Hinge Constraints

build/three-ik.js

@@ -47,7 +47,7 @@ function setQuaternionFromDirection(direction, up, target) {
   var el = m1.elements;
   z.copy(direction);
   x.crossVectors(up, z);
-  if (x.lengthSq() === 0) {
+  if (x.lengthSq() == 0) {
     if (Math.abs(up.z) === 1) {
       z.x += 0.0001;
     } else {
@@ -367,11 +367,14 @@ var IKJoint = function () {
     this.bone = bone;
     this.distance = 0;
     this._originalDirection = new three.Vector3();
+    this._originalHinge = new three.Vector3();
     this._direction = new three.Vector3();
     this._worldPosition = new three.Vector3();
     this._isSubBase = false;
     this._subBasePositions = null;
     this.isIKJoint = true;
+    this._originalUp = new three.Vector3(0, 1, 0);
+    this._originalUp.applyQuaternion(this.bone.quaternion).normalize();
     this._updateWorldPosition();
   }
   createClass(IKJoint, [{
@@ -553,6 +556,7 @@ var IKChain = function () {
       }
       else {
           var previousJoint = this.joints[this.joints.length - 2];
+          var previousPreviousJoint = this.joints[this.joints.length - 3];
           previousJoint._updateMatrixWorld();
           previousJoint._updateWorldPosition();
           joint._updateWorldPosition();
@@ -565,6 +569,9 @@ var IKChain = function () {
           var direction = previousJoint._getWorldDirection(joint);
           previousJoint._originalDirection = new three.Vector3().copy(direction);
           joint._originalDirection = new three.Vector3().copy(direction);
+          if (previousPreviousJoint) {
+            previousJoint._originalHinge = previousJoint._worldToLocalDirection(previousJoint._originalDirection.clone().cross(previousPreviousJoint._originalDirection).normalize());
+          }
           this.totalLengths += distance;
         }
       if (target) {
@@ -847,6 +854,44 @@ var IK = function () {
   return IK;
 }();
 
+var Z_AXIS$1 = new three.Vector3(0, 0, -1);
+var X_AXIS = new three.Vector3(1, 0, 0);
+var t1$1 = new three.Vector3();
+var t2$1 = new three.Vector3();
+var t3$1 = new three.Vector3();
+var t4 = new three.Vector3();
+var RAD2DEG$1 = three.Math.RAD2DEG;
+var IKHingeConstraint = function () {
+  function IKHingeConstraint(angle) {
+    classCallCheck(this, IKHingeConstraint);
+    this.angle = angle;
+    this.rotationPlane = new three.Plane();
+  }
+  createClass(IKHingeConstraint, [{
+    key: '_apply',
+    value: function _apply(joint) {
+      var direction = new three.Vector3().copy(joint._getDirection());
+      var parentDirection = joint._localToWorldDirection(t1$1.copy(Z_AXIS$1)).normalize();
+      var rotationPlaneNormal = joint._localToWorldDirection(t2$1.copy(joint._originalHinge)).normalize();
+      this.rotationPlane.normal = rotationPlaneNormal;
+      var projectedDir = this.rotationPlane.projectPoint(direction, new three.Vector3());
+      var parentDirectionProjected = this.rotationPlane.projectPoint(parentDirection, t3$1);
+      var currentAngle = projectedDir.angleTo(parentDirectionProjected) * RAD2DEG$1;
+      var cross = t4.crossVectors(projectedDir, parentDirectionProjected);
+      if (cross.dot(rotationPlaneNormal) > 0) {
+        currentAngle += 180;
+      }
+      if (currentAngle > this.angle) {
+        parentDirectionProjected.applyAxisAngle(rotationPlaneNormal, this.angle / RAD2DEG$1);
+        joint._setDirection(parentDirectionProjected);
+      } else {
+        joint._setDirection(projectedDir);
+      }
+    }
+  }]);
+  return IKHingeConstraint;
+}();
+
 var BoneHelper = function (_Object3D) {
   inherits(BoneHelper, _Object3D);
   function BoneHelper(height, boneSize, axesSize) {
@@ -1169,13 +1214,15 @@ if (typeof window !== 'undefined' && _typeof(window.THREE) === 'object') {
   window.THREE.IKChain = IKChain;
   window.THREE.IKJoint = IKJoint;
   window.THREE.IKBallConstraint = IKBallConstraint;
+  window.THREE.IKHingeConstraint = IKHingeConstraint;
   window.THREE.IKHelper = IKHelper;
 }
 
 exports.IK = IK;
 exports.IKChain = IKChain;
 exports.IKJoint = IKJoint;
 exports.IKBallConstraint = IKBallConstraint;
+exports.IKHingeConstraint = IKHingeConstraint;
 exports.IKHelper = IKHelper;
 
 Object.defineProperty(exports, '__esModule', { value: true });

build/three-ik.module.js

@@ -1,4 +1,4 @@
-import { AxesHelper, Color, ConeBufferGeometry, Math as Math$1, Matrix4, Mesh, MeshBasicMaterial, Object3D, Vector3 } from 'three';
+import { AxesHelper, Color, ConeBufferGeometry, Math as Math$1, Matrix4, Mesh, MeshBasicMaterial, Object3D, Plane, Vector3 } from 'three';
 
 var t1 = new Vector3();
 var t2 = new Vector3();
@@ -43,7 +43,7 @@ function setQuaternionFromDirection(direction, up, target) {
   var el = m1.elements;
   z.copy(direction);
   x.crossVectors(up, z);
-  if (x.lengthSq() === 0) {
+  if (x.lengthSq() == 0) {
     if (Math.abs(up.z) === 1) {
       z.x += 0.0001;
     } else {
@@ -363,11 +363,14 @@ var IKJoint = function () {
     this.bone = bone;
     this.distance = 0;
     this._originalDirection = new Vector3();
+    this._originalHinge = new Vector3();
     this._direction = new Vector3();
     this._worldPosition = new Vector3();
     this._isSubBase = false;
     this._subBasePositions = null;
     this.isIKJoint = true;
+    this._originalUp = new Vector3(0, 1, 0);
+    this._originalUp.applyQuaternion(this.bone.quaternion).normalize();
     this._updateWorldPosition();
   }
   createClass(IKJoint, [{
@@ -549,6 +552,7 @@ var IKChain = function () {
       }
       else {
           var previousJoint = this.joints[this.joints.length - 2];
+          var previousPreviousJoint = this.joints[this.joints.length - 3];
           previousJoint._updateMatrixWorld();
           previousJoint._updateWorldPosition();
           joint._updateWorldPosition();
@@ -561,6 +565,9 @@ var IKChain = function () {
           var direction = previousJoint._getWorldDirection(joint);
           previousJoint._originalDirection = new Vector3().copy(direction);
           joint._originalDirection = new Vector3().copy(direction);
+          if (previousPreviousJoint) {
+            previousJoint._originalHinge = previousJoint._worldToLocalDirection(previousJoint._originalDirection.clone().cross(previousPreviousJoint._originalDirection).normalize());
+          }
           this.totalLengths += distance;
         }
       if (target) {
@@ -843,6 +850,44 @@ var IK = function () {
   return IK;
 }();
 
+var Z_AXIS$1 = new Vector3(0, 0, -1);
+var X_AXIS = new Vector3(1, 0, 0);
+var t1$1 = new Vector3();
+var t2$1 = new Vector3();
+var t3$1 = new Vector3();
+var t4 = new Vector3();
+var RAD2DEG$1 = Math$1.RAD2DEG;
+var IKHingeConstraint = function () {
+  function IKHingeConstraint(angle) {
+    classCallCheck(this, IKHingeConstraint);
+    this.angle = angle;
+    this.rotationPlane = new Plane();
+  }
+  createClass(IKHingeConstraint, [{
+    key: '_apply',
+    value: function _apply(joint) {
+      var direction = new Vector3().copy(joint._getDirection());
+      var parentDirection = joint._localToWorldDirection(t1$1.copy(Z_AXIS$1)).normalize();
+      var rotationPlaneNormal = joint._localToWorldDirection(t2$1.copy(joint._originalHinge)).normalize();
+      this.rotationPlane.normal = rotationPlaneNormal;
+      var projectedDir = this.rotationPlane.projectPoint(direction, new Vector3());
+      var parentDirectionProjected = this.rotationPlane.projectPoint(parentDirection, t3$1);
+      var currentAngle = projectedDir.angleTo(parentDirectionProjected) * RAD2DEG$1;
+      var cross = t4.crossVectors(projectedDir, parentDirectionProjected);
+      if (cross.dot(rotationPlaneNormal) > 0) {
+        currentAngle += 180;
+      }
+      if (currentAngle > this.angle) {
+        parentDirectionProjected.applyAxisAngle(rotationPlaneNormal, this.angle / RAD2DEG$1);
+        joint._setDirection(parentDirectionProjected);
+      } else {
+        joint._setDirection(projectedDir);
+      }
+    }
+  }]);
+  return IKHingeConstraint;
+}();
+
 var BoneHelper = function (_Object3D) {
   inherits(BoneHelper, _Object3D);
   function BoneHelper(height, boneSize, axesSize) {
@@ -1165,7 +1210,8 @@ if (typeof window !== 'undefined' && _typeof(window.THREE) === 'object') {
   window.THREE.IKChain = IKChain;
   window.THREE.IKJoint = IKJoint;
   window.THREE.IKBallConstraint = IKBallConstraint;
+  window.THREE.IKHingeConstraint = IKHingeConstraint;
   window.THREE.IKHelper = IKHelper;
 }
 
-export { IK, IKChain, IKJoint, IKBallConstraint, IKHelper };
+export { IK, IKChain, IKJoint, IKBallConstraint, IKHingeConstraint, IKHelper };

examples/hinge-constraints.html

@@ -0,0 +1,125 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <title>THREE.IK - hinge constraint test</title>
+    <meta charset="utf-8">
+    <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
+    <style>
+        body {
+            font-family: Monospace;
+            background-color: #000;
+            color: #fff;
+            margin: 0px;
+            overflow: hidden;
+        }
+
+        #info {
+            color: #fff;
+            position: absolute;
+            top: 10px;
+            width: 100%;
+            text-align: center;
+            z-index: 100;
+            display: block;
+        }
+
+        #info a {
+            color: #046;
+            font-weight: bold;
+        }
+
+    </style>
+</head>
+
+<body>
+    <script src="node_modules/dat.gui/build/dat.gui.js"></script>
+    <script src="node_modules/three/build/three.js"></script>
+    <script src="node_modules/three/examples/js/controls/OrbitControls.js"></script>
+    <script src="node_modules/three/examples/js/loaders/FBXLoader.js"></script>
+    <script src="scripts/IKApp.js"></script>
+    <script src="scripts/AxisUtils.js"></script>
+
+    <script src="../build/three-ik.js"></script>
+    <script>
+        class SingleTargetApp extends IKApp {
+            setupGUI() {
+                this.config.constraintType = 'ball';
+                this.config.constraintAngle = 90;
+
+            }
+
+            setupIK() {
+
+                var fbxLoader = new THREE.FBXLoader();
+                fbxLoader.load('assets/rigTest-02.fbx', (rigGroup) => {
+                this.scene.add(rigGroup)
+                rigGroup.updateMatrixWorld()
+
+                var rigMesh = rigGroup.children[0];
+                var rootBone = rigGroup.children[1].children[0]
+
+                /**
+                  This model's bind matrices are -Z forward, while the IK system operates in +Z Forward -- assuming
+                  the parent's +Z forward faces the child. This utility helps us recalculate the models bone matrices
+                  to be consistent with the IK system.
+                 **/
+                setZForward(rootBone);
+                //must rebind the skeleton to reset the bind matrix.
+                rigMesh.bind(rigMesh.skeleton)
+
+                rigMesh.material = new THREE.MeshPhysicalMaterial({
+                  skinning: true,
+                  wireframe: true
+                })
+
+                this.target = new THREE.Mesh(
+                  new THREE.SphereGeometry(0.5),
+                  new THREE.MeshBasicMaterial({wireframe: true})
+                );
+                this.target.position.set(1,0,5.5)
+                this.scene.add(this.target)
+
+                var boneGroup = rootBone;
+                var ik = new IK.IK();
+                const chain = new IK.IKChain();
+                var currentBone = boneGroup;
+                var constraintArray = [
+                  new IK.IKBallConstraint(90),
+                  new IK.IKHingeConstraint(180),
+                  new IK.IKHingeConstraint(180),
+                  new IK.IKHingeConstraint(100),
+                ];
+
+                for (let i = 0; i < 5; i++) {
+                  const target = i === 4 ? this.target : null;
+                  const constraints = [constraintArray[i]];
+                  chain.add(new IK.IKJoint(currentBone, { constraints }), { target });
+                  currentBone = currentBone.children[0]
+                }
+                ik.add(chain);
+                const helper = new IK.IKHelper(ik);
+                this.scene.add(helper);
+                this.iks.push(ik)
+
+              }, console.log, console.log);
+            }
+
+            onChange() {
+                super.onChange();
+            }
+
+            update() {
+              if(this.target){
+                this.target.position.y = 2 + 2 * Math.sin(0.003 * performance.now())
+                this.target.position.x = 1 + 2 * Math.sin(0.003 * performance.now())
+              }
+            }
+        };
+
+        window.app = new SingleTargetApp();
+
+    </script>
+</body>
+
+</html>

examples/index.html

@@ -248,7 +248,8 @@ <h1><a href="http://jsantell.github.io/THREE.IK">THREE<span>.IK</span></a></h1>
                 "single-target",
                 "multi-effector",
                 "readme-example",
-								"skinned-mesh"
+								"skinned-mesh",
+								"hinge-constraints"
             ]
         };
 		function extractQuery() {