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CCDIKSolver.html

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  1. <!DOCTYPE html>
    2. 

  2. <html lang="en">
    3. 

  3. <head>
    4. 

  4. 	<meta charset="utf-8">
    5. 

  5. 	<title>CCDIKSolver - Three.js Docs</title>
    6. 

  6. 	<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
    7. 

  7. 	<script src="../scripts/highlight.min.js"></script>
    8. 

  8. 	<link type="text/css" rel="stylesheet" href="../styles/highlight-three.css">
    9. 

  9. 	<link type="text/css" rel="stylesheet" href="../styles/page.css">
    10. 

  10. </head>
    11. 

  11. <body>
    12. 

  12. 	<h1 translate="no">CCDIKSolver</h1>
    13. 

  13. 		<section>
    14. 

  14. 			<header>
    15. 

  15. 				<div class="class-description"><p>This class solves the Inverse Kinematics Problem with a <a href="https://web.archive.org/web/20221206080850/https://sites.google.com/site/auraliusproject/ccd-algorithm">CCD Algorithm</a>.</p>
    16. 

  16. <p><code>CCDIKSolver</code> is designed to work with instances of <a href="SkinnedMesh.html">SkinnedMesh</a>.</p></div>
    17. 

  17. 			</header>
    18. 

  18. 			<article>
    19. 

  19. 				<h2 class="subsection-title">Import</h2>
    20. 

  20. 				<p><span translate="no">CCDIKSolver</span> is an addon, and must be imported explicitly, see <a href="https://threejs.org/manual/#en/installation" target="_blank">Installation#Addons</a>.</p>
    21. 

  21. 				<pre><code class="language-js">import { CCDIKSolver } from 'three/addons/animation/CCDIKSolver.js';</code></pre>
    22. 

  22. 				<div class="container-overview">
    23. 

  23. 					<h2>Constructor</h2>
    24. 

  24. 					<h3 class="name name-method" id="CCDIKSolver" translate="no">new <a href="#CCDIKSolver">CCDIKSolver</a><span class="signature">( mesh : <span class="param-type">SkinnedMesh</span>, iks : <span class="param-type">Array.&lt;CCDIKSolver~IK></span> )</span> </h3>
    25. 

  25. 					<div class="method">
    26. 

  26. 						<table class="params">
    27. 

  27. 							<tbody>
    28. 

  28. 								<tr>
    29. 

  29. 									<td class="name"><code>mesh</code></td>
    30. 

  30. 									<td class="description last"><p>The skinned mesh.</p></td>
    31. 

  31. 								</tr>
    32. 

  32. 								<tr>
    33. 

  33. 									<td class="name"><code>iks</code></td>
    34. 

  34. 									<td class="description last"><p>The IK objects.<br/>Default is <code>[]</code>.</p></td>
    35. 

  35. 								</tr>
    36. 

  36. 							</tbody>
    37. 

  37. 						</table>
    38. 

  38. 					</div>
    39. 

  39. 				</div>
    40. 

  40. 				<h2 class="subsection-title">Properties</h2>
    41. 

  41. 				<div class="member">
    42. 

  42. 					<h3 class="name" id="iks" translate="no">.<a href="#iks">iks</a><span class="type-signature"> : <a href="SkinnedMesh.html">SkinnedMesh</a></span> </h3>
    43. 

  43. 					<div class="description">
    44. 

  44. 						<p>The IK objects.</p>
    45. 

  45. 					</div>
    46. 

  46. 				</div>
    47. 

  47. 				<div class="member">
    48. 

  48. 					<h3 class="name" id="mesh" translate="no">.<a href="#mesh">mesh</a><span class="type-signature"> : <a href="SkinnedMesh.html">SkinnedMesh</a></span> </h3>
    49. 

  49. 					<div class="description">
    50. 

  50. 						<p>The skinned mesh.</p>
    51. 

  51. 					</div>
    52. 

  52. 				</div>
    53. 

  53. 				<h2 class="subsection-title">Methods</h2>
    54. 

  54. 					<h3 class="name name-method" id="createHelper" translate="no">.<a href="#createHelper">createHelper</a><span class="signature">( sphereSize : <span class="param-type">number</span> )</span><span class="type-signature"> : <a href="CCDIKHelper.html">CCDIKHelper</a></span> </h3>
    55. 

  55. 					<div class="method">
    56. 

  56. 						<div class="description">
    57. 

  57. 							<p>Creates a helper for visualizing the CCDIK.</p>
    58. 

  58. 						</div>
    59. 

  59. 						<table class="params">
    60. 

  60. 							<tbody>
    61. 

  61. 								<tr>
    62. 

  62. 									<td class="name"><code>sphereSize</code></td>
    63. 

  63. 									<td class="description last"><p>The sphere size.</p></td>
    64. 

  64. 								</tr>
    65. 

  65. 							</tbody>
    66. 

  66. 						</table>
    67. 

  67. 						<dl class="details">
    68. 

  68. 							<dt class="tag-returns"><strong>Returns:</strong> The created helper.</dt>
    69. 

  69. 						</dl>
    70. 

  70. 					</div>
    71. 

  71. 					<h3 class="name name-method" id="update" translate="no">.<a href="#update">update</a><span class="signature">( globalBlendFactor : <span class="param-type">number</span> )</span><span class="type-signature"> : <a href="CCDIKSolver.html">CCDIKSolver</a></span> </h3>
    72. 

  72. 					<div class="method">
    73. 

  73. 						<div class="description">
    74. 

  74. 							<p>Updates all IK bones by solving the CCD algorithm.</p>
    75. 

  75. 						</div>
    76. 

  76. 						<table class="params">
    77. 

  77. 							<tbody>
    78. 

  78. 								<tr>
    79. 

  79. 									<td class="name"><code>globalBlendFactor</code></td>
    80. 

  80. 									<td class="description last"><p>Blend factor applied if an IK chain doesn't have its own .blendFactor.<br/>Default is <code>1.0</code>.</p></td>
    81. 

  81. 								</tr>
    82. 

  82. 							</tbody>
    83. 

  83. 						</table>
    84. 

  84. 						<dl class="details">
    85. 

  85. 							<dt class="tag-returns"><strong>Returns:</strong> A reference to this instance.</dt>
    86. 

  86. 						</dl>
    87. 

  87. 					</div>
    88. 

  88. 					<h3 class="name name-method" id="updateOne" translate="no">.<a href="#updateOne">updateOne</a><span class="signature">( ik : <span class="param-type">CCDIKSolver~IK</span>, overrideBlend : <span class="param-type">number</span> )</span><span class="type-signature"> : <a href="CCDIKSolver.html">CCDIKSolver</a></span> </h3>
    89. 

  89. 					<div class="method">
    90. 

  90. 						<div class="description">
    91. 

  91. 							<p>Updates one IK bone solving the CCD algorithm.</p>
    92. 

  92. 						</div>
    93. 

  93. 						<table class="params">
    94. 

  94. 							<tbody>
    95. 

  95. 								<tr>
    96. 

  96. 									<td class="name"><code>ik</code></td>
    97. 

  97. 									<td class="description last"><p>The IK to update.</p></td>
    98. 

  98. 								</tr>
    99. 

  99. 								<tr>
    100. 

  100. 									<td class="name"><code>overrideBlend</code></td>
    101. 

  101. 									<td class="description last"><p>If the IK object does not define <code>blendFactor</code>, this value is used.<br/>Default is <code>1.0</code>.</p></td>
    102. 

  102. 								</tr>
    103. 

  103. 							</tbody>
    104. 

  104. 						</table>
    105. 

  105. 						<dl class="details">
    106. 

  106. 							<dt class="tag-returns"><strong>Returns:</strong> A reference to this instance.</dt>
    107. 

  107. 						</dl>
    108. 

  108. 					</div>
    109. 

  109. 				<h2 class="subsection-title">Type Definitions</h2>
    110. 

  110. 				<div class="member">
    111. 

  111. 					<h3 class="name" id="~BoneLink" translate="no">.<a href="#~BoneLink">BoneLink</a> </h3>
    112. 

  112. 					<div class="description">
    113. 

  113. 						<p>This type represents bone links.</p>
    114. 

  114. 					</div>
    115. 

  115. 						<h5 class="subsection-title">Properties:</h5>
    116. 

  116. <table class="props">
    117. 

  117. 	<thead>
    118. 

  118. 	<tr>
    119. 

  119. 		<th>Name</th>
    120. 

  120. 		<th>Type</th>
    121. 

  121. 		<th>Attributes</th>
    122. 

  122. 		<th>Default</th>
    123. 

  123. 		<th class="last">Description</th>
    124. 

  124. 	</tr>
    125. 

  125. 	</thead>
    126. 

  126. 	<tbody>
    127. 

  127. 		<tr>
    128. 

  128. 				<td class="name"><code>index</code></td>
    129. 

  129. 			<td class="type">
    130. 

  130. <span class="param-type">number</span>
    131. 

  131. 			</td>
    132. 

  132. 				<td class="attributes">
    133. 

  133. 				</td>
    134. 

  134. 				<td class="default">
    135. 

  135. 				</td>
    136. 

  136. 			<td class="description last"><p>The index of a linked bone which refers to a bone in the <code>Skeleton.bones</code> array.</p></td>
    137. 

  137. 		</tr>
    138. 

  138. 		<tr>
    139. 

  139. 				<td class="name"><code>limitation</code></td>
    140. 

  140. 			<td class="type">
    141. 

  141. <span class="param-type">number</span>
    142. 

  142. 			</td>
    143. 

  143. 				<td class="attributes">
    144. 

  144. 					&lt;optional><br>
    145. 

  145. 				</td>
    146. 

  146. 				<td class="default">
    147. 

  147. 				</td>
    148. 

  148. 			<td class="description last"><p>Rotation axis.</p></td>
    149. 

  149. 		</tr>
    150. 

  150. 		<tr>
    151. 

  151. 				<td class="name"><code>rotationMin</code></td>
    152. 

  152. 			<td class="type">
    153. 

  153. <span class="param-type">number</span>
    154. 

  154. 			</td>
    155. 

  155. 				<td class="attributes">
    156. 

  156. 					&lt;optional><br>
    157. 

  157. 				</td>
    158. 

  158. 				<td class="default">
    159. 

  159. 				</td>
    160. 

  160. 			<td class="description last"><p>Rotation minimum limit.</p></td>
    161. 

  161. 		</tr>
    162. 

  162. 		<tr>
    163. 

  163. 				<td class="name"><code>rotationMax</code></td>
    164. 

  164. 			<td class="type">
    165. 

  165. <span class="param-type">number</span>
    166. 

  166. 			</td>
    167. 

  167. 				<td class="attributes">
    168. 

  168. 					&lt;optional><br>
    169. 

  169. 				</td>
    170. 

  170. 				<td class="default">
    171. 

  171. 				</td>
    172. 

  172. 			<td class="description last"><p>Rotation maximum limit.</p></td>
    173. 

  173. 		</tr>
    174. 

  174. 		<tr>
    175. 

  175. 				<td class="name"><code>enabled</code></td>
    176. 

  176. 			<td class="type">
    177. 

  177. <span class="param-type">boolean</span>
    178. 

  178. 			</td>
    179. 

  179. 				<td class="attributes">
    180. 

  180. 					&lt;optional><br>
    181. 

  181. 				</td>
    182. 

  182. 				<td class="default">
    183. 

  183. 					true
    184. 

  184. 				</td>
    185. 

  185. 			<td class="description last"><p>Whether the link is enabled or not.</p></td>
    186. 

  186. 		</tr>
    187. 

  187. 	</tbody>
    188. 

  188. </table>
    189. 

  189. 				</div>
    190. 

  190. 				<div class="member">
    191. 

  191. 					<h3 class="name" id="~IK" translate="no">.<a href="#~IK">IK</a> </h3>
    192. 

  192. 					<div class="description">
    193. 

  193. 						<p>This type represents IK configuration objects.</p>
    194. 

  194. 					</div>
    195. 

  195. 						<h5 class="subsection-title">Properties:</h5>
    196. 

  196. <table class="props">
    197. 

  197. 	<thead>
    198. 

  198. 	<tr>
    199. 

  199. 		<th>Name</th>
    200. 

  200. 		<th>Type</th>
    201. 

  201. 		<th>Attributes</th>
    202. 

  202. 		<th>Default</th>
    203. 

  203. 		<th class="last">Description</th>
    204. 

  204. 	</tr>
    205. 

  205. 	</thead>
    206. 

  206. 	<tbody>
    207. 

  207. 		<tr>
    208. 

  208. 				<td class="name"><code>target</code></td>
    209. 

  209. 			<td class="type">
    210. 

  210. <span class="param-type">number</span>
    211. 

  211. 			</td>
    212. 

  212. 				<td class="attributes">
    213. 

  213. 				</td>
    214. 

  214. 				<td class="default">
    215. 

  215. 				</td>
    216. 

  216. 			<td class="description last"><p>The target bone index which refers to a bone in the <code>Skeleton.bones</code> array.</p></td>
    217. 

  217. 		</tr>
    218. 

  218. 		<tr>
    219. 

  219. 				<td class="name"><code>effector</code></td>
    220. 

  220. 			<td class="type">
    221. 

  221. <span class="param-type">number</span>
    222. 

  222. 			</td>
    223. 

  223. 				<td class="attributes">
    224. 

  224. 				</td>
    225. 

  225. 				<td class="default">
    226. 

  226. 				</td>
    227. 

  227. 			<td class="description last"><p>The effector bone index which refers to a bone in the <code>Skeleton.bones</code> array.</p></td>
    228. 

  228. 		</tr>
    229. 

  229. 		<tr>
    230. 

  230. 				<td class="name"><code>links</code></td>
    231. 

  231. 			<td class="type">
    232. 

  232. <span class="param-type">Array.&lt;<a href="CCDIKSolver.html#~BoneLink">CCDIKSolver~BoneLink</a>></span>
    233. 

  233. 			</td>
    234. 

  234. 				<td class="attributes">
    235. 

  235. 				</td>
    236. 

  236. 				<td class="default">
    237. 

  237. 				</td>
    238. 

  238. 			<td class="description last"><p>An array of bone links.</p></td>
    239. 

  239. 		</tr>
    240. 

  240. 		<tr>
    241. 

  241. 				<td class="name"><code>iteration</code></td>
    242. 

  242. 			<td class="type">
    243. 

  243. <span class="param-type">number</span>
    244. 

  244. 			</td>
    245. 

  245. 				<td class="attributes">
    246. 

  246. 					&lt;optional><br>
    247. 

  247. 				</td>
    248. 

  248. 				<td class="default">
    249. 

  249. 					1
    250. 

  250. 				</td>
    251. 

  251. 			<td class="description last"><p>Iteration number of calculation. Smaller is faster but less precise.</p></td>
    252. 

  252. 		</tr>
    253. 

  253. 		<tr>
    254. 

  254. 				<td class="name"><code>minAngle</code></td>
    255. 

  255. 			<td class="type">
    256. 

  256. <span class="param-type">number</span>
    257. 

  257. 			</td>
    258. 

  258. 				<td class="attributes">
    259. 

  259. 					&lt;optional><br>
    260. 

  260. 				</td>
    261. 

  261. 				<td class="default">
    262. 

  262. 				</td>
    263. 

  263. 			<td class="description last"><p>Minimum rotation angle in a step in radians.</p></td>
    264. 

  264. 		</tr>
    265. 

  265. 		<tr>
    266. 

  266. 				<td class="name"><code>maxAngle</code></td>
    267. 

  267. 			<td class="type">
    268. 

  268. <span class="param-type">number</span>
    269. 

  269. 			</td>
    270. 

  270. 				<td class="attributes">
    271. 

  271. 					&lt;optional><br>
    272. 

  272. 				</td>
    273. 

  273. 				<td class="default">
    274. 

  274. 				</td>
    275. 

  275. 			<td class="description last"><p>Minimum rotation angle in a step in radians.</p></td>
    276. 

  276. 		</tr>
    277. 

  277. 		<tr>
    278. 

  278. 				<td class="name"><code>blendFactor</code></td>
    279. 

  279. 			<td class="type">
    280. 

  280. <span class="param-type">number</span>
    281. 

  281. 			</td>
    282. 

  282. 				<td class="attributes">
    283. 

  283. 					&lt;optional><br>
    284. 

  284. 				</td>
    285. 

  285. 				<td class="default">
    286. 

  286. 				</td>
    287. 

  287. 			<td class="description last"><p>The blend factor.</p></td>
    288. 

  288. 		</tr>
    289. 

  289. 	</tbody>
    290. 

  290. </table>
    291. 

  291. 				</div>
    292. 

  292. 				<h2 class="subsection-title">Source</h2>
    293. 

  293. 				<p>
    294. 

  294. 					<a href="https://github.com/mrdoob/three.js/blob/master/examples/jsm/animation/CCDIKSolver.js" target="_blank" rel="noopener" translate="no">examples/jsm/animation/CCDIKSolver.js</a>
    295. 

  295. 				</p>
    296. 

  296. 			</article>
    297. 

  297. 		</section>
    298. 

  298. <script src="../scripts/linenumber.js"></script>
    299. 

  299. <script src="../scripts/page.js"></script>
    300. 

  300. </body>
    301. 

  301. </html>
    302.
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