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<h1>[name]</h1>
<p class="desc"> A solver for IK with <a href="https://sites.google.com/site/auraliusproject/ccd-algorithm">`CCD Algorithm`</a>. <br /><br />
[name] solves Inverse Kinematics Problem with CCD Algorithm.
[name] is designed to work with [page:SkinnedMesh] but also can be used with [page:MMDLoader] or [page:GLTFLoader] skeleton.
</p>
<iframe id="scene" src="scenes/ccdiksolver-browser.html"></iframe>
<h2>Code Example</h2>
<code>
let ikSolver;
//
// Bones hierarchy:
//
// root
// ├── bone0
// │ └── bone1
// │ └── bone2
// │ └── bone3
// └── target
//
// Positioned as follow on the cylinder:
//
// o <- target (y = 20)
//
// +----o----+ <- bone3 (y = 12)
// | |
// | o | <- bone2 (y = 4)
// | |
// | o | <- bone1 (y = -4)
// | |
// +----oo---+ <- root, bone0 (y = -12)
//
let bones = []
// "root"
let rootBone = new Bone();
rootBone.position.y = -12;
bones.push( rootBone );
// "bone0"
let prevBone = new Bone();
prevBone.position.y = 0;
rootBone.add( prevBone );
bones.push( prevBone );
// "bone1", "bone2", "bone3"
for ( let i = 1; i <= 3; i ++ ) {
const bone = new Bone();
bone.position.y = 8;
bones.push( bone );
prevBone.add( bone );
prevBone = bone;
}
// "target"
const targetBone = new Bone();
targetBone.position.y = 24 + 8
rootBone.add( targetBone );
bones.push( targetBone );
//
// skinned mesh
//
const mesh = new SkinnedMesh( geometry, material );
const skeleton = new Skeleton( bones );
mesh.add( bones[ 0 ] ); // "root" bone
mesh.bind( skeleton );
//
// ikSolver
//
const iks = [
{
target: 5, // "target"
effector: 4, // "bone3"
links: [ { index: 3 }, { index: 2 }, { index: 1 } ] // "bone2", "bone1", "bone0"
}
];
ikSolver = new CCDIKSolver( mesh, iks );
function render() {
ikSolver?.update();
renderer.render( scene, camera );
}
</code>
<h2>Examples</h2>
<p>
[example:webgl_animation_skinning_ik]<br />
[example:webgl_loader_mmd]<br />
[example:webgl_loader_mmd_pose]<br />
[example:webgl_loader_mmd_audio]
</p>
<h2>Constructor</h2>
<h3>[name]( [param:SkinnedMesh mesh], [param:Array iks] )</h3>
<p>
[page:SkinnedMesh mesh] — [page:SkinnedMesh] for which [name] solves IK problem.<br />
[page:Array iks] — An array of [page:Object] specifying IK parameter. target, effector, and link-index are index integers in .skeleton.bones.
The bones relation should be "links[ n ], links[ n - 1 ], ..., links[ 0 ], effector" in order from parent to child.<br />
<ul>
<li>[page:Integer target] — Target bone.</li>
<li>[page:Integer effector] — Effector bone.</li>
<li>[page:Array links] — An array of [page:Object] specifying link bones.
<ul>
<li>[page:Integer index] — Link bone.</li>
<li>[page:Vector3 limitation] — (optional) Rotation axis. Default is undefined.</li>
<li>[page:Vector3 rotationMin] — (optional) Rotation minimum limit. Default is undefined.</li>
<li>[page:Vector3 rotationMax] — (optional) Rotation maximum limit. Default is undefined.</li>
<li>[page:Boolean enabled] — (optional) Default is true.</li>
</ul>
</li>
<li>[page:Integer iteration] — (optional) Iteration number of calculation. Smaller is faster but less precise. Default is 1.</li>
<li>[page:Number minAngle] — (optional) Minimum rotation angle in a step. Default is undefined.</li>
<li>[page:Number maxAngle] — (optional) Maximum rotation angle in a step. Default is undefined.</li>
</ul>
</p>
<p>
Creates a new [name].
</p>
<h2>Properties</h2>
<h3>[property:Array iks]</h3>
<p>An array of IK parameter passed to the constructor.</p>
<h3>[property:SkinnedMesh mesh]</h3>
<p>[page:SkinnedMesh] passed to the constructor.</p>
<h2>Methods</h2>
<h3>[method:CCDIKHelper createHelper]()</h3>
<p>
Return [page:CCDIKHelper]. You can visualize IK bones by adding the helper to scene.
</p>
<h3>[method:this update]()</h3>
<p>
Update IK bones quaternion by solving CCD algorithm.
</p>
<h3>[method:this updateOne]( [param:Object ikParam] )</h3>
<p>
Update an IK bone quaternion by solving CCD algorithm.
</p>
<h2>Source</h2>
<p>
[link:https://github.com/mrdoob/three.js/blob/master/examples/jsm/animation/CCDIKSolver.js examples/jsm/animation/CCDIKSolver.js]
</p>
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