javascript
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three.js
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							<!DOCTYPE html>
<html lang="en">
	<head>
		<meta charset="utf-8">
		<title>Three.js CCDIKSolver Browser</title>
		<link rel="shortcut icon" href="../../files/favicon.ico" />
		<link rel="stylesheet" type="text/css" href="../../files/main.css">
		<style>
			canvas {
				display: block;
				width: 100%;
				height: 100%;
			}

			#newWindow {
				display: block;
				position: absolute;
				bottom: 0.3em;
				left: 0.5em;
				color: #fff;
			}
		</style>
	</head>
	<body>

		<!-- Import maps polyfill -->
		<!-- Remove this when import maps will be widely supported -->
		<script async src="https://unpkg.com/[email protected]/dist/es-module-shims.js"></script>

		<script type="importmap">
			{
				"imports": {
					"three": "../../build/three.module.js",
					"three/addons/": "../../examples/jsm/"
				}
			}
		</script>

		<a id='newWindow' href='./ccdiksolver-browser.html' target='_blank'>Open in New Window</a>

		<script type="module">
			//
			// Forked from /docs/api/en/objects/SkinnedMesh example
			//

			import {
				Bone,
				Color,
				CylinderGeometry,
				DoubleSide,
				Float32BufferAttribute,
				MeshPhongMaterial,
				PerspectiveCamera,
				Scene,
				SkinnedMesh,
				Skeleton,
				SkeletonHelper,
				Vector3,
				Uint16BufferAttribute,
				WebGLRenderer
			} from 'three';
			import { CCDIKSolver, CCDIKHelper } from 'three/addons/animation/CCDIKSolver.js';

			import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
			import { OrbitControls } from 'three/addons/controls/OrbitControls.js';

			let gui, scene, camera, renderer, orbit, mesh, bones, skeletonHelper, ikSolver;

			const state = {
				ikSolverAutoUpdate: true
			};

			function initScene() {

				gui = new GUI();

				scene = new Scene();
				scene.background = new Color( 0x444444 );

				camera = new PerspectiveCamera( 75, window.innerWidth / window.innerHeight, 0.1, 200 );
				camera.position.z = 30;
				camera.position.y = 30;

				renderer = new WebGLRenderer( { antialias: true } );
				renderer.setPixelRatio( window.devicePixelRatio );
				renderer.setSize( window.innerWidth, window.innerHeight );
				document.body.appendChild( renderer.domElement );

				orbit = new OrbitControls( camera, renderer.domElement );
				orbit.enableZoom = false;

				window.addEventListener( 'resize', function () {

					camera.aspect = window.innerWidth / window.innerHeight;
					camera.updateProjectionMatrix();

					renderer.setSize( window.innerWidth, window.innerHeight );

				}, false );

				initBones();
				setupDatGui();

			}

			function createGeometry( sizing ) {

				const geometry = new CylinderGeometry(
					5, // radiusTop
					5, // radiusBottom
					sizing.height, // height
					8, // radiusSegments
					sizing.segmentCount * 1, // heightSegments
					true // openEnded
				);

				const position = geometry.attributes.position;

				const vertex = new Vector3();

				const skinIndices = [];
				const skinWeights = [];

				for ( let i = 0; i < position.count; i ++ ) {

					vertex.fromBufferAttribute( position, i );

					const y = ( vertex.y + sizing.halfHeight );

					const skinIndex = Math.floor( y / sizing.segmentHeight );
					const skinWeight = ( y % sizing.segmentHeight ) / sizing.segmentHeight;

					skinIndices.push( skinIndex, skinIndex + 1, 0, 0 );
					skinWeights.push( 1 - skinWeight, skinWeight, 0, 0 );

				}

				geometry.setAttribute( 'skinIndex', new Uint16BufferAttribute( skinIndices, 4 ) );
				geometry.setAttribute( 'skinWeight', new Float32BufferAttribute( skinWeights, 4 ) );

				return geometry;

			}

			function createBones( sizing ) {

				bones = [];

				// "root bone"
				const rootBone = new Bone();
				rootBone.name = 'root';
				rootBone.position.y = - sizing.halfHeight;
				bones.push( rootBone );

				//
				// "bone0", "bone1", "bone2", "bone3"
				//

				// "bone0"
				let prevBone = new Bone();
				prevBone.position.y = 0;
				rootBone.add( prevBone );
				bones.push( prevBone );

				// "bone1", "bone2", "bone3"
				for ( let i = 1; i <= sizing.segmentCount; i ++ ) {

					const bone = new Bone();
					bone.position.y = sizing.segmentHeight;
					bones.push( bone );
					bone.name = `bone${i}`;
					prevBone.add( bone );
					prevBone = bone;

				}

				// "target"
				const targetBone = new Bone();
				targetBone.name = 'target';
				targetBone.position.y = sizing.height + sizing.segmentHeight; // relative to parent: rootBone
				rootBone.add( targetBone );
				bones.push( targetBone );

				return bones;

			}

			function createMesh( geometry, bones ) {

				const material = new MeshPhongMaterial( {
					color: 0x156289,
					emissive: 0x072534,
					side: DoubleSide,
					flatShading: true,
					wireframe: true
				} );

				const mesh = new SkinnedMesh( geometry,	material );
				const skeleton = new Skeleton( bones );

				mesh.add( bones[ 0 ] );

				mesh.bind( skeleton );

				skeletonHelper = new SkeletonHelper( mesh );
				skeletonHelper.material.linewidth = 2;
				scene.add( skeletonHelper );

				return mesh;

			}

			function setupDatGui() {

				gui.add( mesh, 'pose' ).name( 'mesh.pose()' );

				mesh.skeleton.bones
					.filter( ( bone ) => bone.name === 'target' )
					.forEach( function ( bone ) {

						const folder = gui.addFolder( bone.name );

						const delta = 20;
						folder.add( bone.position, 'x', - delta + bone.position.x, delta + bone.position.x );
						folder.add( bone.position, 'y', - bone.position.y, bone.position.y );
						folder.add( bone.position, 'z', - delta + bone.position.z, delta + bone.position.z );

		} );

				gui.add( ikSolver, 'update' ).name( 'ikSolver.update()' );
				gui.add( state, 'ikSolverAutoUpdate' );

			}

			function initBones() {

				const segmentHeight = 8;
				const segmentCount = 3;
				const height = segmentHeight * segmentCount;
				const halfHeight = height * 0.5;

				const sizing = {
					segmentHeight,
					segmentCount,
					height,
					halfHeight
				};

				const geometry = createGeometry( sizing );
				const bones = createBones( sizing );
				mesh = createMesh( geometry, bones );

				scene.add( mesh );

				//
				// ikSolver
				//

				const iks = [
					{
						target: 5,
						effector: 4,
						links: [ { index: 3 }, { index: 2 }, { index: 1 } ]
					}
				];
				ikSolver = new CCDIKSolver( mesh, iks );
				scene.add( new CCDIKHelper( mesh, iks ) );

			}

			function render() {

				requestAnimationFrame( render );

				if ( state.ikSolverAutoUpdate ) {

					ikSolver?.update();

				}

				renderer.render( scene, camera );

			}

			initScene();
			render();

		</script>
	</body>
</html>