Babylon.js/src/Bones/boneIKController.ts

import { Bone } from "./bone";

import { Vector3, Quaternion, Matrix, Space } from "../Maths/math";
import { AbstractMesh } from "../Meshes/abstractMesh";
import { Nullable } from "../types";

    /**
     * Class used to apply inverse kinematics to bones
     * @see http://doc.babylonjs.com/how_to/how_to_use_bones_and_skeletons#boneikcontroller
     */
    export class BoneIKController {

        private static _tmpVecs: Vector3[] = [Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero()];
        private static _tmpQuat = Quaternion.Identity();
        private static _tmpMats: Matrix[] = [Matrix.Identity(), Matrix.Identity()];

        /**
         * Gets or sets the target mesh
         */
        public targetMesh: AbstractMesh;

        /** Gets or sets the mesh used as pole */
        public poleTargetMesh: AbstractMesh;

        /**
         * Gets or sets the bone used as pole
         */
        public poleTargetBone: Nullable<Bone>;

        /**
         * Gets or sets the target position
         */
        public targetPosition = Vector3.Zero();

        /**
         * Gets or sets the pole target position
         */
        public poleTargetPosition = Vector3.Zero();

        /**
         * Gets or sets the pole target local offset
         */
        public poleTargetLocalOffset = Vector3.Zero();

        /**
         * Gets or sets the pole angle
         */
        public poleAngle = 0;

        /**
         * Gets or sets the mesh associated with the controller
         */
        public mesh: AbstractMesh;

        /**
         * 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)
         */
        public slerpAmount = 1;

        private _bone1Quat = Quaternion.Identity();
        private _bone1Mat = Matrix.Identity();
        private _bone2Ang = Math.PI;

        private _bone1: Nullable<Bone>;
        private _bone2: Bone;
        private _bone1Length: number;
        private _bone2Length: number;
        private _maxAngle = Math.PI;
        private _maxReach: number;

        private _rightHandedSystem = false;

        private _bendAxis = Vector3.Right();
        private _slerping = false;

        private _adjustRoll = 0;

        /**
         * Gets or sets maximum allowed angle
         */
        public get maxAngle(): number {
            return this._maxAngle;
        }

        public set maxAngle(value: number) {
            this._setMaxAngle(value);
        }

        /**
         * Creates a new BoneIKController
         * @param mesh defines the mesh to control
         * @param bone defines the bone to control
         * @param options defines options to set up the controller
         */
        constructor(mesh: AbstractMesh,
                    bone: Bone,
                    options?: {
                        targetMesh?: AbstractMesh,
                        poleTargetMesh?: AbstractMesh,
                        poleTargetBone?: Bone,
                        poleTargetLocalOffset?: Vector3,
                        poleAngle?: number,
                        bendAxis?: Vector3,
                        maxAngle?: number,
                        slerpAmount?: number
                    }) {

            this._bone2 = bone;
            this._bone1 = bone.getParent();

            if (!this._bone1) {
                return;
            }

            this.mesh = mesh;

            var bonePos = bone.getPosition();

             if (bone.getAbsoluteTransform().determinant() > 0) {
                this._rightHandedSystem = true;
                this._bendAxis.x = 0;
                this._bendAxis.y = 0;
                this._bendAxis.z = -1;

                if (bonePos.x > bonePos.y && bonePos.x > bonePos.z) {
                    this._adjustRoll = Math.PI * .5;
                    this._bendAxis.z = 1;
                }
            }

            if (this._bone1.length) {

                var boneScale1 = this._bone1.getScale();
                var boneScale2 = this._bone2.getScale();

                this._bone1Length = this._bone1.length * boneScale1.y * this.mesh.scaling.y;
                this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;

            } else if (this._bone1.children[0]) {

                mesh.computeWorldMatrix(true);

                var pos1 = this._bone2.children[0].getAbsolutePosition(mesh);
                var pos2 = this._bone2.getAbsolutePosition(mesh);
                var pos3 = this._bone1.getAbsolutePosition(mesh);

                this._bone1Length = Vector3.Distance(pos1, pos2);
                this._bone2Length = Vector3.Distance(pos2, pos3);
            }

            this._bone1.getRotationMatrixToRef(Space.WORLD, mesh, this._bone1Mat);
            this.maxAngle = Math.PI;

            if (options) {

                if (options.targetMesh) {
                    this.targetMesh = options.targetMesh;
                    this.targetMesh.computeWorldMatrix(true);
                }

                if (options.poleTargetMesh) {

                    this.poleTargetMesh = options.poleTargetMesh;
                    this.poleTargetMesh.computeWorldMatrix(true);

                } else if (options.poleTargetBone) {
                    this.poleTargetBone = options.poleTargetBone;
                } else if (this._bone1.getParent()) {
                    this.poleTargetBone = this._bone1.getParent();
                }

                if (options.poleTargetLocalOffset) {
                    this.poleTargetLocalOffset.copyFrom(options.poleTargetLocalOffset);
                }

                if (options.poleAngle) {
                    this.poleAngle = options.poleAngle;
                }

                if (options.bendAxis) {
                    this._bendAxis.copyFrom(options.bendAxis);
                }

                if (options.maxAngle) {
                    this.maxAngle = options.maxAngle;
                }

                if (options.slerpAmount) {
                    this.slerpAmount = options.slerpAmount;
                }

            }

        }

        private _setMaxAngle(ang: number): void {

            if (ang < 0) {
                ang = 0;
            }

            if (ang > Math.PI || ang == undefined) {
                ang = Math.PI;
            }

            this._maxAngle = ang;

            var a = this._bone1Length;
            var b = this._bone2Length;

            this._maxReach = Math.sqrt(a * a + b * b - 2 * a * b * Math.cos(ang));

        }

        /**
         * Force the controller to update the bones
         */
        public update(): void {
            var bone1 = this._bone1;

            if (!bone1) {
                return;
            }

            var target = this.targetPosition;
            var poleTarget = this.poleTargetPosition;

            var mat1 = BoneIKController._tmpMats[0];
            var mat2 = BoneIKController._tmpMats[1];

            if (this.targetMesh) {
                target.copyFrom(this.targetMesh.getAbsolutePosition());
            }

            if (this.poleTargetBone) {
                this.poleTargetBone.getAbsolutePositionFromLocalToRef(this.poleTargetLocalOffset, this.mesh, poleTarget);
            }else if (this.poleTargetMesh) {
                Vector3.TransformCoordinatesToRef(this.poleTargetLocalOffset, this.poleTargetMesh.getWorldMatrix(), poleTarget);
            }

            var bonePos = BoneIKController._tmpVecs[0];
            var zaxis = BoneIKController._tmpVecs[1];
            var xaxis = BoneIKController._tmpVecs[2];
            var yaxis = BoneIKController._tmpVecs[3];
            var upAxis = BoneIKController._tmpVecs[4];

            var _tmpQuat = BoneIKController._tmpQuat;

            bone1.getAbsolutePositionToRef(this.mesh, bonePos);

            poleTarget.subtractToRef(bonePos, upAxis);

            if (upAxis.x == 0 && upAxis.y == 0 && upAxis.z == 0) {
                upAxis.y = 1;
            } else {
                upAxis.normalize();
            }

            target.subtractToRef(bonePos, yaxis);
            yaxis.normalize();

            Vector3.CrossToRef(yaxis, upAxis, zaxis);
            zaxis.normalize();

            Vector3.CrossToRef(yaxis, zaxis, xaxis);
            xaxis.normalize();

            Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, mat1);

            var a = this._bone1Length;
            var b = this._bone2Length;

            var c = Vector3.Distance(bonePos, target);

            if (this._maxReach > 0) {
                c = Math.min(this._maxReach, c);
            }

            var acosa = (b * b + c * c - a * a) / (2 * b * c);
            var acosb = (c * c + a * a - b * b) / (2 * c * a);

            if (acosa > 1) {
                acosa = 1;
            }

            if (acosb > 1) {
                acosb = 1;
            }

            if (acosa < -1) {
                acosa = -1;
            }

            if (acosb < -1) {
                acosb = -1;
            }

            var angA = Math.acos(acosa);
            var angB = Math.acos(acosb);

            var angC = -angA - angB;

            if (this._rightHandedSystem) {

                Matrix.RotationYawPitchRollToRef(0, 0, this._adjustRoll, mat2);
                mat2.multiplyToRef(mat1, mat1);

                Matrix.RotationAxisToRef(this._bendAxis, angB, mat2);
                mat2.multiplyToRef(mat1, mat1);

            } else {

                var _tmpVec = BoneIKController._tmpVecs[5];

                _tmpVec.copyFrom(this._bendAxis);
                _tmpVec.x *= -1;

                Matrix.RotationAxisToRef(_tmpVec, -angB, mat2);
                mat2.multiplyToRef(mat1, mat1);

            }

            if (this.poleAngle) {
                Matrix.RotationAxisToRef(yaxis, this.poleAngle, mat2);
                mat1.multiplyToRef(mat2, mat1);
            }

            if (this._bone1) {
                if (this.slerpAmount < 1) {
                    if (!this._slerping) {
                        Quaternion.FromRotationMatrixToRef(this._bone1Mat, this._bone1Quat);
                    }
                    Quaternion.FromRotationMatrixToRef(mat1, _tmpQuat);
                    Quaternion.SlerpToRef(this._bone1Quat, _tmpQuat, this.slerpAmount, this._bone1Quat);
                    angC = this._bone2Ang * (1.0 - this.slerpAmount) + angC * this.slerpAmount;
                    this._bone1.setRotationQuaternion(this._bone1Quat, Space.WORLD, this.mesh);
                    this._slerping = true;
                } else {
                    this._bone1.setRotationMatrix(mat1, Space.WORLD, this.mesh);
                    this._bone1Mat.copyFrom(mat1);
                    this._slerping = false;
                }
            }

            this._bone2.setAxisAngle(this._bendAxis, angC, Space.LOCAL);
            this._bone2Ang = angC;
        }
    }