| 1 |
- {"ast":null,"code":"import { BuildArray } from \"../Misc/arrayTools.js\";\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector.js\";\nimport { Axis } from \"../Maths/math.axis.js\";\n/**\n * Class used to make a bone look toward a point in space\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#bonelookcontroller\n */\nexport class BoneLookController {\n /**\n * Gets or sets the minimum yaw angle that the bone can look to\n */\n get minYaw() {\n return this._minYaw;\n }\n set minYaw(value) {\n this._minYaw = value;\n this._minYawSin = Math.sin(value);\n this._minYawCos = Math.cos(value);\n if (this._maxYaw != null) {\n this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\n this._yawRange = this._maxYaw - this._minYaw;\n }\n }\n /**\n * Gets or sets the maximum yaw angle that the bone can look to\n */\n get maxYaw() {\n return this._maxYaw;\n }\n set maxYaw(value) {\n this._maxYaw = value;\n this._maxYawSin = Math.sin(value);\n this._maxYawCos = Math.cos(value);\n if (this._minYaw != null) {\n this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\n this._yawRange = this._maxYaw - this._minYaw;\n }\n }\n /**\n * Gets or sets the minimum pitch angle that the bone can look to\n */\n get minPitch() {\n return this._minPitch;\n }\n set minPitch(value) {\n this._minPitch = value;\n this._minPitchTan = Math.tan(value);\n }\n /**\n * Gets or sets the maximum pitch angle that the bone can look to\n */\n get maxPitch() {\n return this._maxPitch;\n }\n set maxPitch(value) {\n this._maxPitch = value;\n this._maxPitchTan = Math.tan(value);\n }\n /**\n * Create a BoneLookController\n * @param mesh the TransformNode that the bone belongs to\n * @param bone the bone that will be looking to the target\n * @param target the target Vector3 to look at\n * @param options optional settings:\n * * maxYaw: the maximum angle the bone will yaw to\n * * minYaw: the minimum angle the bone will yaw to\n * * maxPitch: the maximum angle the bone will pitch to\n * * minPitch: the minimum angle the bone will yaw to\n * * slerpAmount: set the between 0 and 1 to make the bone slerp to the target.\n * * upAxis: the up axis of the coordinate system\n * * upAxisSpace: the space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD.\n * * yawAxis: set yawAxis if the bone does not yaw on the y axis\n * * pitchAxis: set pitchAxis if the bone does not pitch on the x axis\n * * adjustYaw: used to make an adjustment to the yaw of the bone\n * * adjustPitch: used to make an adjustment to the pitch of the bone\n * * adjustRoll: used to make an adjustment to the roll of the bone\n * @param options.maxYaw\n * @param options.minYaw\n * @param options.maxPitch\n * @param options.minPitch\n * @param options.slerpAmount\n * @param options.upAxis\n * @param options.upAxisSpace\n * @param options.yawAxis\n * @param options.pitchAxis\n * @param options.adjustYaw\n * @param options.adjustPitch\n * @param options.adjustRoll\n **/\n constructor(mesh, bone, target, options) {\n /**\n * The up axis of the coordinate system that is used when the bone is rotated\n */\n this.upAxis = Vector3.Up();\n /**\n * The space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD\n */\n this.upAxisSpace = 0 /* Space.LOCAL */;\n /**\n * Used to make an adjustment to the yaw of the bone\n */\n this.adjustYaw = 0;\n /**\n * Used to make an adjustment to the pitch of the bone\n */\n this.adjustPitch = 0;\n /**\n * Used to make an adjustment to the roll of the bone\n */\n this.adjustRoll = 0;\n /**\n * The amount to slerp (spherical linear interpolation) to the target. Set this to a value between 0 and 1 (a value of 1 disables slerp)\n */\n this.slerpAmount = 1;\n this._boneQuat = Quaternion.Identity();\n this._slerping = false;\n this._firstFrameSkipped = false;\n this._fowardAxis = Vector3.Forward();\n /**\n * Use the absolute value for yaw when checking the min/max constraints\n */\n this.useAbsoluteValueForYaw = false;\n this.mesh = mesh;\n this.bone = bone;\n this.target = target;\n if (options) {\n if (options.adjustYaw) {\n this.adjustYaw = options.adjustYaw;\n }\n if (options.adjustPitch) {\n this.adjustPitch = options.adjustPitch;\n }\n if (options.adjustRoll) {\n this.adjustRoll = options.adjustRoll;\n }\n if (options.maxYaw != null) {\n this.maxYaw = options.maxYaw;\n } else {\n this.maxYaw = Math.PI;\n }\n if (options.minYaw != null) {\n this.minYaw = options.minYaw;\n } else {\n this.minYaw = -Math.PI;\n }\n if (options.maxPitch != null) {\n this.maxPitch = options.maxPitch;\n } else {\n this.maxPitch = Math.PI;\n }\n if (options.minPitch != null) {\n this.minPitch = options.minPitch;\n } else {\n this.minPitch = -Math.PI;\n }\n if (options.slerpAmount != null) {\n this.slerpAmount = options.slerpAmount;\n }\n if (options.upAxis != null) {\n this.upAxis = options.upAxis;\n }\n if (options.upAxisSpace != null) {\n this.upAxisSpace = options.upAxisSpace;\n }\n if (options.yawAxis != null || options.pitchAxis != null) {\n let newYawAxis = Axis.Y;\n let newPitchAxis = Axis.X;\n if (options.yawAxis != null) {\n newYawAxis = options.yawAxis.clone();\n newYawAxis.normalize();\n }\n if (options.pitchAxis != null) {\n newPitchAxis = options.pitchAxis.clone();\n newPitchAxis.normalize();\n }\n const newRollAxis = Vector3.Cross(newPitchAxis, newYawAxis);\n this._transformYawPitch = Matrix.Identity();\n Matrix.FromXYZAxesToRef(newPitchAxis, newYawAxis, newRollAxis, this._transformYawPitch);\n this._transformYawPitchInv = this._transformYawPitch.clone();\n this._transformYawPitch.invert();\n }\n if (options.useAbsoluteValueForYaw !== undefined) {\n this.useAbsoluteValueForYaw = options.useAbsoluteValueForYaw;\n }\n }\n if (!bone.getParent() && this.upAxisSpace == 2 /* Space.BONE */) {\n this.upAxisSpace = 0 /* Space.LOCAL */;\n }\n }\n /**\n * Update the bone to look at the target. This should be called before the scene is rendered (use scene.registerBeforeRender())\n */\n update() {\n //skip the first frame when slerping so that the TransformNode rotation is correct\n if (this.slerpAmount < 1 && !this._firstFrameSkipped) {\n this._firstFrameSkipped = true;\n return;\n }\n const bone = this.bone;\n const bonePos = BoneLookController._TmpVecs[0];\n bone.getAbsolutePositionToRef(this.mesh, bonePos);\n let target = this.target;\n const _tmpMat1 = BoneLookController._TmpMats[0];\n const _tmpMat2 = BoneLookController._TmpMats[1];\n const mesh = this.mesh;\n const parentBone = bone.getParent();\n const upAxis = BoneLookController._TmpVecs[1];\n upAxis.copyFrom(this.upAxis);\n if (this.upAxisSpace == 2 /* Space.BONE */ && parentBone) {\n if (this._transformYawPitch) {\n Vector3.TransformCoordinatesToRef(upAxis, this._transformYawPitchInv, upAxis);\n }\n parentBone.getDirectionToRef(upAxis, this.mesh, upAxis);\n } else if (this.upAxisSpace == 0 /* Space.LOCAL */) {\n mesh.getDirectionToRef(upAxis, upAxis);\n if (mesh.scaling.x != 1 || mesh.scaling.y != 1 || mesh.scaling.z != 1) {\n upAxis.normalize();\n }\n }\n let checkYaw = false;\n let checkPitch = false;\n if (this._maxYaw != Math.PI || this._minYaw != -Math.PI) {\n checkYaw = true;\n }\n if (this._maxPitch != Math.PI || this._minPitch != -Math.PI) {\n checkPitch = true;\n }\n if (checkYaw || checkPitch) {\n const spaceMat = BoneLookController._TmpMats[2];\n const spaceMatInv = BoneLookController._TmpMats[3];\n if (this.upAxisSpace == 2 /* Space.BONE */ && upAxis.y == 1 && parentBone) {\n parentBone.getRotationMatrixToRef(1 /* Space.WORLD */, this.mesh, spaceMat);\n } else if (this.upAxisSpace == 0 /* Space.LOCAL */ && upAxis.y == 1 && !parentBone) {\n spaceMat.copyFrom(mesh.getWorldMatrix());\n } else {\n let forwardAxis = BoneLookController._TmpVecs[2];\n forwardAxis.copyFrom(this._fowardAxis);\n if (this._transformYawPitch) {\n Vector3.TransformCoordinatesToRef(forwardAxis, this._transformYawPitchInv, forwardAxis);\n }\n if (parentBone) {\n parentBone.getDirectionToRef(forwardAxis, this.mesh, forwardAxis);\n } else {\n mesh.getDirectionToRef(forwardAxis, forwardAxis);\n }\n const rightAxis = Vector3.Cross(upAxis, forwardAxis);\n rightAxis.normalize();\n forwardAxis = Vector3.Cross(rightAxis, upAxis);\n Matrix.FromXYZAxesToRef(rightAxis, upAxis, forwardAxis, spaceMat);\n }\n spaceMat.invertToRef(spaceMatInv);\n let xzlen = null;\n if (checkPitch) {\n const localTarget = BoneLookController._TmpVecs[3];\n target.subtractToRef(bonePos, localTarget);\n Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\n xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\n const pitch = Math.atan2(localTarget.y, xzlen);\n let newPitch = pitch;\n if (pitch > this._maxPitch) {\n localTarget.y = this._maxPitchTan * xzlen;\n newPitch = this._maxPitch;\n } else if (pitch < this._minPitch) {\n localTarget.y = this._minPitchTan * xzlen;\n newPitch = this._minPitch;\n }\n if (pitch != newPitch) {\n Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\n localTarget.addInPlace(bonePos);\n target = localTarget;\n }\n }\n if (checkYaw) {\n const localTarget = BoneLookController._TmpVecs[4];\n target.subtractToRef(bonePos, localTarget);\n Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\n const yaw = Math.atan2(localTarget.x, localTarget.z);\n const yawCheck = this.useAbsoluteValueForYaw ? Math.abs(yaw) : yaw;\n let newYaw = yaw;\n if (yawCheck > this._maxYaw || yawCheck < this._minYaw) {\n if (xzlen == null) {\n xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\n }\n if (this._yawRange > Math.PI) {\n if (this._isAngleBetween(yaw, this._maxYaw, this._midYawConstraint)) {\n localTarget.z = this._maxYawCos * xzlen;\n localTarget.x = this._maxYawSin * xzlen;\n newYaw = this._maxYaw;\n } else if (this._isAngleBetween(yaw, this._midYawConstraint, this._minYaw)) {\n localTarget.z = this._minYawCos * xzlen;\n localTarget.x = this._minYawSin * xzlen;\n newYaw = this._minYaw;\n }\n } else {\n if (yawCheck > this._maxYaw) {\n localTarget.z = this._maxYawCos * xzlen;\n localTarget.x = this._maxYawSin * xzlen;\n if (yaw < 0 && this.useAbsoluteValueForYaw) {\n localTarget.x *= -1;\n }\n newYaw = this._maxYaw;\n } else if (yawCheck < this._minYaw) {\n localTarget.z = this._minYawCos * xzlen;\n localTarget.x = this._minYawSin * xzlen;\n if (yaw < 0 && this.useAbsoluteValueForYaw) {\n localTarget.x *= -1;\n }\n newYaw = this._minYaw;\n }\n }\n }\n if (this._slerping && this._yawRange > Math.PI) {\n //are we going to be crossing into the min/max region?\n const boneFwd = BoneLookController._TmpVecs[8];\n boneFwd.copyFrom(Axis.Z);\n if (this._transformYawPitch) {\n Vector3.TransformCoordinatesToRef(boneFwd, this._transformYawPitchInv, boneFwd);\n }\n const boneRotMat = BoneLookController._TmpMats[4];\n this._boneQuat.toRotationMatrix(boneRotMat);\n this.mesh.getWorldMatrix().multiplyToRef(boneRotMat, boneRotMat);\n Vector3.TransformCoordinatesToRef(boneFwd, boneRotMat, boneFwd);\n Vector3.TransformCoordinatesToRef(boneFwd, spaceMatInv, boneFwd);\n const boneYaw = Math.atan2(boneFwd.x, boneFwd.z);\n const angBtwTar = this._getAngleBetween(boneYaw, yaw);\n const angBtwMidYaw = this._getAngleBetween(boneYaw, this._midYawConstraint);\n if (angBtwTar > angBtwMidYaw) {\n if (xzlen == null) {\n xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\n }\n const angBtwMax = this._getAngleBetween(boneYaw, this._maxYaw);\n const angBtwMin = this._getAngleBetween(boneYaw, this._minYaw);\n if (angBtwMin < angBtwMax) {\n newYaw = boneYaw + Math.PI * 0.75;\n localTarget.z = Math.cos(newYaw) * xzlen;\n localTarget.x = Math.sin(newYaw) * xzlen;\n } else {\n newYaw = boneYaw - Math.PI * 0.75;\n localTarget.z = Math.cos(newYaw) * xzlen;\n localTarget.x = Math.sin(newYaw) * xzlen;\n }\n }\n }\n if (yaw != newYaw) {\n Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\n localTarget.addInPlace(bonePos);\n target = localTarget;\n }\n }\n }\n const zaxis = BoneLookController._TmpVecs[5];\n const xaxis = BoneLookController._TmpVecs[6];\n const yaxis = BoneLookController._TmpVecs[7];\n const tmpQuat = BoneLookController._TmpQuat;\n const boneScaling = BoneLookController._TmpVecs[9];\n target.subtractToRef(bonePos, zaxis);\n zaxis.normalize();\n Vector3.CrossToRef(upAxis, zaxis, xaxis);\n xaxis.normalize();\n Vector3.CrossToRef(zaxis, xaxis, yaxis);\n yaxis.normalize();\n Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, _tmpMat1);\n if (xaxis.x === 0 && xaxis.y === 0 && xaxis.z === 0) {\n return;\n }\n if (yaxis.x === 0 && yaxis.y === 0 && yaxis.z === 0) {\n return;\n }\n if (zaxis.x === 0 && zaxis.y === 0 && zaxis.z === 0) {\n return;\n }\n if (this.adjustYaw || this.adjustPitch || this.adjustRoll) {\n Matrix.RotationYawPitchRollToRef(this.adjustYaw, this.adjustPitch, this.adjustRoll, _tmpMat2);\n _tmpMat2.multiplyToRef(_tmpMat1, _tmpMat1);\n }\n boneScaling.copyFrom(this.bone.getScale());\n if (this.slerpAmount < 1) {\n if (!this._slerping) {\n this.bone.getRotationQuaternionToRef(1 /* Space.WORLD */, this.mesh, this._boneQuat);\n }\n if (this._transformYawPitch) {\n this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\n }\n Quaternion.FromRotationMatrixToRef(_tmpMat1, tmpQuat);\n Quaternion.SlerpToRef(this._boneQuat, tmpQuat, this.slerpAmount, this._boneQuat);\n this.bone.setRotationQuaternion(this._boneQuat, 1 /* Space.WORLD */, this.mesh);\n this._slerping = true;\n } else {\n if (this._transformYawPitch) {\n this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\n }\n this.bone.setRotationMatrix(_tmpMat1, 1 /* Space.WORLD */, this.mesh);\n this._slerping = false;\n }\n this.bone.setScale(boneScaling);\n this._updateLinkedTransformRotation();\n }\n _getAngleDiff(ang1, ang2) {\n let angDiff = ang2 - ang1;\n angDiff %= Math.PI * 2;\n if (angDiff > Math.PI) {\n angDiff -= Math.PI * 2;\n } else if (angDiff < -Math.PI) {\n angDiff += Math.PI * 2;\n }\n return angDiff;\n }\n _getAngleBetween(ang1, ang2) {\n ang1 %= 2 * Math.PI;\n ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\n ang2 %= 2 * Math.PI;\n ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\n let ab = 0;\n if (ang1 < ang2) {\n ab = ang2 - ang1;\n } else {\n ab = ang1 - ang2;\n }\n if (ab > Math.PI) {\n ab = Math.PI * 2 - ab;\n }\n return ab;\n }\n _isAngleBetween(ang, ang1, ang2) {\n ang %= 2 * Math.PI;\n ang = ang < 0 ? ang + 2 * Math.PI : ang;\n ang1 %= 2 * Math.PI;\n ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\n ang2 %= 2 * Math.PI;\n ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\n if (ang1 < ang2) {\n if (ang > ang1 && ang < ang2) {\n return true;\n }\n } else {\n if (ang > ang2 && ang < ang1) {\n return true;\n }\n }\n return false;\n }\n _updateLinkedTransformRotation() {\n const bone = this.bone;\n if (bone._linkedTransformNode) {\n if (!bone._linkedTransformNode.rotationQuaternion) {\n bone._linkedTransformNode.rotationQuaternion = new Quaternion();\n }\n bone.getRotationQuaternionToRef(0 /* Space.LOCAL */, null, bone._linkedTransformNode.rotationQuaternion);\n }\n }\n}\nBoneLookController._TmpVecs = BuildArray(10, Vector3.Zero);\nBoneLookController._TmpQuat = Quaternion.Identity();\nBoneLookController._TmpMats = BuildArray(5, Matrix.Identity);","map":{"version":3,"names":["BuildArray","Vector3","Quaternion","Matrix","Axis","BoneLookController","minYaw","_minYaw","value","_minYawSin","Math","sin","_minYawCos","cos","_maxYaw","_midYawConstraint","_getAngleDiff","_yawRange","maxYaw","_maxYawSin","_maxYawCos","minPitch","_minPitch","_minPitchTan","tan","maxPitch","_maxPitch","_maxPitchTan","constructor","mesh","bone","target","options","upAxis","Up","upAxisSpace","adjustYaw","adjustPitch","adjustRoll","slerpAmount","_boneQuat","Identity","_slerping","_firstFrameSkipped","_fowardAxis","Forward","useAbsoluteValueForYaw","PI","yawAxis","pitchAxis","newYawAxis","Y","newPitchAxis","X","clone","normalize","newRollAxis","Cross","_transformYawPitch","FromXYZAxesToRef","_transformYawPitchInv","invert","undefined","getParent","update","bonePos","_TmpVecs","getAbsolutePositionToRef","_tmpMat1","_TmpMats","_tmpMat2","parentBone","copyFrom","TransformCoordinatesToRef","getDirectionToRef","scaling","x","y","z","checkYaw","checkPitch","spaceMat","spaceMatInv","getRotationMatrixToRef","getWorldMatrix","forwardAxis","rightAxis","invertToRef","xzlen","localTarget","subtractToRef","sqrt","pitch","atan2","newPitch","addInPlace","yaw","yawCheck","abs","newYaw","_isAngleBetween","boneFwd","Z","boneRotMat","toRotationMatrix","multiplyToRef","boneYaw","angBtwTar","_getAngleBetween","angBtwMidYaw","angBtwMax","angBtwMin","zaxis","xaxis","yaxis","tmpQuat","_TmpQuat","boneScaling","CrossToRef","RotationYawPitchRollToRef","getScale","getRotationQuaternionToRef","FromRotationMatrixToRef","SlerpToRef","setRotationQuaternion","setRotationMatrix","setScale","_updateLinkedTransformRotation","ang1","ang2","angDiff","ab","ang","_linkedTransformNode","rotationQuaternion","Zero"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Bones/boneLookController.js"],"sourcesContent":["import { BuildArray } from \"../Misc/arrayTools.js\";\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector.js\";\nimport { Axis } from \"../Maths/math.axis.js\";\n/**\n * Class used to make a bone look toward a point in space\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#bonelookcontroller\n */\nexport class BoneLookController {\n /**\n * Gets or sets the minimum yaw angle that the bone can look to\n */\n get minYaw() {\n return this._minYaw;\n }\n set minYaw(value) {\n this._minYaw = value;\n this._minYawSin = Math.sin(value);\n this._minYawCos = Math.cos(value);\n if (this._maxYaw != null) {\n this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\n this._yawRange = this._maxYaw - this._minYaw;\n }\n }\n /**\n * Gets or sets the maximum yaw angle that the bone can look to\n */\n get maxYaw() {\n return this._maxYaw;\n }\n set maxYaw(value) {\n this._maxYaw = value;\n this._maxYawSin = Math.sin(value);\n this._maxYawCos = Math.cos(value);\n if (this._minYaw != null) {\n this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\n this._yawRange = this._maxYaw - this._minYaw;\n }\n }\n /**\n * Gets or sets the minimum pitch angle that the bone can look to\n */\n get minPitch() {\n return this._minPitch;\n }\n set minPitch(value) {\n this._minPitch = value;\n this._minPitchTan = Math.tan(value);\n }\n /**\n * Gets or sets the maximum pitch angle that the bone can look to\n */\n get maxPitch() {\n return this._maxPitch;\n }\n set maxPitch(value) {\n this._maxPitch = value;\n this._maxPitchTan = Math.tan(value);\n }\n /**\n * Create a BoneLookController\n * @param mesh the TransformNode that the bone belongs to\n * @param bone the bone that will be looking to the target\n * @param target the target Vector3 to look at\n * @param options optional settings:\n * * maxYaw: the maximum angle the bone will yaw to\n * * minYaw: the minimum angle the bone will yaw to\n * * maxPitch: the maximum angle the bone will pitch to\n * * minPitch: the minimum angle the bone will yaw to\n * * slerpAmount: set the between 0 and 1 to make the bone slerp to the target.\n * * upAxis: the up axis of the coordinate system\n * * upAxisSpace: the space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD.\n * * yawAxis: set yawAxis if the bone does not yaw on the y axis\n * * pitchAxis: set pitchAxis if the bone does not pitch on the x axis\n * * adjustYaw: used to make an adjustment to the yaw of the bone\n * * adjustPitch: used to make an adjustment to the pitch of the bone\n * * adjustRoll: used to make an adjustment to the roll of the bone\n * @param options.maxYaw\n * @param options.minYaw\n * @param options.maxPitch\n * @param options.minPitch\n * @param options.slerpAmount\n * @param options.upAxis\n * @param options.upAxisSpace\n * @param options.yawAxis\n * @param options.pitchAxis\n * @param options.adjustYaw\n * @param options.adjustPitch\n * @param options.adjustRoll\n **/\n constructor(mesh, bone, target, options) {\n /**\n * The up axis of the coordinate system that is used when the bone is rotated\n */\n this.upAxis = Vector3.Up();\n /**\n * The space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD\n */\n this.upAxisSpace = 0 /* Space.LOCAL */;\n /**\n * Used to make an adjustment to the yaw of the bone\n */\n this.adjustYaw = 0;\n /**\n * Used to make an adjustment to the pitch of the bone\n */\n this.adjustPitch = 0;\n /**\n * Used to make an adjustment to the roll of the bone\n */\n this.adjustRoll = 0;\n /**\n * The amount to slerp (spherical linear interpolation) to the target. Set this to a value between 0 and 1 (a value of 1 disables slerp)\n */\n this.slerpAmount = 1;\n this._boneQuat = Quaternion.Identity();\n this._slerping = false;\n this._firstFrameSkipped = false;\n this._fowardAxis = Vector3.Forward();\n /**\n * Use the absolute value for yaw when checking the min/max constraints\n */\n this.useAbsoluteValueForYaw = false;\n this.mesh = mesh;\n this.bone = bone;\n this.target = target;\n if (options) {\n if (options.adjustYaw) {\n this.adjustYaw = options.adjustYaw;\n }\n if (options.adjustPitch) {\n this.adjustPitch = options.adjustPitch;\n }\n if (options.adjustRoll) {\n this.adjustRoll = options.adjustRoll;\n }\n if (options.maxYaw != null) {\n this.maxYaw = options.maxYaw;\n }\n else {\n this.maxYaw = Math.PI;\n }\n if (options.minYaw != null) {\n this.minYaw = options.minYaw;\n }\n else {\n this.minYaw = -Math.PI;\n }\n if (options.maxPitch != null) {\n this.maxPitch = options.maxPitch;\n }\n else {\n this.maxPitch = Math.PI;\n }\n if (options.minPitch != null) {\n this.minPitch = options.minPitch;\n }\n else {\n this.minPitch = -Math.PI;\n }\n if (options.slerpAmount != null) {\n this.slerpAmount = options.slerpAmount;\n }\n if (options.upAxis != null) {\n this.upAxis = options.upAxis;\n }\n if (options.upAxisSpace != null) {\n this.upAxisSpace = options.upAxisSpace;\n }\n if (options.yawAxis != null || options.pitchAxis != null) {\n let newYawAxis = Axis.Y;\n let newPitchAxis = Axis.X;\n if (options.yawAxis != null) {\n newYawAxis = options.yawAxis.clone();\n newYawAxis.normalize();\n }\n if (options.pitchAxis != null) {\n newPitchAxis = options.pitchAxis.clone();\n newPitchAxis.normalize();\n }\n const newRollAxis = Vector3.Cross(newPitchAxis, newYawAxis);\n this._transformYawPitch = Matrix.Identity();\n Matrix.FromXYZAxesToRef(newPitchAxis, newYawAxis, newRollAxis, this._transformYawPitch);\n this._transformYawPitchInv = this._transformYawPitch.clone();\n this._transformYawPitch.invert();\n }\n if (options.useAbsoluteValueForYaw !== undefined) {\n this.useAbsoluteValueForYaw = options.useAbsoluteValueForYaw;\n }\n }\n if (!bone.getParent() && this.upAxisSpace == 2 /* Space.BONE */) {\n this.upAxisSpace = 0 /* Space.LOCAL */;\n }\n }\n /**\n * Update the bone to look at the target. This should be called before the scene is rendered (use scene.registerBeforeRender())\n */\n update() {\n //skip the first frame when slerping so that the TransformNode rotation is correct\n if (this.slerpAmount < 1 && !this._firstFrameSkipped) {\n this._firstFrameSkipped = true;\n return;\n }\n const bone = this.bone;\n const bonePos = BoneLookController._TmpVecs[0];\n bone.getAbsolutePositionToRef(this.mesh, bonePos);\n let target = this.target;\n const _tmpMat1 = BoneLookController._TmpMats[0];\n const _tmpMat2 = BoneLookController._TmpMats[1];\n const mesh = this.mesh;\n const parentBone = bone.getParent();\n const upAxis = BoneLookController._TmpVecs[1];\n upAxis.copyFrom(this.upAxis);\n if (this.upAxisSpace == 2 /* Space.BONE */ && parentBone) {\n if (this._transformYawPitch) {\n Vector3.TransformCoordinatesToRef(upAxis, this._transformYawPitchInv, upAxis);\n }\n parentBone.getDirectionToRef(upAxis, this.mesh, upAxis);\n }\n else if (this.upAxisSpace == 0 /* Space.LOCAL */) {\n mesh.getDirectionToRef(upAxis, upAxis);\n if (mesh.scaling.x != 1 || mesh.scaling.y != 1 || mesh.scaling.z != 1) {\n upAxis.normalize();\n }\n }\n let checkYaw = false;\n let checkPitch = false;\n if (this._maxYaw != Math.PI || this._minYaw != -Math.PI) {\n checkYaw = true;\n }\n if (this._maxPitch != Math.PI || this._minPitch != -Math.PI) {\n checkPitch = true;\n }\n if (checkYaw || checkPitch) {\n const spaceMat = BoneLookController._TmpMats[2];\n const spaceMatInv = BoneLookController._TmpMats[3];\n if (this.upAxisSpace == 2 /* Space.BONE */ && upAxis.y == 1 && parentBone) {\n parentBone.getRotationMatrixToRef(1 /* Space.WORLD */, this.mesh, spaceMat);\n }\n else if (this.upAxisSpace == 0 /* Space.LOCAL */ && upAxis.y == 1 && !parentBone) {\n spaceMat.copyFrom(mesh.getWorldMatrix());\n }\n else {\n let forwardAxis = BoneLookController._TmpVecs[2];\n forwardAxis.copyFrom(this._fowardAxis);\n if (this._transformYawPitch) {\n Vector3.TransformCoordinatesToRef(forwardAxis, this._transformYawPitchInv, forwardAxis);\n }\n if (parentBone) {\n parentBone.getDirectionToRef(forwardAxis, this.mesh, forwardAxis);\n }\n else {\n mesh.getDirectionToRef(forwardAxis, forwardAxis);\n }\n const rightAxis = Vector3.Cross(upAxis, forwardAxis);\n rightAxis.normalize();\n forwardAxis = Vector3.Cross(rightAxis, upAxis);\n Matrix.FromXYZAxesToRef(rightAxis, upAxis, forwardAxis, spaceMat);\n }\n spaceMat.invertToRef(spaceMatInv);\n let xzlen = null;\n if (checkPitch) {\n const localTarget = BoneLookController._TmpVecs[3];\n target.subtractToRef(bonePos, localTarget);\n Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\n xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\n const pitch = Math.atan2(localTarget.y, xzlen);\n let newPitch = pitch;\n if (pitch > this._maxPitch) {\n localTarget.y = this._maxPitchTan * xzlen;\n newPitch = this._maxPitch;\n }\n else if (pitch < this._minPitch) {\n localTarget.y = this._minPitchTan * xzlen;\n newPitch = this._minPitch;\n }\n if (pitch != newPitch) {\n Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\n localTarget.addInPlace(bonePos);\n target = localTarget;\n }\n }\n if (checkYaw) {\n const localTarget = BoneLookController._TmpVecs[4];\n target.subtractToRef(bonePos, localTarget);\n Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\n const yaw = Math.atan2(localTarget.x, localTarget.z);\n const yawCheck = this.useAbsoluteValueForYaw ? Math.abs(yaw) : yaw;\n let newYaw = yaw;\n if (yawCheck > this._maxYaw || yawCheck < this._minYaw) {\n if (xzlen == null) {\n xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\n }\n if (this._yawRange > Math.PI) {\n if (this._isAngleBetween(yaw, this._maxYaw, this._midYawConstraint)) {\n localTarget.z = this._maxYawCos * xzlen;\n localTarget.x = this._maxYawSin * xzlen;\n newYaw = this._maxYaw;\n }\n else if (this._isAngleBetween(yaw, this._midYawConstraint, this._minYaw)) {\n localTarget.z = this._minYawCos * xzlen;\n localTarget.x = this._minYawSin * xzlen;\n newYaw = this._minYaw;\n }\n }\n else {\n if (yawCheck > this._maxYaw) {\n localTarget.z = this._maxYawCos * xzlen;\n localTarget.x = this._maxYawSin * xzlen;\n if (yaw < 0 && this.useAbsoluteValueForYaw) {\n localTarget.x *= -1;\n }\n newYaw = this._maxYaw;\n }\n else if (yawCheck < this._minYaw) {\n localTarget.z = this._minYawCos * xzlen;\n localTarget.x = this._minYawSin * xzlen;\n if (yaw < 0 && this.useAbsoluteValueForYaw) {\n localTarget.x *= -1;\n }\n newYaw = this._minYaw;\n }\n }\n }\n if (this._slerping && this._yawRange > Math.PI) {\n //are we going to be crossing into the min/max region?\n const boneFwd = BoneLookController._TmpVecs[8];\n boneFwd.copyFrom(Axis.Z);\n if (this._transformYawPitch) {\n Vector3.TransformCoordinatesToRef(boneFwd, this._transformYawPitchInv, boneFwd);\n }\n const boneRotMat = BoneLookController._TmpMats[4];\n this._boneQuat.toRotationMatrix(boneRotMat);\n this.mesh.getWorldMatrix().multiplyToRef(boneRotMat, boneRotMat);\n Vector3.TransformCoordinatesToRef(boneFwd, boneRotMat, boneFwd);\n Vector3.TransformCoordinatesToRef(boneFwd, spaceMatInv, boneFwd);\n const boneYaw = Math.atan2(boneFwd.x, boneFwd.z);\n const angBtwTar = this._getAngleBetween(boneYaw, yaw);\n const angBtwMidYaw = this._getAngleBetween(boneYaw, this._midYawConstraint);\n if (angBtwTar > angBtwMidYaw) {\n if (xzlen == null) {\n xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\n }\n const angBtwMax = this._getAngleBetween(boneYaw, this._maxYaw);\n const angBtwMin = this._getAngleBetween(boneYaw, this._minYaw);\n if (angBtwMin < angBtwMax) {\n newYaw = boneYaw + Math.PI * 0.75;\n localTarget.z = Math.cos(newYaw) * xzlen;\n localTarget.x = Math.sin(newYaw) * xzlen;\n }\n else {\n newYaw = boneYaw - Math.PI * 0.75;\n localTarget.z = Math.cos(newYaw) * xzlen;\n localTarget.x = Math.sin(newYaw) * xzlen;\n }\n }\n }\n if (yaw != newYaw) {\n Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\n localTarget.addInPlace(bonePos);\n target = localTarget;\n }\n }\n }\n const zaxis = BoneLookController._TmpVecs[5];\n const xaxis = BoneLookController._TmpVecs[6];\n const yaxis = BoneLookController._TmpVecs[7];\n const tmpQuat = BoneLookController._TmpQuat;\n const boneScaling = BoneLookController._TmpVecs[9];\n target.subtractToRef(bonePos, zaxis);\n zaxis.normalize();\n Vector3.CrossToRef(upAxis, zaxis, xaxis);\n xaxis.normalize();\n Vector3.CrossToRef(zaxis, xaxis, yaxis);\n yaxis.normalize();\n Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, _tmpMat1);\n if (xaxis.x === 0 && xaxis.y === 0 && xaxis.z === 0) {\n return;\n }\n if (yaxis.x === 0 && yaxis.y === 0 && yaxis.z === 0) {\n return;\n }\n if (zaxis.x === 0 && zaxis.y === 0 && zaxis.z === 0) {\n return;\n }\n if (this.adjustYaw || this.adjustPitch || this.adjustRoll) {\n Matrix.RotationYawPitchRollToRef(this.adjustYaw, this.adjustPitch, this.adjustRoll, _tmpMat2);\n _tmpMat2.multiplyToRef(_tmpMat1, _tmpMat1);\n }\n boneScaling.copyFrom(this.bone.getScale());\n if (this.slerpAmount < 1) {\n if (!this._slerping) {\n this.bone.getRotationQuaternionToRef(1 /* Space.WORLD */, this.mesh, this._boneQuat);\n }\n if (this._transformYawPitch) {\n this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\n }\n Quaternion.FromRotationMatrixToRef(_tmpMat1, tmpQuat);\n Quaternion.SlerpToRef(this._boneQuat, tmpQuat, this.slerpAmount, this._boneQuat);\n this.bone.setRotationQuaternion(this._boneQuat, 1 /* Space.WORLD */, this.mesh);\n this._slerping = true;\n }\n else {\n if (this._transformYawPitch) {\n this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\n }\n this.bone.setRotationMatrix(_tmpMat1, 1 /* Space.WORLD */, this.mesh);\n this._slerping = false;\n }\n this.bone.setScale(boneScaling);\n this._updateLinkedTransformRotation();\n }\n _getAngleDiff(ang1, ang2) {\n let angDiff = ang2 - ang1;\n angDiff %= Math.PI * 2;\n if (angDiff > Math.PI) {\n angDiff -= Math.PI * 2;\n }\n else if (angDiff < -Math.PI) {\n angDiff += Math.PI * 2;\n }\n return angDiff;\n }\n _getAngleBetween(ang1, ang2) {\n ang1 %= 2 * Math.PI;\n ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\n ang2 %= 2 * Math.PI;\n ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\n let ab = 0;\n if (ang1 < ang2) {\n ab = ang2 - ang1;\n }\n else {\n ab = ang1 - ang2;\n }\n if (ab > Math.PI) {\n ab = Math.PI * 2 - ab;\n }\n return ab;\n }\n _isAngleBetween(ang, ang1, ang2) {\n ang %= 2 * Math.PI;\n ang = ang < 0 ? ang + 2 * Math.PI : ang;\n ang1 %= 2 * Math.PI;\n ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\n ang2 %= 2 * Math.PI;\n ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\n if (ang1 < ang2) {\n if (ang > ang1 && ang < ang2) {\n return true;\n }\n }\n else {\n if (ang > ang2 && ang < ang1) {\n return true;\n }\n }\n return false;\n }\n _updateLinkedTransformRotation() {\n const bone = this.bone;\n if (bone._linkedTransformNode) {\n if (!bone._linkedTransformNode.rotationQuaternion) {\n bone._linkedTransformNode.rotationQuaternion = new Quaternion();\n }\n bone.getRotationQuaternionToRef(0 /* Space.LOCAL */, null, bone._linkedTransformNode.rotationQuaternion);\n }\n }\n}\nBoneLookController._TmpVecs = BuildArray(10, Vector3.Zero);\nBoneLookController._TmpQuat = Quaternion.Identity();\nBoneLookController._TmpMats = BuildArray(5, 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