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22 |
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23 | THREE.CCDIKSolver = ( function () {
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24 |
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25 | |
26 |
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27 |
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28 |
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29 | function CCDIKSolver( mesh, iks ) {
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30 |
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31 | this.mesh = mesh;
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32 | this.iks = iks || [];
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33 |
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34 | this._valid();
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35 |
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36 | }
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37 |
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38 | CCDIKSolver.prototype = {
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39 |
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40 | constructor: CCDIKSolver,
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41 |
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42 | /**
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43 | * Update IK bones.
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44 | *
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45 | * @return {THREE.CCDIKSolver}
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46 | */
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47 | update: function () {
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48 |
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49 | var q = new THREE.Quaternion();
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50 | var targetPos = new THREE.Vector3();
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51 | var targetVec = new THREE.Vector3();
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52 | var effectorPos = new THREE.Vector3();
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53 | var effectorVec = new THREE.Vector3();
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54 | var linkPos = new THREE.Vector3();
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55 | var invLinkQ = new THREE.Quaternion();
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56 | var linkScale = new THREE.Vector3();
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57 | var axis = new THREE.Vector3();
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58 | var vector = new THREE.Vector3();
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59 |
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60 | return function update() {
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61 |
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62 | var bones = this.mesh.skeleton.bones;
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63 | var iks = this.iks;
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64 |
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65 |
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66 | var math = Math;
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67 |
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68 | for ( var i = 0, il = iks.length; i < il; i ++ ) {
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69 |
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70 | var ik = iks[ i ];
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71 | var effector = bones[ ik.effector ];
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72 | var target = bones[ ik.target ];
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73 |
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74 |
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75 |
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76 | targetPos.setFromMatrixPosition( target.matrixWorld );
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77 |
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78 | var links = ik.links;
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79 | var iteration = ik.iteration !== undefined ? ik.iteration : 1;
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80 |
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81 | for ( var j = 0; j < iteration; j ++ ) {
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82 |
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83 | var rotated = false;
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84 |
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85 | for ( var k = 0, kl = links.length; k < kl; k ++ ) {
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86 |
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87 | var link = bones[ links[ k ].index ];
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88 |
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89 |
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90 |
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91 | if ( links[ k ].enabled === false ) break;
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92 |
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93 | var limitation = links[ k ].limitation;
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94 | var rotationMin = links[ k ].rotationMin;
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95 | var rotationMax = links[ k ].rotationMax;
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96 |
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97 |
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98 |
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99 | link.matrixWorld.decompose( linkPos, invLinkQ, linkScale );
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100 | invLinkQ.inverse();
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101 | effectorPos.setFromMatrixPosition( effector.matrixWorld );
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102 |
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103 |
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104 | effectorVec.subVectors( effectorPos, linkPos );
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105 | effectorVec.applyQuaternion( invLinkQ );
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106 | effectorVec.normalize();
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107 |
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108 | targetVec.subVectors( targetPos, linkPos );
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109 | targetVec.applyQuaternion( invLinkQ );
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110 | targetVec.normalize();
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111 |
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112 | var angle = targetVec.dot( effectorVec );
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113 |
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114 | if ( angle > 1.0 ) {
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115 |
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116 | angle = 1.0;
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117 |
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118 | } else if ( angle < - 1.0 ) {
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119 |
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120 | angle = - 1.0;
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121 |
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122 | }
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123 |
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124 | angle = math.acos( angle );
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125 |
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126 |
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127 |
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128 | if ( angle < 1e-5 ) continue;
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129 |
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130 | if ( ik.minAngle !== undefined && angle < ik.minAngle ) {
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131 |
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132 | angle = ik.minAngle;
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133 |
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134 | }
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135 |
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136 | if ( ik.maxAngle !== undefined && angle > ik.maxAngle ) {
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137 |
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138 | angle = ik.maxAngle;
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139 |
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140 | }
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141 |
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142 | axis.crossVectors( effectorVec, targetVec );
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143 | axis.normalize();
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144 |
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145 | q.setFromAxisAngle( axis, angle );
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146 | link.quaternion.multiply( q );
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147 |
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148 |
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149 | if ( limitation !== undefined ) {
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150 |
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151 | var c = link.quaternion.w;
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152 |
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153 | if ( c > 1.0 ) c = 1.0;
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154 |
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155 | var c2 = math.sqrt( 1 - c * c );
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156 | link.quaternion.set( limitation.x * c2,
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157 | limitation.y * c2,
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158 | limitation.z * c2,
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159 | c );
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160 |
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161 | }
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162 |
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163 | if ( rotationMin !== undefined ) {
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164 |
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165 | link.rotation.setFromVector3(
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166 | link.rotation
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167 | .toVector3( vector )
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168 | .max( rotationMin ) );
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169 |
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170 | }
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171 |
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172 | if ( rotationMax !== undefined ) {
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173 |
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174 | link.rotation.setFromVector3(
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175 | link.rotation
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176 | .toVector3( vector )
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177 | .min( rotationMax ) );
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178 |
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179 | }
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180 |
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181 | link.updateMatrixWorld( true );
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182 |
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183 | rotated = true;
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184 |
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185 | }
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186 |
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187 | if ( ! rotated ) break;
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188 |
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189 | }
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190 |
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191 | }
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192 |
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193 | return this;
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194 |
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195 | };
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196 |
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197 | }(),
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198 |
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199 | |
200 |
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201 |
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202 |
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203 |
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204 | createHelper: function () {
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205 |
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206 | return new CCDIKHelper( this.mesh, this.mesh.geometry.userData.MMD.iks );
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207 |
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208 | },
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209 |
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210 |
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211 |
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212 | _valid: function () {
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213 |
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214 | var iks = this.iks;
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215 | var bones = this.mesh.skeleton.bones;
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216 |
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217 | for ( var i = 0, il = iks.length; i < il; i ++ ) {
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218 |
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219 | var ik = iks[ i ];
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220 | var effector = bones[ ik.effector ];
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221 | var links = ik.links;
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222 | var link0, link1;
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223 |
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224 | link0 = effector;
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225 |
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226 | for ( var j = 0, jl = links.length; j < jl; j ++ ) {
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227 |
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228 | link1 = bones[ links[ j ].index ];
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229 |
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230 | if ( link0.parent !== link1 ) {
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231 |
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232 | console.warn( 'THREE.CCDIKSolver: bone ' + link0.name + ' is not the child of bone ' + link1.name );
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233 |
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234 | }
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235 |
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236 | link0 = link1;
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237 |
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238 | }
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239 |
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240 | }
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241 |
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242 | }
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243 |
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244 | };
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245 |
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246 | |
247 |
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248 |
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249 |
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250 |
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251 |
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252 | function CCDIKHelper( mesh, iks ) {
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253 |
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254 | THREE.Object3D.call( this );
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255 |
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256 | this.root = mesh;
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257 | this.iks = iks || [];
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258 |
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259 | this.matrix.copy( mesh.matrixWorld );
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260 | this.matrixAutoUpdate = false;
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261 |
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262 | this.sphereGeometry = new THREE.SphereBufferGeometry( 0.25, 16, 8 );
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263 |
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264 | this.targetSphereMaterial = new THREE.MeshBasicMaterial( {
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265 | color: new THREE.Color( 0xff8888 ),
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266 | depthTest: false,
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267 | depthWrite: false,
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268 | transparent: true
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269 | } );
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270 |
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271 | this.effectorSphereMaterial = new THREE.MeshBasicMaterial( {
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272 | color: new THREE.Color( 0x88ff88 ),
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273 | depthTest: false,
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274 | depthWrite: false,
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275 | transparent: true
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276 | } );
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277 |
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278 | this.linkSphereMaterial = new THREE.MeshBasicMaterial( {
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279 | color: new THREE.Color( 0x8888ff ),
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280 | depthTest: false,
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281 | depthWrite: false,
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282 | transparent: true
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283 | } );
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284 |
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285 | this.lineMaterial = new THREE.LineBasicMaterial( {
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286 | color: new THREE.Color( 0xff0000 ),
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287 | depthTest: false,
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288 | depthWrite: false,
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289 | transparent: true
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290 | } );
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291 |
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292 | this._init();
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293 |
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294 | }
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295 |
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296 | CCDIKHelper.prototype = Object.assign( Object.create( THREE.Object3D.prototype ), {
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297 |
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298 | constructor: CCDIKHelper,
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299 |
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300 | /**
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301 | * Updates IK bones visualization.
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302 | */
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303 | updateMatrixWorld: function () {
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304 |
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305 | var matrix = new THREE.Matrix4();
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306 | var vector = new THREE.Vector3();
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307 |
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308 | function getPosition( bone, matrixWorldInv ) {
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309 |
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310 | return vector
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311 | .setFromMatrixPosition( bone.matrixWorld )
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312 | .applyMatrix4( matrixWorldInv );
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313 |
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314 | }
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315 |
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316 | function setPositionOfBoneToAttributeArray( array, index, bone, matrixWorldInv ) {
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317 |
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318 | var v = getPosition( bone, matrixWorldInv );
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319 |
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320 | array[ index * 3 + 0 ] = v.x;
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321 | array[ index * 3 + 1 ] = v.y;
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322 | array[ index * 3 + 2 ] = v.z;
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323 |
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324 | }
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325 |
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326 | return function updateMatrixWorld( force ) {
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327 |
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328 | var mesh = this.root;
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329 |
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330 | if ( this.visible ) {
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331 |
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332 | var offset = 0;
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333 |
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334 | var iks = this.iks;
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335 | var bones = mesh.skeleton.bones;
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336 |
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337 | matrix.getInverse( mesh.matrixWorld );
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338 |
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339 | for ( var i = 0, il = iks.length; i < il; i ++ ) {
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340 |
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341 | var ik = iks[ i ];
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342 |
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343 | var targetBone = bones[ ik.target ];
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344 | var effectorBone = bones[ ik.effector ];
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345 |
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346 | var targetMesh = this.children[ offset ++ ];
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347 | var effectorMesh = this.children[ offset ++ ];
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348 |
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349 | targetMesh.position.copy( getPosition( targetBone, matrix ) );
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350 | effectorMesh.position.copy( getPosition( effectorBone, matrix ) );
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351 |
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352 | for ( var j = 0, jl = ik.links.length; j < jl; j ++ ) {
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353 |
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354 | var link = ik.links[ j ];
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355 | var linkBone = bones[ link.index ];
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356 |
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357 | var linkMesh = this.children[ offset ++ ];
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358 |
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359 | linkMesh.position.copy( getPosition( linkBone, matrix ) );
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360 |
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361 | }
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362 |
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363 | var line = this.children[ offset ++ ];
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364 | var array = line.geometry.attributes.position.array;
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365 |
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366 | setPositionOfBoneToAttributeArray( array, 0, targetBone, matrix );
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367 | setPositionOfBoneToAttributeArray( array, 1, effectorBone, matrix );
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368 |
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369 | for ( var j = 0, jl = ik.links.length; j < jl; j ++ ) {
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370 |
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371 | var link = ik.links[ j ];
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372 | var linkBone = bones[ link.index ];
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373 | setPositionOfBoneToAttributeArray( array, j + 2, linkBone, matrix );
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374 |
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375 | }
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376 |
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377 | line.geometry.attributes.position.needsUpdate = true;
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378 |
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379 | }
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380 |
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381 | }
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382 |
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383 | this.matrix.copy( mesh.matrixWorld );
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384 |
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385 | THREE.Object3D.prototype.updateMatrixWorld.call( this, force );
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386 |
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387 | };
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388 |
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389 | }(),
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390 |
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391 |
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392 |
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393 | _init: function () {
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394 |
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395 | var self = this;
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396 | var iks = this.iks;
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397 |
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398 | function createLineGeometry( ik ) {
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399 |
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400 | var geometry = new THREE.BufferGeometry();
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401 | var vertices = new Float32Array( ( 2 + ik.links.length ) * 3 );
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402 | geometry.setAttribute( 'position', new THREE.BufferAttribute( vertices, 3 ) );
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403 |
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404 | return geometry;
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405 |
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406 | }
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407 |
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408 | function createTargetMesh() {
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409 |
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410 | return new THREE.Mesh( self.sphereGeometry, self.targetSphereMaterial );
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411 |
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412 | }
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413 |
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414 | function createEffectorMesh() {
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415 |
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416 | return new THREE.Mesh( self.sphereGeometry, self.effectorSphereMaterial );
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417 |
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418 | }
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419 |
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420 | function createLinkMesh() {
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421 |
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422 | return new THREE.Mesh( self.sphereGeometry, self.linkSphereMaterial );
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423 |
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424 | }
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425 |
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426 | function createLine( ik ) {
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427 |
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428 | return new THREE.Line( createLineGeometry( ik ), self.lineMaterial );
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429 |
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430 | }
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431 |
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432 | for ( var i = 0, il = iks.length; i < il; i ++ ) {
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433 |
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434 | var ik = iks[ i ];
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435 |
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436 | this.add( createTargetMesh() );
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437 | this.add( createEffectorMesh() );
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438 |
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439 | for ( var j = 0, jl = ik.links.length; j < jl; j ++ ) {
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440 |
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441 | this.add( createLinkMesh() );
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442 |
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443 | }
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444 |
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445 | this.add( createLine( ik ) );
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446 |
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447 | }
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448 |
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449 | }
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450 |
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451 | } );
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452 |
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453 | return CCDIKSolver;
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454 |
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455 | } )();
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