| 1 |
- {"ast":null,"code":"import { Vector3, Quaternion, Matrix } from \"../Maths/math.vector.js\";\nimport { Logger } from \"../Misc/logger.js\";\n/**\n * Class used to apply inverse kinematics to bones\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#boneikcontroller\n */\nexport class BoneIKController {\n /**\n * Gets or sets maximum allowed angle\n */\n get maxAngle() {\n return this._maxAngle;\n }\n set maxAngle(value) {\n this._setMaxAngle(value);\n }\n /**\n * Creates a new BoneIKController\n * @param mesh defines the TransformNode to control\n * @param bone defines the bone to control. The bone needs to have a parent bone. It also needs to have a length greater than 0 or a children we can use to infer its length.\n * @param options defines options to set up the controller\n * @param options.targetMesh\n * @param options.poleTargetMesh\n * @param options.poleTargetBone\n * @param options.poleTargetLocalOffset\n * @param options.poleAngle\n * @param options.bendAxis\n * @param options.maxAngle\n * @param options.slerpAmount\n */\n constructor(mesh, bone, options) {\n /**\n * Gets or sets the target position\n */\n this.targetPosition = Vector3.Zero();\n /**\n * Gets or sets the pole target position\n */\n this.poleTargetPosition = Vector3.Zero();\n /**\n * Gets or sets the pole target local offset\n */\n this.poleTargetLocalOffset = Vector3.Zero();\n /**\n * Gets or sets the pole angle\n */\n this.poleAngle = 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._bone1Quat = Quaternion.Identity();\n this._bone1Mat = Matrix.Identity();\n this._bone2Ang = Math.PI;\n this._maxAngle = Math.PI;\n this._rightHandedSystem = false;\n this._bendAxis = Vector3.Right();\n this._slerping = false;\n this._adjustRoll = 0;\n this._notEnoughInformation = false;\n this._bone2 = bone;\n const bone1 = bone.getParent();\n if (!bone1) {\n this._notEnoughInformation = true;\n Logger.Error(\"BoneIKController: bone must have a parent for IK to work.\");\n return;\n }\n this._bone1 = bone1;\n if (this._bone2.children.length === 0 && !this._bone2.length) {\n this._notEnoughInformation = true;\n Logger.Error(\"BoneIKController: bone must not be a leaf or it should have a length for IK to work.\");\n return;\n }\n this.mesh = mesh;\n bone.getSkeleton().computeAbsoluteMatrices();\n const bonePos = bone.getPosition();\n if (bone.getAbsoluteMatrix().determinant() > 0) {\n this._rightHandedSystem = true;\n this._bendAxis.x = 0;\n this._bendAxis.y = 0;\n this._bendAxis.z = -1;\n if (bonePos.x > bonePos.y && bonePos.x > bonePos.z) {\n this._adjustRoll = Math.PI * 0.5;\n this._bendAxis.z = 1;\n }\n }\n if (this._bone1.length && this._bone2.length) {\n const boneScale1 = this._bone1.getScale();\n const boneScale2 = this._bone2.getScale();\n this._bone1Length = this._bone1.length * boneScale1.y * this.mesh.scaling.y;\n this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\n } else if (this._bone2.children[0]) {\n mesh.computeWorldMatrix(true);\n const pos1 = this._bone2.children[0].getAbsolutePosition(mesh);\n const pos2 = this._bone2.getAbsolutePosition(mesh);\n const pos3 = this._bone1.getAbsolutePosition(mesh);\n this._bone2Length = Vector3.Distance(pos1, pos2);\n this._bone1Length = Vector3.Distance(pos2, pos3);\n } else {\n mesh.computeWorldMatrix(true);\n const boneScale2 = this._bone2.getScale();\n this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\n const pos2 = this._bone2.getAbsolutePosition(mesh);\n const pos3 = this._bone1.getAbsolutePosition(mesh);\n this._bone1Length = Vector3.Distance(pos2, pos3);\n }\n this._bone1.getRotationMatrixToRef(1 /* Space.WORLD */, mesh, this._bone1Mat);\n this.maxAngle = Math.PI;\n if (options) {\n if (options.targetMesh) {\n this.targetMesh = options.targetMesh;\n this.targetMesh.computeWorldMatrix(true);\n }\n if (options.poleTargetMesh) {\n this.poleTargetMesh = options.poleTargetMesh;\n this.poleTargetMesh.computeWorldMatrix(true);\n } else if (options.poleTargetBone) {\n this.poleTargetBone = options.poleTargetBone;\n } else if (this._bone1.getParent()) {\n this.poleTargetBone = this._bone1.getParent();\n }\n if (options.poleTargetLocalOffset) {\n this.poleTargetLocalOffset.copyFrom(options.poleTargetLocalOffset);\n }\n if (options.poleAngle) {\n this.poleAngle = options.poleAngle;\n }\n if (options.bendAxis) {\n this._bendAxis.copyFrom(options.bendAxis);\n }\n if (options.maxAngle) {\n this.maxAngle = options.maxAngle;\n }\n if (options.slerpAmount) {\n this.slerpAmount = options.slerpAmount;\n }\n }\n }\n _setMaxAngle(ang) {\n if (ang < 0) {\n ang = 0;\n }\n if (ang > Math.PI || ang == undefined) {\n ang = Math.PI;\n }\n this._maxAngle = ang;\n const a = this._bone1Length;\n const b = this._bone2Length;\n this._maxReach = Math.sqrt(a * a + b * b - 2 * a * b * Math.cos(ang));\n }\n /**\n * Force the controller to update the bones\n */\n update() {\n if (this._notEnoughInformation) {\n return;\n }\n const target = this.targetPosition;\n const poleTarget = this.poleTargetPosition;\n const mat1 = BoneIKController._TmpMats[0];\n const mat2 = BoneIKController._TmpMats[1];\n if (this.targetMesh) {\n target.copyFrom(this.targetMesh.getAbsolutePosition());\n }\n if (this.poleTargetBone) {\n this.poleTargetBone.getAbsolutePositionFromLocalToRef(this.poleTargetLocalOffset, this.mesh, poleTarget);\n } else if (this.poleTargetMesh) {\n Vector3.TransformCoordinatesToRef(this.poleTargetLocalOffset, this.poleTargetMesh.getWorldMatrix(), poleTarget);\n }\n const bonePos = BoneIKController._TmpVecs[0];\n const zaxis = BoneIKController._TmpVecs[1];\n const xaxis = BoneIKController._TmpVecs[2];\n const yaxis = BoneIKController._TmpVecs[3];\n const upAxis = BoneIKController._TmpVecs[4];\n const tmpQuat = BoneIKController._TmpQuat;\n this._bone1.getAbsolutePositionToRef(this.mesh, bonePos);\n poleTarget.subtractToRef(bonePos, upAxis);\n if (upAxis.x == 0 && upAxis.y == 0 && upAxis.z == 0) {\n upAxis.y = 1;\n } else {\n upAxis.normalize();\n }\n target.subtractToRef(bonePos, yaxis);\n yaxis.normalize();\n Vector3.CrossToRef(yaxis, upAxis, zaxis);\n zaxis.normalize();\n Vector3.CrossToRef(yaxis, zaxis, xaxis);\n xaxis.normalize();\n Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, mat1);\n const a = this._bone1Length;\n const b = this._bone2Length;\n let c = Vector3.Distance(bonePos, target);\n if (this._maxReach > 0) {\n c = Math.min(this._maxReach, c);\n }\n let acosa = (b * b + c * c - a * a) / (2 * b * c);\n let acosb = (c * c + a * a - b * b) / (2 * c * a);\n if (acosa > 1) {\n acosa = 1;\n }\n if (acosb > 1) {\n acosb = 1;\n }\n if (acosa < -1) {\n acosa = -1;\n }\n if (acosb < -1) {\n acosb = -1;\n }\n const angA = Math.acos(acosa);\n const angB = Math.acos(acosb);\n let angC = -angA - angB;\n if (this._rightHandedSystem) {\n Matrix.RotationYawPitchRollToRef(0, 0, this._adjustRoll, mat2);\n mat2.multiplyToRef(mat1, mat1);\n Matrix.RotationAxisToRef(this._bendAxis, angB, mat2);\n mat2.multiplyToRef(mat1, mat1);\n } else {\n const _tmpVec = BoneIKController._TmpVecs[5];\n _tmpVec.copyFrom(this._bendAxis);\n _tmpVec.x *= -1;\n Matrix.RotationAxisToRef(_tmpVec, -angB, mat2);\n mat2.multiplyToRef(mat1, mat1);\n }\n if (this.poleAngle) {\n Matrix.RotationAxisToRef(yaxis, this.poleAngle, mat2);\n mat1.multiplyToRef(mat2, mat1);\n }\n if (this._bone1) {\n if (this.slerpAmount < 1) {\n if (!this._slerping) {\n Quaternion.FromRotationMatrixToRef(this._bone1Mat, this._bone1Quat);\n }\n Quaternion.FromRotationMatrixToRef(mat1, tmpQuat);\n Quaternion.SlerpToRef(this._bone1Quat, tmpQuat, this.slerpAmount, this._bone1Quat);\n angC = this._bone2Ang * (1.0 - this.slerpAmount) + angC * this.slerpAmount;\n this._bone1.setRotationQuaternion(this._bone1Quat, 1 /* Space.WORLD */, this.mesh);\n this._slerping = true;\n } else {\n this._bone1.setRotationMatrix(mat1, 1 /* Space.WORLD */, this.mesh);\n this._bone1Mat.copyFrom(mat1);\n this._slerping = false;\n }\n this._updateLinkedTransformRotation(this._bone1);\n }\n this._bone2.setAxisAngle(this._bendAxis, angC, 0 /* Space.LOCAL */);\n this._updateLinkedTransformRotation(this._bone2);\n this._bone2Ang = angC;\n }\n _updateLinkedTransformRotation(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}\nBoneIKController._TmpVecs = [Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero()];\nBoneIKController._TmpQuat = Quaternion.Identity();\nBoneIKController._TmpMats = [Matrix.Identity(), Matrix.Identity()];","map":{"version":3,"names":["Vector3","Quaternion","Matrix","Logger","BoneIKController","maxAngle","_maxAngle","value","_setMaxAngle","constructor","mesh","bone","options","targetPosition","Zero","poleTargetPosition","poleTargetLocalOffset","poleAngle","slerpAmount","_bone1Quat","Identity","_bone1Mat","_bone2Ang","Math","PI","_rightHandedSystem","_bendAxis","Right","_slerping","_adjustRoll","_notEnoughInformation","_bone2","bone1","getParent","Error","_bone1","children","length","getSkeleton","computeAbsoluteMatrices","bonePos","getPosition","getAbsoluteMatrix","determinant","x","y","z","boneScale1","getScale","boneScale2","_bone1Length","scaling","_bone2Length","computeWorldMatrix","pos1","getAbsolutePosition","pos2","pos3","Distance","getRotationMatrixToRef","targetMesh","poleTargetMesh","poleTargetBone","copyFrom","bendAxis","ang","undefined","a","b","_maxReach","sqrt","cos","update","target","poleTarget","mat1","_TmpMats","mat2","getAbsolutePositionFromLocalToRef","TransformCoordinatesToRef","getWorldMatrix","_TmpVecs","zaxis","xaxis","yaxis","upAxis","tmpQuat","_TmpQuat","getAbsolutePositionToRef","subtractToRef","normalize","CrossToRef","FromXYZAxesToRef","c","min","acosa","acosb","angA","acos","angB","angC","RotationYawPitchRollToRef","multiplyToRef","RotationAxisToRef","_tmpVec","FromRotationMatrixToRef","SlerpToRef","setRotationQuaternion","setRotationMatrix","_updateLinkedTransformRotation","setAxisAngle","_linkedTransformNode","rotationQuaternion","getRotationQuaternionToRef"],"sources":["F:/workspace/202226701027/huinongbao-app/node_modules/@babylonjs/core/Bones/boneIKController.js"],"sourcesContent":["import { Vector3, Quaternion, Matrix } from \"../Maths/math.vector.js\";\nimport { Logger } from \"../Misc/logger.js\";\n/**\n * Class used to apply inverse kinematics to bones\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#boneikcontroller\n */\nexport class BoneIKController {\n /**\n * Gets or sets maximum allowed angle\n */\n get maxAngle() {\n return this._maxAngle;\n }\n set maxAngle(value) {\n this._setMaxAngle(value);\n }\n /**\n * Creates a new BoneIKController\n * @param mesh defines the TransformNode to control\n * @param bone defines the bone to control. The bone needs to have a parent bone. It also needs to have a length greater than 0 or a children we can use to infer its length.\n * @param options defines options to set up the controller\n * @param options.targetMesh\n * @param options.poleTargetMesh\n * @param options.poleTargetBone\n * @param options.poleTargetLocalOffset\n * @param options.poleAngle\n * @param options.bendAxis\n * @param options.maxAngle\n * @param options.slerpAmount\n */\n constructor(mesh, bone, options) {\n /**\n * Gets or sets the target position\n */\n this.targetPosition = Vector3.Zero();\n /**\n * Gets or sets the pole target position\n */\n this.poleTargetPosition = Vector3.Zero();\n /**\n * Gets or sets the pole target local offset\n */\n this.poleTargetLocalOffset = Vector3.Zero();\n /**\n * Gets or sets the pole angle\n */\n this.poleAngle = 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._bone1Quat = Quaternion.Identity();\n this._bone1Mat = Matrix.Identity();\n this._bone2Ang = Math.PI;\n this._maxAngle = Math.PI;\n this._rightHandedSystem = false;\n this._bendAxis = Vector3.Right();\n this._slerping = false;\n this._adjustRoll = 0;\n this._notEnoughInformation = false;\n this._bone2 = bone;\n const bone1 = bone.getParent();\n if (!bone1) {\n this._notEnoughInformation = true;\n Logger.Error(\"BoneIKController: bone must have a parent for IK to work.\");\n return;\n }\n this._bone1 = bone1;\n if (this._bone2.children.length === 0 && !this._bone2.length) {\n this._notEnoughInformation = true;\n Logger.Error(\"BoneIKController: bone must not be a leaf or it should have a length for IK to work.\");\n return;\n }\n this.mesh = mesh;\n bone.getSkeleton().computeAbsoluteMatrices();\n const bonePos = bone.getPosition();\n if (bone.getAbsoluteMatrix().determinant() > 0) {\n this._rightHandedSystem = true;\n this._bendAxis.x = 0;\n this._bendAxis.y = 0;\n this._bendAxis.z = -1;\n if (bonePos.x > bonePos.y && bonePos.x > bonePos.z) {\n this._adjustRoll = Math.PI * 0.5;\n this._bendAxis.z = 1;\n }\n }\n if (this._bone1.length && this._bone2.length) {\n const boneScale1 = this._bone1.getScale();\n const boneScale2 = this._bone2.getScale();\n this._bone1Length = this._bone1.length * boneScale1.y * this.mesh.scaling.y;\n this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\n }\n else if (this._bone2.children[0]) {\n mesh.computeWorldMatrix(true);\n const pos1 = this._bone2.children[0].getAbsolutePosition(mesh);\n const pos2 = this._bone2.getAbsolutePosition(mesh);\n const pos3 = this._bone1.getAbsolutePosition(mesh);\n this._bone2Length = Vector3.Distance(pos1, pos2);\n this._bone1Length = Vector3.Distance(pos2, pos3);\n }\n else {\n mesh.computeWorldMatrix(true);\n const boneScale2 = this._bone2.getScale();\n this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\n const pos2 = this._bone2.getAbsolutePosition(mesh);\n const pos3 = this._bone1.getAbsolutePosition(mesh);\n this._bone1Length = Vector3.Distance(pos2, pos3);\n }\n this._bone1.getRotationMatrixToRef(1 /* Space.WORLD */, mesh, this._bone1Mat);\n this.maxAngle = Math.PI;\n if (options) {\n if (options.targetMesh) {\n this.targetMesh = options.targetMesh;\n this.targetMesh.computeWorldMatrix(true);\n }\n if (options.poleTargetMesh) {\n this.poleTargetMesh = options.poleTargetMesh;\n this.poleTargetMesh.computeWorldMatrix(true);\n }\n else if (options.poleTargetBone) {\n this.poleTargetBone = options.poleTargetBone;\n }\n else if (this._bone1.getParent()) {\n this.poleTargetBone = this._bone1.getParent();\n }\n if (options.poleTargetLocalOffset) {\n this.poleTargetLocalOffset.copyFrom(options.poleTargetLocalOffset);\n }\n if (options.poleAngle) {\n this.poleAngle = options.poleAngle;\n }\n if (options.bendAxis) {\n this._bendAxis.copyFrom(options.bendAxis);\n }\n if (options.maxAngle) {\n this.maxAngle = options.maxAngle;\n }\n if (options.slerpAmount) {\n this.slerpAmount = options.slerpAmount;\n }\n }\n }\n _setMaxAngle(ang) {\n if (ang < 0) {\n ang = 0;\n }\n if (ang > Math.PI || ang == undefined) {\n ang = Math.PI;\n }\n this._maxAngle = ang;\n const a = this._bone1Length;\n const b = this._bone2Length;\n this._maxReach = Math.sqrt(a * a + b * b - 2 * a * b * Math.cos(ang));\n }\n /**\n * Force the controller to update the bones\n */\n update() {\n if (this._notEnoughInformation) {\n return;\n }\n const target = this.targetPosition;\n const poleTarget = this.poleTargetPosition;\n const mat1 = BoneIKController._TmpMats[0];\n const mat2 = BoneIKController._TmpMats[1];\n if (this.targetMesh) {\n target.copyFrom(this.targetMesh.getAbsolutePosition());\n }\n if (this.poleTargetBone) {\n this.poleTargetBone.getAbsolutePositionFromLocalToRef(this.poleTargetLocalOffset, this.mesh, poleTarget);\n }\n else if (this.poleTargetMesh) {\n Vector3.TransformCoordinatesToRef(this.poleTargetLocalOffset, this.poleTargetMesh.getWorldMatrix(), poleTarget);\n }\n const bonePos = BoneIKController._TmpVecs[0];\n const zaxis = BoneIKController._TmpVecs[1];\n const xaxis = BoneIKController._TmpVecs[2];\n const yaxis = BoneIKController._TmpVecs[3];\n const upAxis = BoneIKController._TmpVecs[4];\n const tmpQuat = BoneIKController._TmpQuat;\n this._bone1.getAbsolutePositionToRef(this.mesh, bonePos);\n poleTarget.subtractToRef(bonePos, upAxis);\n if (upAxis.x == 0 && upAxis.y == 0 && upAxis.z == 0) {\n upAxis.y = 1;\n }\n else {\n upAxis.normalize();\n }\n target.subtractToRef(bonePos, yaxis);\n yaxis.normalize();\n Vector3.CrossToRef(yaxis, upAxis, zaxis);\n zaxis.normalize();\n Vector3.CrossToRef(yaxis, zaxis, xaxis);\n xaxis.normalize();\n Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, mat1);\n const a = this._bone1Length;\n const b = this._bone2Length;\n let c = Vector3.Distance(bonePos, target);\n if (this._maxReach > 0) {\n c = Math.min(this._maxReach, c);\n }\n let acosa = (b * b + c * c - a * a) / (2 * b * c);\n let acosb = (c * c + a * a - b * b) / (2 * c * a);\n if (acosa > 1) {\n acosa = 1;\n }\n if (acosb > 1) {\n acosb = 1;\n }\n if (acosa < -1) {\n acosa = -1;\n }\n if (acosb < -1) {\n acosb = -1;\n }\n const angA = Math.acos(acosa);\n const angB = Math.acos(acosb);\n let angC = -angA - angB;\n if (this._rightHandedSystem) {\n Matrix.RotationYawPitchRollToRef(0, 0, this._adjustRoll, mat2);\n mat2.multiplyToRef(mat1, mat1);\n Matrix.RotationAxisToRef(this._bendAxis, angB, mat2);\n mat2.multiplyToRef(mat1, mat1);\n }\n else {\n const _tmpVec = BoneIKController._TmpVecs[5];\n _tmpVec.copyFrom(this._bendAxis);\n _tmpVec.x *= -1;\n Matrix.RotationAxisToRef(_tmpVec, -angB, mat2);\n mat2.multiplyToRef(mat1, mat1);\n }\n if (this.poleAngle) {\n Matrix.RotationAxisToRef(yaxis, this.poleAngle, mat2);\n mat1.multiplyToRef(mat2, mat1);\n }\n if (this._bone1) {\n if (this.slerpAmount < 1) {\n if (!this._slerping) {\n Quaternion.FromRotationMatrixToRef(this._bone1Mat, this._bone1Quat);\n }\n Quaternion.FromRotationMatrixToRef(mat1, tmpQuat);\n Quaternion.SlerpToRef(this._bone1Quat, tmpQuat, this.slerpAmount, this._bone1Quat);\n angC = this._bone2Ang * (1.0 - this.slerpAmount) + angC * this.slerpAmount;\n this._bone1.setRotationQuaternion(this._bone1Quat, 1 /* Space.WORLD */, this.mesh);\n this._slerping = true;\n }\n else {\n this._bone1.setRotationMatrix(mat1, 1 /* Space.WORLD */, this.mesh);\n this._bone1Mat.copyFrom(mat1);\n this._slerping = false;\n }\n this._updateLinkedTransformRotation(this._bone1);\n }\n this._bone2.setAxisAngle(this._bendAxis, angC, 0 /* Space.LOCAL */);\n this._updateLinkedTransformRotation(this._bone2);\n this._bone2Ang = angC;\n }\n _updateLinkedTransformRotation(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}\nBoneIKController._TmpVecs = [Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero()];\nBoneIKController._TmpQuat = Quaternion.Identity();\nBoneIKController._TmpMats = [Matrix.Identity(), 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