A solver for IK with CCD Algorithm.
[name] solves Inverse Kinematics Problem with CCD Algorithm.
[name] is designed to work with [page:SkinnedMesh] loaded by [page:MMDLoader] but also can be used for generic [page:SkinnedMesh].
var ikSolver;
// Load MMD resources and instantiate CCDIKSolver
new v3d.MMDLoader().load(
'models/mmd/miku.pmd',
function(mesh) {
ikSolver = new CCDIKSolver(mesh, mesh.geometry.iks);
scene.add(mesh);
}
);
function render() {
animate(); // update bones
if (ikSolver !== undefined) ikSolver.update();
renderer.render(scene, camera);
}
[example:webgl_loader_mmd]
[page:SkinnedMesh mesh] — [page:SkinnedMesh] for which [name] solves IK problem.
[page:Array iks] — An array of [page:Object] specifying IK parameter. target, effector, and link-index are index integers in .skeleton.bones.
The bones relation should be "links[n], links[n - 1], ..., links[0], effector" in order from parent to child.
Creates a new [name].
An array of IK parameter passed to the constructor.
[page:SkinnedMesh] passed to the constructor.
Return [page:CCDIKHelper]. You can visualize IK bones by adding the helper to scene.
Update bones quaternion by solving CCD algorithm.
[sourceHint]