Babylon.js/src/Bones/babylon.boneIKController.ts

module BABYLON {
    export class BoneIKController {

        public targetMesh: AbstractMesh;
        public poleTargetMesh: AbstractMesh;
        public poleTargetBone: Bone;
        public targetPosition = Vector3.Zero();
        public poleTargetPosition = Vector3.Zero();
        public poleTargetLocalOffset = Vector3.Zero();
        public poleAngle = 0;
        public mesh: AbstractMesh;
        public slerpAmount = 1;

        private _bone1Quat = Quaternion.Identity();
        private _bone1Mat = Matrix.Identity();
        private _bone2Ang = Math.PI;

        private _bone1: Bone;
        private _bone2: Bone;
        private _bone1Length: number;
        private _bone2Length: number;
        private _maxAngle = Math.PI;
        private _maxReach: number;

        private _tmpVec1 = Vector3.Zero();
        private _tmpVec2 = Vector3.Zero();
        private _tmpVec3 = Vector3.Zero();
        private _tmpVec4 = Vector3.Zero();
        private _tmpVec5 = Vector3.Zero();
        private _tmpMat1 = Matrix.Identity();
        private _tmpMat2 = Matrix.Identity();
        private _tmpQuat1 = Quaternion.Identity();

        private _rightHandedSystem = false;

        private _bendAxis = Vector3.Right();
        private _slerping = false;

        get maxAngle(): number {

            return this._maxAngle;

        }

        set maxAngle(value: number) {
            
            this._setMaxAngle(value);

        }

        constructor(mesh: AbstractMesh, bone: Bone, options?: { targetMesh?: AbstractMesh, poleTargetMesh?: AbstractMesh, poleTargetBone?: Bone, poleTargetLocalOffset?:Vector3, poleAngle?: number, bendAxis?: Vector3, maxAngle?:number, slerpAmount?:number }){

            this._bone2 = bone;
            this._bone1 = bone.getParent();
            
            this.mesh = mesh;

             if(bone.getAbsoluteTransform().determinant() > 0){
                this._rightHandedSystem = true;
                this._bendAxis.x = 0;
                this._bendAxis.y = 0;
                this._bendAxis.z = 1;
            }

            if (this._bone1.length) {

                var boneScale1 = this._bone1.getScale();
                var boneScale2 = this._bone2.getScale();
                
                this._bone1Length = this._bone1.length * boneScale1.y * this.mesh.scaling.y;
                this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;

            } else if (this._bone1.children[0]) {
            
                mesh.computeWorldMatrix(true);

                var pos1 = this._bone2.children[0].getAbsolutePosition(mesh);
                var pos2 = this._bone2.getAbsolutePosition(mesh);
                var pos3 = this._bone1.getAbsolutePosition(mesh);

                this._bone1Length = Vector3.Distance(pos1, pos2);
                this._bone2Length = Vector3.Distance(pos2, pos3);

            }

            this._bone1.getRotationMatrixToRef(Space.WORLD, mesh, this._bone1Mat);
            this.maxAngle = Math.PI;
            
            if(options){

                if(options.targetMesh){
                    this.targetMesh = options.targetMesh;
                    this.targetMesh.computeWorldMatrix(true);
                }

                if(options.poleTargetMesh){

                    this.poleTargetMesh = options.poleTargetMesh;
                    this.poleTargetMesh.computeWorldMatrix(true);

                }else if(options.poleTargetBone){

                    this.poleTargetBone = options.poleTargetBone;

                }else if(this._bone1.getParent()){

                    this.poleTargetBone = this._bone1.getParent();

                }

                if(options.poleTargetLocalOffset){
                    this.poleTargetLocalOffset.copyFrom(options.poleTargetLocalOffset);
                }

                if(options.poleAngle){
                    this.poleAngle = options.poleAngle;
                }

                if(options.bendAxis){
                    this._bendAxis.copyFrom(options.bendAxis);
                }

                if(options.maxAngle){
                    this.maxAngle = options.maxAngle;
                }

                if(options.slerpAmount){
                    this.slerpAmount = options.slerpAmount;
                }

            }

        }

        private _setMaxAngle(ang: number): void{

            if (ang < 0) {
                ang = 0;
            }

            if (ang > Math.PI || ang == undefined) {
                ang = Math.PI;
            }

            this._maxAngle = ang;

            var a = this._bone1Length;
            var b = this._bone2Length;

            this._maxReach = Math.sqrt(a * a + b * b - 2 * a * b * Math.cos(ang));

        }

        public update (): void {
	
            var bone1 = this._bone1;
            var target = this.targetPosition;
            var poleTarget = this.poleTargetPosition;

            var mat1 = this._tmpMat1;
            var mat2 = this._tmpMat2;

            if(this.targetMesh){
                target.copyFrom(this.targetMesh.getAbsolutePosition());
            }

            if(this.poleTargetBone){
                this.poleTargetBone.getAbsolutePositionFromLocalToRef(this.poleTargetLocalOffset, this.mesh, poleTarget);
            }else if(this.poleTargetMesh){
                Vector3.TransformCoordinatesToRef(this.poleTargetLocalOffset, this.poleTargetMesh.getWorldMatrix(), poleTarget);
            }

            var bonePos = this._tmpVec1;
            var zaxis = this._tmpVec2;
            var xaxis = this._tmpVec3;
            var yaxis = this._tmpVec4;
            var upAxis = this._tmpVec5;
            
            bone1.getAbsolutePositionToRef(this.mesh, bonePos);

            poleTarget.subtractToRef(bonePos, upAxis);

            if (upAxis.x == 0 && upAxis.y == 0 && upAxis.z == 0) {
                upAxis.y = 1;
            } else {
                upAxis.normalize();
            }

            target.subtractToRef(bonePos, yaxis);
            yaxis.normalize();

            Vector3.CrossToRef(yaxis, upAxis, zaxis);
            zaxis.normalize();

            Vector3.CrossToRef(yaxis, zaxis, xaxis);
            xaxis.normalize();

            Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, mat1);

            var a = this._bone1Length;
            var b = this._bone2Length;

            var c = Vector3.Distance(bonePos, target);

            if (this._maxReach > 0) {
                c = Math.min(this._maxReach, c);
            }

            var acosa = (b * b + c * c - a * a) / (2 * b * c);
            var acosb = (c * c + a * a - b * b) / (2 * c * a);

            if (acosa > 1) {
                acosa = 1;
            }

            if (acosb > 1) {
                acosb = 1;
            }

            if (acosa < -1) {
                acosa = -1;
            }

            if (acosb < -1) {
                acosb = -1;
            }

            var angA = Math.acos(acosa);
            var angB = Math.acos(acosb);

            var angC = -angA - angB;

            if (this._rightHandedSystem) {

                Matrix.RotationYawPitchRollToRef(0, 0, Math.PI * .5, mat2);
                mat2.multiplyToRef(mat1, mat1);

                Matrix.RotationAxisToRef(this._bendAxis, angB, mat2);
                mat2.multiplyToRef(mat1, mat1);

            } else {

                this._tmpVec1.copyFrom(this._bendAxis);
                this._tmpVec1.x *= -1;

                Matrix.RotationAxisToRef(this._tmpVec1, -angB, mat2);
                mat2.multiplyToRef(mat1, mat1);
                
            }

            if (this.poleAngle) {
                Matrix.RotationAxisToRef(yaxis, this.poleAngle, mat2);
                mat1.multiplyToRef(mat2, mat1);
            }

            if(this.slerpAmount < 1){
                if(!this._slerping){
                    Quaternion.FromRotationMatrixToRef(this._bone1Mat, this._bone1Quat);
                }
                Quaternion.FromRotationMatrixToRef(mat1, this._tmpQuat1);
                Quaternion.SlerpToRef(this._bone1Quat, this._tmpQuat1, this.slerpAmount, this._bone1Quat);
                angC = this._bone2Ang * (1.0 - this.slerpAmount) + angC * this.slerpAmount;
                this._bone1.setRotationQuaternion(this._bone1Quat, Space.WORLD, this.mesh);
                this._slerping = true;
            } else {
                this._bone1.setRotationMatrix(mat1, Space.WORLD, this.mesh);
                this._bone1Mat.copyFrom(mat1);
                this._slerping = false;
            }

            this._bone2.setAxisAngle(this._bendAxis, angC, Space.LOCAL);
            this._bone2Ang = angC;

        }

    }
}