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Fix IK calculation

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JannisX11 2021-11-30 18:57:37 +01:00
parent cb0c8831af
commit 2ec27efe56
2 changed files with 16 additions and 35 deletions
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48
js/animations/timeline_animators.js
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@ -486,6 +486,7 @@ class NullObjectAnimator extends BoneAnimator {
if (mesh.fix_rotation) mesh.rotation.copy(mesh.fix_rotation);
})
let ik_target = new THREE.Vector3().copy(null_object.getWorldCenter(true));
let solver = new FIK.Structure3D(scene);
let chain = new FIK.Chain3D();
@ -508,55 +509,32 @@ class NullObjectAnimator extends BoneAnimator {
(bones[i+1] ? bones[i+1] : target).origin[0] - bone.origin[0],
(bones[i+1] ? bones[i+1] : target).origin[1] - bone.origin[1],
(bones[i+1] ? bones[i+1] : target).origin[2] - bone.origin[2]
)
).normalize()
})
})
let ik_target = new THREE.Vector3().copy(null_object.getWorldCenter(true));
solver.add(chain, ik_target , true);
solver.meshChains[0].forEach(mesh => {
mesh.visible = false;
//scene.add(mesh)
})
solver.update();
let last_euler = new THREE.Euler();
bone_references.forEach((bone_ref, i) => {
let euler = new THREE.Euler()
let q = new THREE.Quaternion()
let start = new THREE.Vector3().copy(solver.chains[0].bones[i].start)
let end = new THREE.Vector3().copy(solver.chains[0].bones[i].end)
bone_references[i].bone.mesh.worldToLocal(start)
bone_references[i].bone.mesh.worldToLocal(end)
let diff = new THREE.Vector3().copy(end).sub(start)
let start = Reusable.vec1.copy(solver.chains[0].bones[i].start);
let end = Reusable.vec2.copy(solver.chains[0].bones[i].end);
bone_references[i].bone.mesh.worldToLocal(start);
bone_references[i].bone.mesh.worldToLocal(end);
let diff = end.sub(start).normalize();
let v1 = new THREE.Vector3().copy(diff).normalize();
let v2 = new THREE.Vector3().copy(bone_ref.last_diff).normalize();
q.setFromUnitVectors(v1, v2)
euler.setFromQuaternion(q)
Reusable.quat1.setFromUnitVectors(bone_ref.last_diff, diff);
let rotation = Reusable.euler1.setFromQuaternion(Reusable.quat1, 'ZYX');
bone_ref.bone.mesh.rotation.x -= euler.x - last_euler.x;
bone_ref.bone.mesh.rotation.y -= euler.y - last_euler.y;
bone_ref.bone.mesh.rotation.z -= euler.z - last_euler.z;
last_euler.x = euler.x;
last_euler.y = euler.y;
last_euler.z = euler.z;
bone_ref.bone.mesh.rotation.x += rotation.x;
bone_ref.bone.mesh.rotation.y += rotation.y;
bone_ref.bone.mesh.rotation.z += rotation.z;
bone_ref.bone.mesh.updateMatrixWorld();
})
/*setTimeout(() => {
solver.meshChains[0].forEach(mesh => {
//scene.remove(mesh)
})
}, 60)*/
}
displayFrame(multiplier = 1) {
if (!this.doRender()) return;

3
js/preview/canvas.js
View File

@ -31,6 +31,9 @@ const Reusable = {
quat1: new THREE.Quaternion(),
quat2: new THREE.Quaternion(),
euler1: new THREE.Euler(),
euler2: new THREE.Euler(),
}
const Canvas = {