javascript fast iterative solver for Inverse Kinematics on three.js
is a conversion from java to Caliko libs, Caliko library is an implementation
of the FABRIK inverse kinematics algorithm by Dr. Andreas Aristidou
Note: Fullik is now FIK
new Fullik.Bone() -> new FIK.Bone3D()
new Fullik.Bone() -> new FIK.Bone3D()
new Fullik.Chain() -> new FIK.Chain3D()
new Fullik.Structure() -> new FIK.Structure3D()
const { Structure3D } = require('FIK');
const scene = new THREE.Scene();
const solver = Structure3D(scene);
const n = {
mesh : new THREE.Mesh( new THREE.SphereGeometry( 0.1, 6, 4 ), new THREE.MeshStandardMaterial({color:0xFFFF00, wireframe:true }) ),
control : new THREE.TransformControls( camera, renderer.domElement ),
}
function updateSolver() {
solver.update();
}
scene.add(n.mesh);
scene.add(n.control);
n.control.addEventListener('change', updateSolver);
n.position = n.mesh.position; // publishes x, y, z to the engine...From Demo 2
var numChains = 3;
var rotStep = 360 / numChains;
var constraintAngleDegs = 45;
var color = 0xFF0000;
for (var i = 0; i < numChains; i++ ){
switch (i){
case 0: color = 0x550000; break;
case 1: color = 0x005500; break;
case 2: color = 0x000055; break;
}
var chain = new FIK.Chain3D( color )
var startLoc = new FIK.V3(0, 0, -40);
startLoc = FIK._Math.rotateYDegs( startLoc, rotStep * i );
var endLoc = startLoc.clone();
endLoc.z -= defaultBoneLength;
var basebone = new FIK.Bone3D( startLoc, endLoc );
chain.addBone( basebone );
for (var j = 0; j < 7; j++) {
chain.addConsecutiveRotorConstrainedBone( defaultBoneDirection, defaultBoneLength, constraintAngleDegs );
};
solver.add( chain, target, true );
}