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290 lines
6.5 KiB
290 lines
6.5 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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<title>Three.js CCDIKSolver Browser</title>
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<link rel="shortcut icon" href="../../files/favicon.ico" />
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<link rel="stylesheet" type="text/css" href="../../files/main.css">
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<style>
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canvas {
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display: block;
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width: 100%;
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height: 100%;
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}
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#newWindow {
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display: block;
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position: absolute;
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bottom: 0.3em;
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left: 0.5em;
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color: #fff;
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}
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</style>
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</head>
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<body>
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<!-- Import maps polyfill -->
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<!-- Remove this when import maps will be widely supported -->
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<script async src="https://unpkg.com/es-module-shims@1.3.6/dist/es-module-shims.js"></script>
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<script type="importmap">
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{
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"imports": {
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"three": "../../build/three.module.js",
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"three/addons/": "../../examples/jsm/"
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}
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}
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</script>
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<a id='newWindow' href='./ccdiksolver-browser.html' target='_blank'>Open in New Window</a>
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<script type="module">
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//
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// Forked from /docs/api/en/objects/SkinnedMesh example
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//
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import {
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Bone,
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Color,
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CylinderGeometry,
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DoubleSide,
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Float32BufferAttribute,
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MeshPhongMaterial,
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PerspectiveCamera,
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Scene,
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SkinnedMesh,
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Skeleton,
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SkeletonHelper,
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Vector3,
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Uint16BufferAttribute,
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WebGLRenderer
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} from 'three';
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import { CCDIKSolver, CCDIKHelper } from 'three/addons/animation/CCDIKSolver.js';
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import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
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import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
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let gui, scene, camera, renderer, orbit, mesh, bones, skeletonHelper, ikSolver;
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const state = {
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ikSolverAutoUpdate: true
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};
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function initScene() {
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gui = new GUI();
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scene = new Scene();
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scene.background = new Color( 0x444444 );
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camera = new PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 0.1, 200 );
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camera.position.z = 30;
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camera.position.y = 30;
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renderer = new WebGLRenderer( { antialias: true } );
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renderer.setPixelRatio( window.devicePixelRatio );
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renderer.setSize( window.innerWidth, window.innerHeight );
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document.body.appendChild( renderer.domElement );
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orbit = new OrbitControls( camera, renderer.domElement );
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orbit.enableZoom = false;
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window.addEventListener( 'resize', function () {
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camera.aspect = window.innerWidth / window.innerHeight;
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camera.updateProjectionMatrix();
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renderer.setSize( window.innerWidth, window.innerHeight );
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}, false );
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initBones();
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setupDatGui();
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}
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function createGeometry( sizing ) {
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const geometry = new CylinderGeometry(
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5, // radiusTop
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5, // radiusBottom
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sizing.height, // height
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8, // radiusSegments
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sizing.segmentCount * 1, // heightSegments
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true // openEnded
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);
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const position = geometry.attributes.position;
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const vertex = new Vector3();
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const skinIndices = [];
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const skinWeights = [];
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for ( let i = 0; i < position.count; i ++ ) {
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vertex.fromBufferAttribute( position, i );
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const y = ( vertex.y + sizing.halfHeight );
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const skinIndex = Math.floor( y / sizing.segmentHeight );
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const skinWeight = ( y % sizing.segmentHeight ) / sizing.segmentHeight;
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skinIndices.push( skinIndex, skinIndex + 1, 0, 0 );
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skinWeights.push( 1 - skinWeight, skinWeight, 0, 0 );
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}
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geometry.setAttribute( 'skinIndex', new Uint16BufferAttribute( skinIndices, 4 ) );
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geometry.setAttribute( 'skinWeight', new Float32BufferAttribute( skinWeights, 4 ) );
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return geometry;
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}
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function createBones( sizing ) {
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bones = [];
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// "root bone"
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const rootBone = new Bone();
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rootBone.name = 'root';
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rootBone.position.y = - sizing.halfHeight;
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bones.push( rootBone );
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//
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// "bone0", "bone1", "bone2", "bone3"
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//
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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 <= sizing.segmentCount; i ++ ) {
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const bone = new Bone();
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bone.position.y = sizing.segmentHeight;
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bones.push( bone );
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bone.name = `bone${i}`;
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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.name = 'target';
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targetBone.position.y = sizing.height + sizing.segmentHeight; // relative to parent: rootBone
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rootBone.add( targetBone );
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bones.push( targetBone );
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return bones;
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}
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function createMesh( geometry, bones ) {
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const material = new MeshPhongMaterial( {
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color: 0x156289,
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emissive: 0x072534,
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side: DoubleSide,
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flatShading: true,
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wireframe: true
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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 ] );
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mesh.bind( skeleton );
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skeletonHelper = new SkeletonHelper( mesh );
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skeletonHelper.material.linewidth = 2;
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scene.add( skeletonHelper );
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return mesh;
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}
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function setupDatGui() {
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gui.add( mesh, 'pose' ).name( 'mesh.pose()' );
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mesh.skeleton.bones
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.filter( ( bone ) => bone.name === 'target' )
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.forEach( function ( bone ) {
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const folder = gui.addFolder( bone.name );
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const delta = 20;
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folder.add( bone.position, 'x', - delta + bone.position.x, delta + bone.position.x );
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folder.add( bone.position, 'y', - bone.position.y, bone.position.y );
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folder.add( bone.position, 'z', - delta + bone.position.z, delta + bone.position.z );
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} );
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gui.add( ikSolver, 'update' ).name( 'ikSolver.update()' );
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gui.add( state, 'ikSolverAutoUpdate' );
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}
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function initBones() {
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const segmentHeight = 8;
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const segmentCount = 3;
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const height = segmentHeight * segmentCount;
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const halfHeight = height * 0.5;
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const sizing = {
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segmentHeight,
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segmentCount,
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height,
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halfHeight
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};
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const geometry = createGeometry( sizing );
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const bones = createBones( sizing );
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mesh = createMesh( geometry, bones );
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scene.add( mesh );
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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,
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effector: 4,
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links: [ { index: 3 }, { index: 2 }, { index: 1 } ]
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}
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];
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ikSolver = new CCDIKSolver( mesh, iks );
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scene.add( new CCDIKHelper( mesh, iks ) );
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}
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function render() {
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requestAnimationFrame( render );
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if ( state.ikSolverAutoUpdate ) {
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ikSolver?.update();
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}
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renderer.render( scene, camera );
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}
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initScene();
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render();
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</script>
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</body>
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</html>
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