|
|
@@ -0,0 +1,100 @@
|
|
|
+<!DOCTYPE html>
|
|
|
+<html lang="en">
|
|
|
+ <head>
|
|
|
+ <meta charset="utf-8" />
|
|
|
+ <base href="../../" />
|
|
|
+ <script src="list.js"></script>
|
|
|
+ <script src="page.js"></script>
|
|
|
+ <link type="text/css" rel="stylesheet" href="page.css" />
|
|
|
+ </head>
|
|
|
+ <body>
|
|
|
+ <h1>[name]</h1>
|
|
|
+
|
|
|
+ <p class="desc"> A solver for IK with <a href="https://sites.google.com/site/auraliusproject/ccd-algorithm"><em>CCD Algorithm</em></a>. <br /><br />
|
|
|
+ [name] solves Inverse Kinematics Problem with CCD Algorithm.
|
|
|
+ [name] is designed to work with [page:SkinnedMesh] loaded by [page:MMDLoader] but also can be used for generic [page:SkinnedMesh].
|
|
|
+ </p>
|
|
|
+
|
|
|
+ <h2>Example</h2>
|
|
|
+
|
|
|
+ <code>
|
|
|
+ var ikSolver;
|
|
|
+
|
|
|
+ // Load MMD resources and instantiate CCDIKSolver
|
|
|
+ new THREE.MMDLoader().load(
|
|
|
+ 'models/mmd/miku.pmd',
|
|
|
+ function ( mesh ) {
|
|
|
+
|
|
|
+ ikSolver = new CCDIKSolver( mesh, mesh.geometry.iks );
|
|
|
+ scene.add( mesh );
|
|
|
+
|
|
|
+ }
|
|
|
+ );
|
|
|
+
|
|
|
+ function render() {
|
|
|
+
|
|
|
+ animate(); // update bones
|
|
|
+ if ( ikSolver !== undefined ) ikSolver.update();
|
|
|
+ renderer.render( scene, camera );
|
|
|
+
|
|
|
+ }
|
|
|
+ </code>
|
|
|
+
|
|
|
+ [example:webgl_loader_mmd]<br />
|
|
|
+ [example:webgl_loader_mmd_pose]<br />
|
|
|
+ [example:webgl_loader_mmd_audio]<br />
|
|
|
+
|
|
|
+ <br />
|
|
|
+ <hr>
|
|
|
+
|
|
|
+ <h2>Constructor</h2>
|
|
|
+
|
|
|
+ <h3>[name]( [param:SkinnedMesh mesh], [param:Array iks] )</h3>
|
|
|
+ <p>
|
|
|
+ [page:SkinnedMesh mesh] — [page:SkinnedMesh] for which [name] solves IK problem.<br />
|
|
|
+ [page:Array iks] — An array of [page:Object] specifying IK parameter. target, effector, and link-index are index integers in .skeleton.bones.
|
|
|
+ The bones relation should be "links[ n ], links[ n - 1 ], ..., links[ 0 ], effector" in order from parent to child.<br />
|
|
|
+ <ul>
|
|
|
+ <li>[page:Integer target] — Target bone.</li>
|
|
|
+ <li>[page:Integer effector] — Effector bone.</li>
|
|
|
+ <li>[page:Array links] — An array of [page: Object] specifying link bones.
|
|
|
+ <ul>
|
|
|
+ <li>[page:Integer index] — Link bone.</li>
|
|
|
+ <li>[page:Vector3 limitation] — (optional) Rotation axis. Default is undefined.</li>
|
|
|
+ <li>[page:Boolean enabled] — (optional) Default is true.</li>
|
|
|
+ </ul>
|
|
|
+ </li>
|
|
|
+ <li>[page:Integer iteration] — (optional) Iteration number of calculation. Smaller is faster but less precise. Default is 1.</li>
|
|
|
+ <li>[page:Number minAngle] — (optional) Minimum rotation angle in a step. Default is undefined.</li>
|
|
|
+ <li>[page:Number maxAngle] — (optional) Maximum rotation angle in a step. Default is undefined.</li>
|
|
|
+ </ul>
|
|
|
+ </p>
|
|
|
+ <p>
|
|
|
+ Creates a new [name].
|
|
|
+ </p>
|
|
|
+
|
|
|
+ <h2>Properties</h2>
|
|
|
+
|
|
|
+ <h3>[property:Array iks]</h3>
|
|
|
+ <p>An array of IK parameter passed to the constructor.</p>
|
|
|
+
|
|
|
+ <h3>[property:SkinnedMesh mesh]</h3>
|
|
|
+ <p>[page:SkinnedMesh] passed to the constructor.</p>
|
|
|
+
|
|
|
+ <h2>Methods</h2>
|
|
|
+
|
|
|
+ <h3>[method:CCDIKHelper createHelper]()</h3>
|
|
|
+ <p>
|
|
|
+ Return [page:CCDIKHelper]. You can visualize IK bones by adding the helper to scene.
|
|
|
+ </p>
|
|
|
+
|
|
|
+ <h3>[method:CCDIKSolver update]()</h3>
|
|
|
+ <p>
|
|
|
+ Update bones quaternion by solving CCD algorithm.
|
|
|
+ </p>
|
|
|
+
|
|
|
+ <h2>Source</h2>
|
|
|
+
|
|
|
+ [link:https://github.com/mrdoob/three.js/blob/master/examples/js/animation/CCDIKSolver.js examples/js/animation/CCDIKSolver.js]
|
|
|
+ </body>
|
|
|
+</html>
|
Takahiro