterial = new MeshBasicMaterial( {
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color: new Color( 0x88ff88 ),
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depthTest: false,
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depthWrite: false,
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transparent: true
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} );
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this.linkSphereMaterial = new MeshBasicMaterial( {
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color: new Color( 0x8888ff ),
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depthTest: false,
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depthWrite: false,
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transparent: true
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} );
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this.lineMaterial = new LineBasicMaterial( {
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color: new Color( 0xff0000 ),
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depthTest: false,
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depthWrite: false,
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transparent: true
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} );
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this._init();
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}
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/**
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* Updates IK bones visualization.
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*/
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updateMatrixWorld( force ) {
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const mesh = this.root;
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if ( this.visible ) {
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let offset = 0;
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const iks = this.iks;
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const bones = mesh.skeleton.bones;
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_matrix.copy( mesh.matrixWorld ).invert();
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for ( let i = 0, il = iks.length; i < il; i ++ ) {
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const ik = iks[ i ];
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const targetBone = bones[ ik.target ];
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const effectorBone = bones[ ik.effector ];
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const targetMesh = this.children[ offset ++ ];
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const effectorMesh = this.children[ offset ++ ];
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targetMesh.position.copy( getPosition( targetBone, _matrix ) );
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effectorMesh.position.copy( getPosition( effectorBone, _matrix ) );
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for ( let j = 0, jl = ik.links.length; j < jl; j ++ ) {
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const link = ik.links[ j ];
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const linkBone = bones[ link.index ];
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const linkMesh = this.children[ offset ++ ];
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linkMesh.position.copy( getPosition( linkBone, _matrix ) );
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}
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const line = this.children[ offset ++ ];
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const array = line.geometry.attributes.position.array;
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setPositionOfBoneToAttributeArray( array, 0, targetBone, _matrix );
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setPositionOfBoneToAttributeArray( array, 1, effectorBone, _matrix );
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for ( let j = 0, jl = ik.links.length; j < jl; j ++ ) {
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const link = ik.links[ j ];
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const linkBone = bones[ link.index ];
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setPositionOfBoneToAttributeArray( array, j + 2, linkBone, _matrix );
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}
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line.geometry.attributes.position.needsUpdate = true;
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}
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}
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this.matrix.copy( mesh.matrixWorld );
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super.updateMatrixWorld( force );
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}
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/**
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* Frees the GPU-related resources allocated by this instance. Call this method whenever this instance is no longer used in your app.
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*/
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dispose() {
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this.sphereGeometry.dispose();
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this.targetSphereMaterial.dispose();
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this.effectorSphereMaterial.dispose();
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this.linkSphereMaterial.dispose();
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this.lineMaterial.dispose();
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const children = this.children;
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for ( let i = 0; i < children.length; i ++ ) {
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const child = children[ i ];
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if ( child.isLine ) child.geometry.dispose();
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}
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}
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// private method
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_init() {
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const scope = this;
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const iks = this.iks;
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function createLineGeometry( ik ) {
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const geometry = new BufferGeometry();
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const vertices = new Float32Array( ( 2 + ik.links.length ) * 3 );
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geometry.setAttribute( 'position', new BufferAttribute( vertices, 3 ) );
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return geometry;
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}
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function createTargetMesh() {
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return new Mesh( scope.sphereGeometry, scope.targetSphereMaterial );
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}
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function createEffectorMesh() {
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return new Mesh( scope.sphereGeometry, scope.effectorSphereMaterial );
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}
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function createLinkMesh() {
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return new Mesh( scope.sphereGeometry, scope.linkSphereMaterial );
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}
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function createLine( ik ) {
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return new Line( createLineGeometry( ik ), scope.lineMaterial );
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}
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for ( let i = 0, il = iks.length; i < il; i ++ ) {
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const ik = iks[ i ];
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this.add( createTargetMesh() );
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this.add( createEffectorMesh() );
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for ( let j = 0, jl = ik.links.length; j < jl; j ++ ) {
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this.add( createLinkMesh() );
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}
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this.add( createLine( ik ) );
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}
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}
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}
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export { CCDIKSolver, CCDIKHelper };
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