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