@babylonjs/core 7.12.0 → 7.13.1

package/Bones/boneIKController.js.map

@@ -1 +1 @@
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type { Bone } from \"./bone\";\r\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector\";\r\nimport type { TransformNode } from \"../Meshes/transformNode\";\r\nimport type { Nullable } from \"../types\";\r\nimport { Space } from \"../Maths/math.axis\";\r\nimport { Logger } from \"../Misc/logger\";\r\n\r\n/**\r\n * Class used to apply inverse kinematics to bones\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#boneikcontroller\r\n */\r\nexport class BoneIKController {\r\n    private static _TmpVecs: Vector3[] = [Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero()];\r\n    private static _TmpQuat = Quaternion.Identity();\r\n    private static _TmpMats: Matrix[] = [Matrix.Identity(), Matrix.Identity()];\r\n\r\n    /**\r\n     * Gets or sets the target TransformNode\r\n     * Name kept as mesh for back compatibility\r\n     */\r\n    public targetMesh: TransformNode;\r\n\r\n    /** Gets or sets the mesh used as pole */\r\n    public poleTargetMesh: TransformNode;\r\n\r\n    /**\r\n     * Gets or sets the bone used as pole\r\n     */\r\n    public poleTargetBone: Nullable<Bone>;\r\n\r\n    /**\r\n     * Gets or sets the target position\r\n     */\r\n    public targetPosition = Vector3.Zero();\r\n\r\n    /**\r\n     * Gets or sets the pole target position\r\n     */\r\n    public poleTargetPosition = Vector3.Zero();\r\n\r\n    /**\r\n     * Gets or sets the pole target local offset\r\n     */\r\n    public poleTargetLocalOffset = Vector3.Zero();\r\n\r\n    /**\r\n     * Gets or sets the pole angle\r\n     */\r\n    public poleAngle = 0;\r\n\r\n    /**\r\n     * Gets or sets the TransformNode associated with the controller\r\n     * Name kept as mesh for back compatibility\r\n     */\r\n    public mesh: TransformNode;\r\n\r\n    /**\r\n     * The amount to slerp (spherical linear interpolation) to the target.  Set this to a value between 0 and 1 (a value of 1 disables slerp)\r\n     */\r\n    public slerpAmount = 1;\r\n\r\n    private _bone1Quat = Quaternion.Identity();\r\n    private _bone1Mat = Matrix.Identity();\r\n    private _bone2Ang = Math.PI;\r\n\r\n    private _bone1: Bone;\r\n    private _bone2: Bone;\r\n    private _bone1Length: number;\r\n    private _bone2Length: number;\r\n    private _maxAngle = Math.PI;\r\n    private _maxReach: number;\r\n\r\n    private _rightHandedSystem = false;\r\n\r\n    private _bendAxis = Vector3.Right();\r\n    private _slerping = false;\r\n\r\n    private _adjustRoll = 0;\r\n\r\n    private _notEnoughInformation = false;\r\n\r\n    /**\r\n     * Gets or sets maximum allowed angle\r\n     */\r\n    public get maxAngle(): number {\r\n        return this._maxAngle;\r\n    }\r\n\r\n    public set maxAngle(value: number) {\r\n        this._setMaxAngle(value);\r\n    }\r\n\r\n    /**\r\n     * Creates a new BoneIKController\r\n     * @param mesh defines the TransformNode to control\r\n     * @param bone defines the bone to control. The bone needs to have a parent bone. It also needs to have a length greater than 0 or a children we can use to infer its length.\r\n     * @param options defines options to set up the controller\r\n     * @param options.targetMesh\r\n     * @param options.poleTargetMesh\r\n     * @param options.poleTargetBone\r\n     * @param options.poleTargetLocalOffset\r\n     * @param options.poleAngle\r\n     * @param options.bendAxis\r\n     * @param options.maxAngle\r\n     * @param options.slerpAmount\r\n     */\r\n    constructor(\r\n        mesh: TransformNode,\r\n        bone: Bone,\r\n        options?: {\r\n            targetMesh?: TransformNode;\r\n            poleTargetMesh?: TransformNode;\r\n            poleTargetBone?: Bone;\r\n            poleTargetLocalOffset?: Vector3;\r\n            poleAngle?: number;\r\n            bendAxis?: Vector3;\r\n            maxAngle?: number;\r\n            slerpAmount?: number;\r\n        }\r\n    ) {\r\n        this._bone2 = bone;\r\n        const bone1 = bone.getParent();\r\n\r\n        if (!bone1) {\r\n            this._notEnoughInformation = true;\r\n            Logger.Error(\"BoneIKController: bone must have a parent for IK to work.\");\r\n            return;\r\n        }\r\n        this._bone1 = bone1;\r\n\r\n        if (this._bone2.children.length === 0 && !this._bone2.length) {\r\n            this._notEnoughInformation = true;\r\n            Logger.Error(\"BoneIKController: bone must not be a leaf or it should have a length for IK to work.\");\r\n            return;\r\n        }\r\n\r\n        this.mesh = mesh;\r\n\r\n        bone.getSkeleton().computeAbsoluteMatrices();\r\n\r\n        const bonePos = bone.getPosition();\r\n\r\n        if (bone.getAbsoluteMatrix().determinant() > 0) {\r\n            this._rightHandedSystem = true;\r\n            this._bendAxis.x = 0;\r\n            this._bendAxis.y = 0;\r\n            this._bendAxis.z = -1;\r\n\r\n            if (bonePos.x > bonePos.y && bonePos.x > bonePos.z) {\r\n                this._adjustRoll = Math.PI * 0.5;\r\n                this._bendAxis.z = 1;\r\n            }\r\n        }\r\n\r\n        if (this._bone1.length && this._bone2.length) {\r\n            const boneScale1 = this._bone1.getScale();\r\n            const boneScale2 = this._bone2.getScale();\r\n\r\n            this._bone1Length = this._bone1.length * boneScale1.y * this.mesh.scaling.y;\r\n            this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\r\n        } else if (this._bone2.children[0]) {\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            const pos1 = this._bone2.children[0].getAbsolutePosition(mesh);\r\n            const pos2 = this._bone2.getAbsolutePosition(mesh);\r\n            const pos3 = this._bone1.getAbsolutePosition(mesh);\r\n\r\n            this._bone2Length = Vector3.Distance(pos1, pos2);\r\n            this._bone1Length = Vector3.Distance(pos2, pos3);\r\n        } else {\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            const boneScale2 = this._bone2.getScale();\r\n            this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\r\n\r\n            const pos2 = this._bone2.getAbsolutePosition(mesh);\r\n            const pos3 = this._bone1.getAbsolutePosition(mesh);\r\n\r\n            this._bone1Length = Vector3.Distance(pos2, pos3);\r\n        }\r\n\r\n        this._bone1.getRotationMatrixToRef(Space.WORLD, mesh, this._bone1Mat);\r\n        this.maxAngle = Math.PI;\r\n\r\n        if (options) {\r\n            if (options.targetMesh) {\r\n                this.targetMesh = options.targetMesh;\r\n                this.targetMesh.computeWorldMatrix(true);\r\n            }\r\n\r\n            if (options.poleTargetMesh) {\r\n                this.poleTargetMesh = options.poleTargetMesh;\r\n                this.poleTargetMesh.computeWorldMatrix(true);\r\n            } else if (options.poleTargetBone) {\r\n                this.poleTargetBone = options.poleTargetBone;\r\n            } else if (this._bone1.getParent()) {\r\n                this.poleTargetBone = this._bone1.getParent();\r\n            }\r\n\r\n            if (options.poleTargetLocalOffset) {\r\n                this.poleTargetLocalOffset.copyFrom(options.poleTargetLocalOffset);\r\n            }\r\n\r\n            if (options.poleAngle) {\r\n                this.poleAngle = options.poleAngle;\r\n            }\r\n\r\n            if (options.bendAxis) {\r\n                this._bendAxis.copyFrom(options.bendAxis);\r\n            }\r\n\r\n            if (options.maxAngle) {\r\n                this.maxAngle = options.maxAngle;\r\n            }\r\n\r\n            if (options.slerpAmount) {\r\n                this.slerpAmount = options.slerpAmount;\r\n            }\r\n        }\r\n    }\r\n\r\n    private _setMaxAngle(ang: number): void {\r\n        if (ang < 0) {\r\n            ang = 0;\r\n        }\r\n\r\n        if (ang > Math.PI || ang == undefined) {\r\n            ang = Math.PI;\r\n        }\r\n\r\n        this._maxAngle = ang;\r\n\r\n        const a = this._bone1Length;\r\n        const b = this._bone2Length;\r\n\r\n        this._maxReach = Math.sqrt(a * a + b * b - 2 * a * b * Math.cos(ang));\r\n    }\r\n\r\n    /**\r\n     * Force the controller to update the bones\r\n     */\r\n    public update(): void {\r\n        if (this._notEnoughInformation) {\r\n            return;\r\n        }\r\n\r\n        const target = this.targetPosition;\r\n        const poleTarget = this.poleTargetPosition;\r\n\r\n        const mat1 = BoneIKController._TmpMats[0];\r\n        const mat2 = BoneIKController._TmpMats[1];\r\n\r\n        if (this.targetMesh) {\r\n            target.copyFrom(this.targetMesh.getAbsolutePosition());\r\n        }\r\n\r\n        if (this.poleTargetBone) {\r\n            this.poleTargetBone.getAbsolutePositionFromLocalToRef(this.poleTargetLocalOffset, this.mesh, poleTarget);\r\n        } else if (this.poleTargetMesh) {\r\n            Vector3.TransformCoordinatesToRef(this.poleTargetLocalOffset, this.poleTargetMesh.getWorldMatrix(), poleTarget);\r\n        }\r\n\r\n        const bonePos = BoneIKController._TmpVecs[0];\r\n        const zaxis = BoneIKController._TmpVecs[1];\r\n        const xaxis = BoneIKController._TmpVecs[2];\r\n        const yaxis = BoneIKController._TmpVecs[3];\r\n        const upAxis = BoneIKController._TmpVecs[4];\r\n\r\n        const tmpQuat = BoneIKController._TmpQuat;\r\n\r\n        this._bone1.getAbsolutePositionToRef(this.mesh, bonePos);\r\n\r\n        poleTarget.subtractToRef(bonePos, upAxis);\r\n\r\n        if (upAxis.x == 0 && upAxis.y == 0 && upAxis.z == 0) {\r\n            upAxis.y = 1;\r\n        } else {\r\n            upAxis.normalize();\r\n        }\r\n\r\n        target.subtractToRef(bonePos, yaxis);\r\n        yaxis.normalize();\r\n\r\n        Vector3.CrossToRef(yaxis, upAxis, zaxis);\r\n        zaxis.normalize();\r\n\r\n        Vector3.CrossToRef(yaxis, zaxis, xaxis);\r\n        xaxis.normalize();\r\n\r\n        Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, mat1);\r\n\r\n        const a = this._bone1Length;\r\n        const b = this._bone2Length;\r\n\r\n        let c = Vector3.Distance(bonePos, target);\r\n\r\n        if (this._maxReach > 0) {\r\n            c = Math.min(this._maxReach, c);\r\n        }\r\n\r\n        let acosa = (b * b + c * c - a * a) / (2 * b * c);\r\n        let acosb = (c * c + a * a - b * b) / (2 * c * a);\r\n\r\n        if (acosa > 1) {\r\n            acosa = 1;\r\n        }\r\n\r\n        if (acosb > 1) {\r\n            acosb = 1;\r\n        }\r\n\r\n        if (acosa < -1) {\r\n            acosa = -1;\r\n        }\r\n\r\n        if (acosb < -1) {\r\n            acosb = -1;\r\n        }\r\n\r\n        const angA = Math.acos(acosa);\r\n        const angB = Math.acos(acosb);\r\n\r\n        let angC = -angA - angB;\r\n\r\n        if (this._rightHandedSystem) {\r\n            Matrix.RotationYawPitchRollToRef(0, 0, this._adjustRoll, mat2);\r\n            mat2.multiplyToRef(mat1, mat1);\r\n\r\n            Matrix.RotationAxisToRef(this._bendAxis, angB, mat2);\r\n            mat2.multiplyToRef(mat1, mat1);\r\n        } else {\r\n            const _tmpVec = BoneIKController._TmpVecs[5];\r\n\r\n            _tmpVec.copyFrom(this._bendAxis);\r\n            _tmpVec.x *= -1;\r\n\r\n            Matrix.RotationAxisToRef(_tmpVec, -angB, mat2);\r\n            mat2.multiplyToRef(mat1, mat1);\r\n        }\r\n\r\n        if (this.poleAngle) {\r\n            Matrix.RotationAxisToRef(yaxis, this.poleAngle, mat2);\r\n            mat1.multiplyToRef(mat2, mat1);\r\n        }\r\n\r\n        if (this._bone1) {\r\n            if (this.slerpAmount < 1) {\r\n                if (!this._slerping) {\r\n                    Quaternion.FromRotationMatrixToRef(this._bone1Mat, this._bone1Quat);\r\n                }\r\n                Quaternion.FromRotationMatrixToRef(mat1, tmpQuat);\r\n                Quaternion.SlerpToRef(this._bone1Quat, tmpQuat, this.slerpAmount, this._bone1Quat);\r\n                angC = this._bone2Ang * (1.0 - this.slerpAmount) + angC * this.slerpAmount;\r\n\r\n                this._bone1.setRotationQuaternion(this._bone1Quat, Space.WORLD, this.mesh);\r\n                this._slerping = true;\r\n            } else {\r\n                this._bone1.setRotationMatrix(mat1, Space.WORLD, this.mesh);\r\n                this._bone1Mat.copyFrom(mat1);\r\n                this._slerping = false;\r\n            }\r\n            this._updateLinkedTransformRotation(this._bone1);\r\n        }\r\n\r\n        this._bone2.setAxisAngle(this._bendAxis, angC, Space.LOCAL);\r\n        this._updateLinkedTransformRotation(this._bone2);\r\n        this._bone2Ang = angC;\r\n    }\r\n\r\n    private _updateLinkedTransformRotation(bone: Bone): void {\r\n        if (bone._linkedTransformNode) {\r\n            if (!bone._linkedTransformNode.rotationQuaternion) {\r\n                bone._linkedTransformNode.rotationQuaternion = new Quaternion();\r\n            }\r\n            bone.getRotationQuaternionToRef(Space.LOCAL, null, bone._linkedTransformNode.rotationQuaternion);\r\n        }\r\n    }\r\n}\r\n"]}
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type { Bone } from \"./bone\";\r\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector\";\r\nimport type { TransformNode } from \"../Meshes/transformNode\";\r\nimport type { Nullable } from \"../types\";\r\nimport { Space } from \"../Maths/math.axis\";\r\nimport { Logger } from \"../Misc/logger\";\r\n\r\n/**\r\n * Class used to apply inverse kinematics to bones\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#boneikcontroller\r\n */\r\nexport class BoneIKController {\r\n    private static _TmpVecs: Vector3[] = [Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero(), Vector3.Zero()];\r\n    private static _TmpQuat = Quaternion.Identity();\r\n    private static _TmpMats: Matrix[] = [Matrix.Identity(), Matrix.Identity()];\r\n\r\n    /**\r\n     * Gets or sets the target TransformNode\r\n     * Name kept as mesh for back compatibility\r\n     */\r\n    public targetMesh: TransformNode;\r\n\r\n    /** Gets or sets the mesh used as pole */\r\n    public poleTargetMesh: TransformNode;\r\n\r\n    /**\r\n     * Gets or sets the bone used as pole\r\n     */\r\n    public poleTargetBone: Nullable<Bone>;\r\n\r\n    /**\r\n     * Gets or sets the target position\r\n     */\r\n    public targetPosition = Vector3.Zero();\r\n\r\n    /**\r\n     * Gets or sets the pole target position\r\n     */\r\n    public poleTargetPosition = Vector3.Zero();\r\n\r\n    /**\r\n     * Gets or sets the pole target local offset\r\n     */\r\n    public poleTargetLocalOffset = Vector3.Zero();\r\n\r\n    /**\r\n     * Gets or sets the pole angle\r\n     */\r\n    public poleAngle = 0;\r\n\r\n    /**\r\n     * Gets or sets the TransformNode associated with the controller\r\n     * Name kept as mesh for back compatibility\r\n     */\r\n    public mesh: TransformNode;\r\n\r\n    /**\r\n     * The amount to slerp (spherical linear interpolation) to the target.  Set this to a value between 0 and 1 (a value of 1 disables slerp)\r\n     */\r\n    public slerpAmount = 1;\r\n\r\n    private _bone1Quat = Quaternion.Identity();\r\n    private _bone1Mat = Matrix.Identity();\r\n    private _bone2Ang = Math.PI;\r\n\r\n    private _bone1: Bone;\r\n    private _bone2: Bone;\r\n    private _bone1Length: number;\r\n    private _bone2Length: number;\r\n    private _maxAngle = Math.PI;\r\n    private _maxReach: number;\r\n\r\n    private _rightHandedSystem = false;\r\n\r\n    private _bendAxis = Vector3.Right();\r\n    private _slerping = false;\r\n\r\n    private _adjustRoll = 0;\r\n\r\n    private _notEnoughInformation = false;\r\n\r\n    /**\r\n     * Gets or sets maximum allowed angle\r\n     */\r\n    public get maxAngle(): number {\r\n        return this._maxAngle;\r\n    }\r\n\r\n    public set maxAngle(value: number) {\r\n        this._setMaxAngle(value);\r\n    }\r\n\r\n    /**\r\n     * Creates a new BoneIKController\r\n     * @param mesh defines the TransformNode to control\r\n     * @param bone defines the bone to control. The bone needs to have a parent bone. It also needs to have a length greater than 0 or a children we can use to infer its length.\r\n     * @param options defines options to set up the controller\r\n     * @param options.targetMesh\r\n     * @param options.poleTargetMesh\r\n     * @param options.poleTargetBone\r\n     * @param options.poleTargetLocalOffset\r\n     * @param options.poleAngle\r\n     * @param options.bendAxis\r\n     * @param options.maxAngle\r\n     * @param options.slerpAmount\r\n     */\r\n    constructor(\r\n        mesh: TransformNode,\r\n        bone: Bone,\r\n        options?: {\r\n            targetMesh?: TransformNode;\r\n            poleTargetMesh?: TransformNode;\r\n            poleTargetBone?: Bone;\r\n            poleTargetLocalOffset?: Vector3;\r\n            poleAngle?: number;\r\n            bendAxis?: Vector3;\r\n            maxAngle?: number;\r\n            slerpAmount?: number;\r\n        }\r\n    ) {\r\n        this._bone2 = bone;\r\n        const bone1 = bone.getParent();\r\n\r\n        if (!bone1) {\r\n            this._notEnoughInformation = true;\r\n            Logger.Error(\"BoneIKController: bone must have a parent for IK to work.\");\r\n            return;\r\n        }\r\n        this._bone1 = bone1;\r\n\r\n        if (this._bone2.children.length === 0 && !this._bone2.length) {\r\n            this._notEnoughInformation = true;\r\n            Logger.Error(\"BoneIKController: bone must not be a leaf or it should have a length for IK to work.\");\r\n            return;\r\n        }\r\n\r\n        this.mesh = mesh;\r\n\r\n        bone.getSkeleton().computeAbsoluteMatrices();\r\n\r\n        const bonePos = bone.getPosition();\r\n\r\n        if (bone.getAbsoluteMatrix().determinant() > 0) {\r\n            this._rightHandedSystem = true;\r\n            this._bendAxis.x = 0;\r\n            this._bendAxis.y = 0;\r\n            this._bendAxis.z = -1;\r\n\r\n            if (bonePos.x > bonePos.y && bonePos.x > bonePos.z) {\r\n                this._adjustRoll = Math.PI * 0.5;\r\n                this._bendAxis.z = 1;\r\n            }\r\n        }\r\n\r\n        if (this._bone1.length && this._bone2.length) {\r\n            const boneScale1 = this._bone1.getScale();\r\n            const boneScale2 = this._bone2.getScale();\r\n\r\n            this._bone1Length = this._bone1.length * boneScale1.y * this.mesh.scaling.y;\r\n            this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\r\n        } else if (this._bone2.children[0]) {\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            const pos1 = this._bone2.children[0].getAbsolutePosition(mesh);\r\n            const pos2 = this._bone2.getAbsolutePosition(mesh);\r\n            const pos3 = this._bone1.getAbsolutePosition(mesh);\r\n\r\n            this._bone2Length = Vector3.Distance(pos1, pos2);\r\n            this._bone1Length = Vector3.Distance(pos2, pos3);\r\n        } else {\r\n            mesh.computeWorldMatrix(true);\r\n\r\n            const boneScale2 = this._bone2.getScale();\r\n            this._bone2Length = this._bone2.length * boneScale2.y * this.mesh.scaling.y;\r\n\r\n            const pos2 = this._bone2.getAbsolutePosition(mesh);\r\n            const pos3 = this._bone1.getAbsolutePosition(mesh);\r\n\r\n            this._bone1Length = Vector3.Distance(pos2, pos3);\r\n        }\r\n\r\n        this._bone1.getRotationMatrixToRef(Space.WORLD, mesh, this._bone1Mat);\r\n        this.maxAngle = Math.PI;\r\n\r\n        if (options) {\r\n            if (options.targetMesh) {\r\n                this.targetMesh = options.targetMesh;\r\n                this.targetMesh.computeWorldMatrix(true);\r\n            }\r\n\r\n            if (options.poleTargetMesh) {\r\n                this.poleTargetMesh = options.poleTargetMesh;\r\n                this.poleTargetMesh.computeWorldMatrix(true);\r\n            } else if (options.poleTargetBone) {\r\n                this.poleTargetBone = options.poleTargetBone;\r\n            } else if (this._bone1.getParent()) {\r\n                this.poleTargetBone = this._bone1.getParent();\r\n            }\r\n\r\n            if (options.poleTargetLocalOffset) {\r\n                this.poleTargetLocalOffset.copyFrom(options.poleTargetLocalOffset);\r\n            }\r\n\r\n            if (options.poleAngle) {\r\n                this.poleAngle = options.poleAngle;\r\n            }\r\n\r\n            if (options.bendAxis) {\r\n                this._bendAxis.copyFrom(options.bendAxis);\r\n            }\r\n\r\n            if (options.maxAngle) {\r\n                this.maxAngle = options.maxAngle;\r\n            }\r\n\r\n            if (options.slerpAmount) {\r\n                this.slerpAmount = options.slerpAmount;\r\n            }\r\n        }\r\n    }\r\n\r\n    private _setMaxAngle(ang: number): void {\r\n        if (ang < 0) {\r\n            ang = 0;\r\n        }\r\n\r\n        if (ang > Math.PI || ang == undefined) {\r\n            ang = Math.PI;\r\n        }\r\n\r\n        this._maxAngle = ang;\r\n\r\n        const a = this._bone1Length;\r\n        const b = this._bone2Length;\r\n\r\n        this._maxReach = Math.sqrt(a * a + b * b - 2 * a * b * Math.cos(ang));\r\n    }\r\n\r\n    /**\r\n     * Force the controller to update the bones\r\n     */\r\n    public update(): void {\r\n        if (this._notEnoughInformation) {\r\n            return;\r\n        }\r\n\r\n        const target = this.targetPosition;\r\n        const poleTarget = this.poleTargetPosition;\r\n\r\n        const mat1 = BoneIKController._TmpMats[0];\r\n        const mat2 = BoneIKController._TmpMats[1];\r\n\r\n        if (this.targetMesh) {\r\n            target.copyFrom(this.targetMesh.getAbsolutePosition());\r\n        }\r\n\r\n        if (this.poleTargetBone) {\r\n            this.poleTargetBone.getAbsolutePositionFromLocalToRef(this.poleTargetLocalOffset, this.mesh, poleTarget);\r\n        } else if (this.poleTargetMesh) {\r\n            Vector3.TransformCoordinatesToRef(this.poleTargetLocalOffset, this.poleTargetMesh.getWorldMatrix(), poleTarget);\r\n        }\r\n\r\n        const bonePos = BoneIKController._TmpVecs[0];\r\n        const zaxis = BoneIKController._TmpVecs[1];\r\n        const xaxis = BoneIKController._TmpVecs[2];\r\n        const yaxis = BoneIKController._TmpVecs[3];\r\n        const upAxis = BoneIKController._TmpVecs[4];\r\n\r\n        const tmpQuat = BoneIKController._TmpQuat;\r\n\r\n        this._bone1.getAbsolutePositionToRef(this.mesh, bonePos);\r\n\r\n        poleTarget.subtractToRef(bonePos, upAxis);\r\n\r\n        if (upAxis.x == 0 && upAxis.y == 0 && upAxis.z == 0) {\r\n            upAxis.y = 1;\r\n        } else {\r\n            upAxis.normalize();\r\n        }\r\n\r\n        target.subtractToRef(bonePos, yaxis);\r\n        yaxis.normalize();\r\n\r\n        Vector3.CrossToRef(yaxis, upAxis, zaxis);\r\n        zaxis.normalize();\r\n\r\n        Vector3.CrossToRef(yaxis, zaxis, xaxis);\r\n        xaxis.normalize();\r\n\r\n        Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, mat1);\r\n\r\n        const a = this._bone1Length;\r\n        const b = this._bone2Length;\r\n\r\n        let c = Vector3.Distance(bonePos, target);\r\n\r\n        if (this._maxReach > 0) {\r\n            c = Math.min(this._maxReach, c);\r\n        }\r\n\r\n        let acosa = (b * b + c * c - a * a) / (2 * b * c);\r\n        let acosb = (c * c + a * a - b * b) / (2 * c * a);\r\n\r\n        if (acosa > 1) {\r\n            acosa = 1;\r\n        }\r\n\r\n        if (acosb > 1) {\r\n            acosb = 1;\r\n        }\r\n\r\n        if (acosa < -1) {\r\n            acosa = -1;\r\n        }\r\n\r\n        if (acosb < -1) {\r\n            acosb = -1;\r\n        }\r\n\r\n        const angA = Math.acos(acosa);\r\n        const angB = Math.acos(acosb);\r\n\r\n        let angC = -angA - angB;\r\n\r\n        if (this._rightHandedSystem) {\r\n            Matrix.RotationYawPitchRollToRef(0, 0, this._adjustRoll, mat2);\r\n            mat2.multiplyToRef(mat1, mat1);\r\n\r\n            Matrix.RotationAxisToRef(this._bendAxis, angB, mat2);\r\n            mat2.multiplyToRef(mat1, mat1);\r\n        } else {\r\n            const _tmpVec = BoneIKController._TmpVecs[5];\r\n\r\n            _tmpVec.copyFrom(this._bendAxis);\r\n            _tmpVec.x *= -1;\r\n\r\n            Matrix.RotationAxisToRef(_tmpVec, -angB, mat2);\r\n            mat2.multiplyToRef(mat1, mat1);\r\n        }\r\n\r\n        if (this.poleAngle) {\r\n            Matrix.RotationAxisToRef(yaxis, this.poleAngle, mat2);\r\n            mat1.multiplyToRef(mat2, mat1);\r\n        }\r\n\r\n        if (this._bone1) {\r\n            if (this.slerpAmount < 1) {\r\n                if (!this._slerping) {\r\n                    Quaternion.FromRotationMatrixToRef(this._bone1Mat, this._bone1Quat);\r\n                }\r\n                Quaternion.FromRotationMatrixToRef(mat1, tmpQuat);\r\n                Quaternion.SlerpToRef(this._bone1Quat, tmpQuat, this.slerpAmount, this._bone1Quat);\r\n                angC = this._bone2Ang * (1.0 - this.slerpAmount) + angC * this.slerpAmount;\r\n\r\n                this._bone1.setRotationQuaternion(this._bone1Quat, Space.WORLD, this.mesh);\r\n                this._slerping = true;\r\n            } else {\r\n                this._bone1.setRotationMatrix(mat1, Space.WORLD, this.mesh);\r\n                this._bone1Mat.copyFrom(mat1);\r\n                this._slerping = false;\r\n            }\r\n            this._updateLinkedTransformRotation(this._bone1);\r\n        }\r\n\r\n        this._bone2.setAxisAngle(this._bendAxis, angC, Space.LOCAL);\r\n        this._updateLinkedTransformRotation(this._bone2);\r\n        this._bone2Ang = angC;\r\n    }\r\n\r\n    private _updateLinkedTransformRotation(bone: Bone): void {\r\n        if (bone._linkedTransformNode) {\r\n            if (!bone._linkedTransformNode.rotationQuaternion) {\r\n                bone._linkedTransformNode.rotationQuaternion = new Quaternion();\r\n            }\r\n            bone.getRotationQuaternionToRef(Space.LOCAL, null, bone._linkedTransformNode.rotationQuaternion);\r\n        }\r\n    }\r\n}\r\n"]}

package/Bones/boneLookController.js

@@ -1,6 +1,6 @@
 import { ArrayTools } from "../Misc/arrayTools.js";
 import { Vector3, Quaternion, Matrix } from "../Maths/math.vector.js";
-import { Space, Axis } from "../Maths/math.axis.js";
+import { Axis } from "../Maths/math.axis.js";
 /**
  * Class used to make a bone look toward a point in space
  * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#bonelookcontroller
@@ -95,7 +95,7 @@ export class BoneLookController {
         /**
          * The space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD
          */
-        this.upAxisSpace = Space.LOCAL;
+        this.upAxisSpace = 0 /* Space.LOCAL */;
         /**
          * Used to make an adjustment to the yaw of the bone
          */
@@ -187,8 +187,8 @@ export class BoneLookController {
                 this.useAbsoluteValueForYaw = options.useAbsoluteValueForYaw;
             }
         }
-        if (!bone.getParent() && this.upAxisSpace == Space.BONE) {
-            this.upAxisSpace = Space.LOCAL;
+        if (!bone.getParent() && this.upAxisSpace == 2 /* Space.BONE */) {
+            this.upAxisSpace = 0 /* Space.LOCAL */;
         }
     }
     /**
@@ -210,13 +210,13 @@ export class BoneLookController {
         const parentBone = bone.getParent();
         const upAxis = BoneLookController._TmpVecs[1];
         upAxis.copyFrom(this.upAxis);
-        if (this.upAxisSpace == Space.BONE && parentBone) {
+        if (this.upAxisSpace == 2 /* Space.BONE */ && parentBone) {
             if (this._transformYawPitch) {
                 Vector3.TransformCoordinatesToRef(upAxis, this._transformYawPitchInv, upAxis);
             }
             parentBone.getDirectionToRef(upAxis, this.mesh, upAxis);
         }
-        else if (this.upAxisSpace == Space.LOCAL) {
+        else if (this.upAxisSpace == 0 /* Space.LOCAL */) {
             mesh.getDirectionToRef(upAxis, upAxis);
             if (mesh.scaling.x != 1 || mesh.scaling.y != 1 || mesh.scaling.z != 1) {
                 upAxis.normalize();
@@ -233,10 +233,10 @@ export class BoneLookController {
         if (checkYaw || checkPitch) {
             const spaceMat = BoneLookController._TmpMats[2];
             const spaceMatInv = BoneLookController._TmpMats[3];
-            if (this.upAxisSpace == Space.BONE && upAxis.y == 1 && parentBone) {
-                parentBone.getRotationMatrixToRef(Space.WORLD, this.mesh, spaceMat);
+            if (this.upAxisSpace == 2 /* Space.BONE */ && upAxis.y == 1 && parentBone) {
+                parentBone.getRotationMatrixToRef(1 /* Space.WORLD */, this.mesh, spaceMat);
             }
-            else if (this.upAxisSpace == Space.LOCAL && upAxis.y == 1 && !parentBone) {
+            else if (this.upAxisSpace == 0 /* Space.LOCAL */ && upAxis.y == 1 && !parentBone) {
                 spaceMat.copyFrom(mesh.getWorldMatrix());
             }
             else {
@@ -389,21 +389,21 @@ export class BoneLookController {
         boneScaling.copyFrom(this.bone.getScale());
         if (this.slerpAmount < 1) {
             if (!this._slerping) {
-                this.bone.getRotationQuaternionToRef(Space.WORLD, this.mesh, this._boneQuat);
+                this.bone.getRotationQuaternionToRef(1 /* Space.WORLD */, this.mesh, this._boneQuat);
             }
             if (this._transformYawPitch) {
                 this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);
             }
             Quaternion.FromRotationMatrixToRef(_tmpMat1, tmpQuat);
             Quaternion.SlerpToRef(this._boneQuat, tmpQuat, this.slerpAmount, this._boneQuat);
-            this.bone.setRotationQuaternion(this._boneQuat, Space.WORLD, this.mesh);
+            this.bone.setRotationQuaternion(this._boneQuat, 1 /* Space.WORLD */, this.mesh);
             this._slerping = true;
         }
         else {
             if (this._transformYawPitch) {
                 this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);
             }
-            this.bone.setRotationMatrix(_tmpMat1, Space.WORLD, this.mesh);
+            this.bone.setRotationMatrix(_tmpMat1, 1 /* Space.WORLD */, this.mesh);
             this._slerping = false;
         }
         this.bone.setScale(boneScaling);
@@ -462,7 +462,7 @@ export class BoneLookController {
             if (!bone._linkedTransformNode.rotationQuaternion) {
                 bone._linkedTransformNode.rotationQuaternion = new Quaternion();
             }
-            bone.getRotationQuaternionToRef(Space.LOCAL, null, bone._linkedTransformNode.rotationQuaternion);
+            bone.getRotationQuaternionToRef(0 /* Space.LOCAL */, null, bone._linkedTransformNode.rotationQuaternion);
         }
     }
 }

package/Bones/boneLookController.js.map

@@ -1 +1 @@
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type { Nullable } from \"../types\";\r\nimport { ArrayTools } from \"../Misc/arrayTools\";\r\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector\";\r\nimport type { TransformNode } from \"../Meshes/transformNode\";\r\nimport type { Bone } from \"./bone\";\r\nimport { Space, Axis } from \"../Maths/math.axis\";\r\n\r\n/**\r\n * Class used to make a bone look toward a point in space\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#bonelookcontroller\r\n */\r\nexport class BoneLookController {\r\n    private static _TmpVecs: Vector3[] = ArrayTools.BuildArray(10, Vector3.Zero);\r\n    private static _TmpQuat = Quaternion.Identity();\r\n    private static _TmpMats: Matrix[] = ArrayTools.BuildArray(5, Matrix.Identity);\r\n\r\n    /**\r\n     * The target Vector3 that the bone will look at\r\n     */\r\n    public target: Vector3;\r\n\r\n    /**\r\n     * The TransformNode that the bone is attached to\r\n     * Name kept as mesh for back compatibility\r\n     */\r\n    public mesh: TransformNode;\r\n\r\n    /**\r\n     * The bone that will be looking to the target\r\n     */\r\n    public bone: Bone;\r\n\r\n    /**\r\n     * The up axis of the coordinate system that is used when the bone is rotated\r\n     */\r\n    public upAxis: Vector3 = Vector3.Up();\r\n\r\n    /**\r\n     * The space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD\r\n     */\r\n    public upAxisSpace: Space = Space.LOCAL;\r\n\r\n    /**\r\n     * Used to make an adjustment to the yaw of the bone\r\n     */\r\n    public adjustYaw = 0;\r\n\r\n    /**\r\n     * Used to make an adjustment to the pitch of the bone\r\n     */\r\n    public adjustPitch = 0;\r\n\r\n    /**\r\n     * Used to make an adjustment to the roll of the bone\r\n     */\r\n    public adjustRoll = 0;\r\n\r\n    /**\r\n     * The amount to slerp (spherical linear interpolation) to the target.  Set this to a value between 0 and 1 (a value of 1 disables slerp)\r\n     */\r\n    public slerpAmount = 1;\r\n\r\n    private _minYaw: number;\r\n    private _maxYaw: number;\r\n    private _minPitch: number;\r\n    private _maxPitch: number;\r\n    private _minYawSin: number;\r\n    private _minYawCos: number;\r\n    private _maxYawSin: number;\r\n    private _maxYawCos: number;\r\n    private _midYawConstraint: number;\r\n    private _minPitchTan: number;\r\n    private _maxPitchTan: number;\r\n\r\n    private _boneQuat: Quaternion = Quaternion.Identity();\r\n    private _slerping = false;\r\n    private _transformYawPitch: Matrix;\r\n    private _transformYawPitchInv: Matrix;\r\n    private _firstFrameSkipped = false;\r\n    private _yawRange: number;\r\n    private _fowardAxis: Vector3 = Vector3.Forward();\r\n\r\n    /**\r\n     * Gets or sets the minimum yaw angle that the bone can look to\r\n     */\r\n    get minYaw(): number {\r\n        return this._minYaw;\r\n    }\r\n\r\n    set minYaw(value: number) {\r\n        this._minYaw = value;\r\n        this._minYawSin = Math.sin(value);\r\n        this._minYawCos = Math.cos(value);\r\n        if (this._maxYaw != null) {\r\n            this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\r\n            this._yawRange = this._maxYaw - this._minYaw;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets or sets the maximum yaw angle that the bone can look to\r\n     */\r\n    get maxYaw(): number {\r\n        return this._maxYaw;\r\n    }\r\n\r\n    set maxYaw(value: number) {\r\n        this._maxYaw = value;\r\n        this._maxYawSin = Math.sin(value);\r\n        this._maxYawCos = Math.cos(value);\r\n        if (this._minYaw != null) {\r\n            this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\r\n            this._yawRange = this._maxYaw - this._minYaw;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Use the absolute value for yaw when checking the min/max constraints\r\n     */\r\n    public useAbsoluteValueForYaw = false;\r\n\r\n    /**\r\n     * Gets or sets the minimum pitch angle that the bone can look to\r\n     */\r\n    get minPitch(): number {\r\n        return this._minPitch;\r\n    }\r\n\r\n    set minPitch(value: number) {\r\n        this._minPitch = value;\r\n        this._minPitchTan = Math.tan(value);\r\n    }\r\n\r\n    /**\r\n     * Gets or sets the maximum pitch angle that the bone can look to\r\n     */\r\n    get maxPitch(): number {\r\n        return this._maxPitch;\r\n    }\r\n\r\n    set maxPitch(value: number) {\r\n        this._maxPitch = value;\r\n        this._maxPitchTan = Math.tan(value);\r\n    }\r\n\r\n    /**\r\n     * Create a BoneLookController\r\n     * @param mesh the TransformNode that the bone belongs to\r\n     * @param bone the bone that will be looking to the target\r\n     * @param target the target Vector3 to look at\r\n     * @param options optional settings:\r\n     * * maxYaw: the maximum angle the bone will yaw to\r\n     * * minYaw: the minimum angle the bone will yaw to\r\n     * * maxPitch: the maximum angle the bone will pitch to\r\n     * * minPitch: the minimum angle the bone will yaw to\r\n     * * slerpAmount: set the between 0 and 1 to make the bone slerp to the target.\r\n     * * upAxis: the up axis of the coordinate system\r\n     * * upAxisSpace: the space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD.\r\n     * * yawAxis: set yawAxis if the bone does not yaw on the y axis\r\n     * * pitchAxis: set pitchAxis if the bone does not pitch on the x axis\r\n     * * adjustYaw: used to make an adjustment to the yaw of the bone\r\n     * * adjustPitch: used to make an adjustment to the pitch of the bone\r\n     * * adjustRoll: used to make an adjustment to the roll of the bone\r\n     * @param options.maxYaw\r\n     * @param options.minYaw\r\n     * @param options.maxPitch\r\n     * @param options.minPitch\r\n     * @param options.slerpAmount\r\n     * @param options.upAxis\r\n     * @param options.upAxisSpace\r\n     * @param options.yawAxis\r\n     * @param options.pitchAxis\r\n     * @param options.adjustYaw\r\n     * @param options.adjustPitch\r\n     * @param options.adjustRoll\r\n     **/\r\n    constructor(\r\n        mesh: TransformNode,\r\n        bone: Bone,\r\n        target: Vector3,\r\n        options?: {\r\n            maxYaw?: number;\r\n            minYaw?: number;\r\n            maxPitch?: number;\r\n            minPitch?: number;\r\n            slerpAmount?: number;\r\n            upAxis?: Vector3;\r\n            upAxisSpace?: Space;\r\n            yawAxis?: Vector3;\r\n            pitchAxis?: Vector3;\r\n            adjustYaw?: number;\r\n            adjustPitch?: number;\r\n            adjustRoll?: number;\r\n            useAbsoluteValueForYaw?: boolean;\r\n        }\r\n    ) {\r\n        this.mesh = mesh;\r\n        this.bone = bone;\r\n        this.target = target;\r\n\r\n        if (options) {\r\n            if (options.adjustYaw) {\r\n                this.adjustYaw = options.adjustYaw;\r\n            }\r\n\r\n            if (options.adjustPitch) {\r\n                this.adjustPitch = options.adjustPitch;\r\n            }\r\n\r\n            if (options.adjustRoll) {\r\n                this.adjustRoll = options.adjustRoll;\r\n            }\r\n\r\n            if (options.maxYaw != null) {\r\n                this.maxYaw = options.maxYaw;\r\n            } else {\r\n                this.maxYaw = Math.PI;\r\n            }\r\n\r\n            if (options.minYaw != null) {\r\n                this.minYaw = options.minYaw;\r\n            } else {\r\n                this.minYaw = -Math.PI;\r\n            }\r\n\r\n            if (options.maxPitch != null) {\r\n                this.maxPitch = options.maxPitch;\r\n            } else {\r\n                this.maxPitch = Math.PI;\r\n            }\r\n\r\n            if (options.minPitch != null) {\r\n                this.minPitch = options.minPitch;\r\n            } else {\r\n                this.minPitch = -Math.PI;\r\n            }\r\n\r\n            if (options.slerpAmount != null) {\r\n                this.slerpAmount = options.slerpAmount;\r\n            }\r\n\r\n            if (options.upAxis != null) {\r\n                this.upAxis = options.upAxis;\r\n            }\r\n\r\n            if (options.upAxisSpace != null) {\r\n                this.upAxisSpace = options.upAxisSpace;\r\n            }\r\n\r\n            if (options.yawAxis != null || options.pitchAxis != null) {\r\n                let newYawAxis = Axis.Y;\r\n                let newPitchAxis = Axis.X;\r\n\r\n                if (options.yawAxis != null) {\r\n                    newYawAxis = options.yawAxis.clone();\r\n                    newYawAxis.normalize();\r\n                }\r\n\r\n                if (options.pitchAxis != null) {\r\n                    newPitchAxis = options.pitchAxis.clone();\r\n                    newPitchAxis.normalize();\r\n                }\r\n\r\n                const newRollAxis = Vector3.Cross(newPitchAxis, newYawAxis);\r\n\r\n                this._transformYawPitch = Matrix.Identity();\r\n                Matrix.FromXYZAxesToRef(newPitchAxis, newYawAxis, newRollAxis, this._transformYawPitch);\r\n\r\n                this._transformYawPitchInv = this._transformYawPitch.clone();\r\n                this._transformYawPitch.invert();\r\n            }\r\n\r\n            if (options.useAbsoluteValueForYaw !== undefined) {\r\n                this.useAbsoluteValueForYaw = options.useAbsoluteValueForYaw;\r\n            }\r\n        }\r\n\r\n        if (!bone.getParent() && this.upAxisSpace == Space.BONE) {\r\n            this.upAxisSpace = Space.LOCAL;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Update the bone to look at the target.  This should be called before the scene is rendered (use scene.registerBeforeRender())\r\n     */\r\n    public update(): void {\r\n        //skip the first frame when slerping so that the TransformNode rotation is correct\r\n        if (this.slerpAmount < 1 && !this._firstFrameSkipped) {\r\n            this._firstFrameSkipped = true;\r\n            return;\r\n        }\r\n\r\n        const bone = this.bone;\r\n        const bonePos = BoneLookController._TmpVecs[0];\r\n        bone.getAbsolutePositionToRef(this.mesh, bonePos);\r\n\r\n        let target = this.target;\r\n        const _tmpMat1 = BoneLookController._TmpMats[0];\r\n        const _tmpMat2 = BoneLookController._TmpMats[1];\r\n\r\n        const mesh = this.mesh;\r\n        const parentBone = bone.getParent();\r\n\r\n        const upAxis = BoneLookController._TmpVecs[1];\r\n        upAxis.copyFrom(this.upAxis);\r\n\r\n        if (this.upAxisSpace == Space.BONE && parentBone) {\r\n            if (this._transformYawPitch) {\r\n                Vector3.TransformCoordinatesToRef(upAxis, this._transformYawPitchInv, upAxis);\r\n            }\r\n            parentBone.getDirectionToRef(upAxis, this.mesh, upAxis);\r\n        } else if (this.upAxisSpace == Space.LOCAL) {\r\n            mesh.getDirectionToRef(upAxis, upAxis);\r\n            if (mesh.scaling.x != 1 || mesh.scaling.y != 1 || mesh.scaling.z != 1) {\r\n                upAxis.normalize();\r\n            }\r\n        }\r\n\r\n        let checkYaw = false;\r\n        let checkPitch = false;\r\n\r\n        if (this._maxYaw != Math.PI || this._minYaw != -Math.PI) {\r\n            checkYaw = true;\r\n        }\r\n        if (this._maxPitch != Math.PI || this._minPitch != -Math.PI) {\r\n            checkPitch = true;\r\n        }\r\n\r\n        if (checkYaw || checkPitch) {\r\n            const spaceMat = BoneLookController._TmpMats[2];\r\n            const spaceMatInv = BoneLookController._TmpMats[3];\r\n\r\n            if (this.upAxisSpace == Space.BONE && upAxis.y == 1 && parentBone) {\r\n                parentBone.getRotationMatrixToRef(Space.WORLD, this.mesh, spaceMat);\r\n            } else if (this.upAxisSpace == Space.LOCAL && upAxis.y == 1 && !parentBone) {\r\n                spaceMat.copyFrom(mesh.getWorldMatrix());\r\n            } else {\r\n                let forwardAxis = BoneLookController._TmpVecs[2];\r\n                forwardAxis.copyFrom(this._fowardAxis);\r\n\r\n                if (this._transformYawPitch) {\r\n                    Vector3.TransformCoordinatesToRef(forwardAxis, this._transformYawPitchInv, forwardAxis);\r\n                }\r\n\r\n                if (parentBone) {\r\n                    parentBone.getDirectionToRef(forwardAxis, this.mesh, forwardAxis);\r\n                } else {\r\n                    mesh.getDirectionToRef(forwardAxis, forwardAxis);\r\n                }\r\n\r\n                const rightAxis = Vector3.Cross(upAxis, forwardAxis);\r\n                rightAxis.normalize();\r\n                forwardAxis = Vector3.Cross(rightAxis, upAxis);\r\n\r\n                Matrix.FromXYZAxesToRef(rightAxis, upAxis, forwardAxis, spaceMat);\r\n            }\r\n\r\n            spaceMat.invertToRef(spaceMatInv);\r\n\r\n            let xzlen: Nullable<number> = null;\r\n\r\n            if (checkPitch) {\r\n                const localTarget = BoneLookController._TmpVecs[3];\r\n                target.subtractToRef(bonePos, localTarget);\r\n                Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\r\n\r\n                xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\r\n                const pitch = Math.atan2(localTarget.y, xzlen);\r\n                let newPitch = pitch;\r\n\r\n                if (pitch > this._maxPitch) {\r\n                    localTarget.y = this._maxPitchTan * xzlen;\r\n                    newPitch = this._maxPitch;\r\n                } else if (pitch < this._minPitch) {\r\n                    localTarget.y = this._minPitchTan * xzlen;\r\n                    newPitch = this._minPitch;\r\n                }\r\n\r\n                if (pitch != newPitch) {\r\n                    Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\r\n                    localTarget.addInPlace(bonePos);\r\n                    target = localTarget;\r\n                }\r\n            }\r\n\r\n            if (checkYaw) {\r\n                const localTarget = BoneLookController._TmpVecs[4];\r\n                target.subtractToRef(bonePos, localTarget);\r\n                Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\r\n\r\n                const yaw = Math.atan2(localTarget.x, localTarget.z);\r\n                const yawCheck = this.useAbsoluteValueForYaw ? Math.abs(yaw) : yaw;\r\n                let newYaw = yaw;\r\n\r\n                if (yawCheck > this._maxYaw || yawCheck < this._minYaw) {\r\n                    if (xzlen == null) {\r\n                        xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\r\n                    }\r\n\r\n                    if (this._yawRange > Math.PI) {\r\n                        if (this._isAngleBetween(yaw, this._maxYaw, this._midYawConstraint)) {\r\n                            localTarget.z = this._maxYawCos * xzlen;\r\n                            localTarget.x = this._maxYawSin * xzlen;\r\n                            newYaw = this._maxYaw;\r\n                        } else if (this._isAngleBetween(yaw, this._midYawConstraint, this._minYaw)) {\r\n                            localTarget.z = this._minYawCos * xzlen;\r\n                            localTarget.x = this._minYawSin * xzlen;\r\n                            newYaw = this._minYaw;\r\n                        }\r\n                    } else {\r\n                        if (yawCheck > this._maxYaw) {\r\n                            localTarget.z = this._maxYawCos * xzlen;\r\n                            localTarget.x = this._maxYawSin * xzlen;\r\n                            if (yaw < 0 && this.useAbsoluteValueForYaw) {\r\n                                localTarget.x *= -1;\r\n                            }\r\n                            newYaw = this._maxYaw;\r\n                        } else if (yawCheck < this._minYaw) {\r\n                            localTarget.z = this._minYawCos * xzlen;\r\n                            localTarget.x = this._minYawSin * xzlen;\r\n                            if (yaw < 0 && this.useAbsoluteValueForYaw) {\r\n                                localTarget.x *= -1;\r\n                            }\r\n                            newYaw = this._minYaw;\r\n                        }\r\n                    }\r\n                }\r\n\r\n                if (this._slerping && this._yawRange > Math.PI) {\r\n                    //are we going to be crossing into the min/max region?\r\n                    const boneFwd = BoneLookController._TmpVecs[8];\r\n                    boneFwd.copyFrom(Axis.Z);\r\n                    if (this._transformYawPitch) {\r\n                        Vector3.TransformCoordinatesToRef(boneFwd, this._transformYawPitchInv, boneFwd);\r\n                    }\r\n\r\n                    const boneRotMat = BoneLookController._TmpMats[4];\r\n                    this._boneQuat.toRotationMatrix(boneRotMat);\r\n                    this.mesh.getWorldMatrix().multiplyToRef(boneRotMat, boneRotMat);\r\n                    Vector3.TransformCoordinatesToRef(boneFwd, boneRotMat, boneFwd);\r\n                    Vector3.TransformCoordinatesToRef(boneFwd, spaceMatInv, boneFwd);\r\n\r\n                    const boneYaw = Math.atan2(boneFwd.x, boneFwd.z);\r\n                    const angBtwTar = this._getAngleBetween(boneYaw, yaw);\r\n                    const angBtwMidYaw = this._getAngleBetween(boneYaw, this._midYawConstraint);\r\n\r\n                    if (angBtwTar > angBtwMidYaw) {\r\n                        if (xzlen == null) {\r\n                            xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\r\n                        }\r\n\r\n                        const angBtwMax = this._getAngleBetween(boneYaw, this._maxYaw);\r\n                        const angBtwMin = this._getAngleBetween(boneYaw, this._minYaw);\r\n\r\n                        if (angBtwMin < angBtwMax) {\r\n                            newYaw = boneYaw + Math.PI * 0.75;\r\n                            localTarget.z = Math.cos(newYaw) * xzlen;\r\n                            localTarget.x = Math.sin(newYaw) * xzlen;\r\n                        } else {\r\n                            newYaw = boneYaw - Math.PI * 0.75;\r\n                            localTarget.z = Math.cos(newYaw) * xzlen;\r\n                            localTarget.x = Math.sin(newYaw) * xzlen;\r\n                        }\r\n                    }\r\n                }\r\n\r\n                if (yaw != newYaw) {\r\n                    Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\r\n                    localTarget.addInPlace(bonePos);\r\n                    target = localTarget;\r\n                }\r\n            }\r\n        }\r\n\r\n        const zaxis = BoneLookController._TmpVecs[5];\r\n        const xaxis = BoneLookController._TmpVecs[6];\r\n        const yaxis = BoneLookController._TmpVecs[7];\r\n        const tmpQuat = BoneLookController._TmpQuat;\r\n        const boneScaling = BoneLookController._TmpVecs[9];\r\n\r\n        target.subtractToRef(bonePos, zaxis);\r\n        zaxis.normalize();\r\n        Vector3.CrossToRef(upAxis, zaxis, xaxis);\r\n        xaxis.normalize();\r\n        Vector3.CrossToRef(zaxis, xaxis, yaxis);\r\n        yaxis.normalize();\r\n        Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, _tmpMat1);\r\n\r\n        if (xaxis.x === 0 && xaxis.y === 0 && xaxis.z === 0) {\r\n            return;\r\n        }\r\n\r\n        if (yaxis.x === 0 && yaxis.y === 0 && yaxis.z === 0) {\r\n            return;\r\n        }\r\n\r\n        if (zaxis.x === 0 && zaxis.y === 0 && zaxis.z === 0) {\r\n            return;\r\n        }\r\n\r\n        if (this.adjustYaw || this.adjustPitch || this.adjustRoll) {\r\n            Matrix.RotationYawPitchRollToRef(this.adjustYaw, this.adjustPitch, this.adjustRoll, _tmpMat2);\r\n            _tmpMat2.multiplyToRef(_tmpMat1, _tmpMat1);\r\n        }\r\n\r\n        boneScaling.copyFrom(this.bone.getScale());\r\n\r\n        if (this.slerpAmount < 1) {\r\n            if (!this._slerping) {\r\n                this.bone.getRotationQuaternionToRef(Space.WORLD, this.mesh, this._boneQuat);\r\n            }\r\n            if (this._transformYawPitch) {\r\n                this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\r\n            }\r\n            Quaternion.FromRotationMatrixToRef(_tmpMat1, tmpQuat);\r\n            Quaternion.SlerpToRef(this._boneQuat, tmpQuat, this.slerpAmount, this._boneQuat);\r\n\r\n            this.bone.setRotationQuaternion(this._boneQuat, Space.WORLD, this.mesh);\r\n            this._slerping = true;\r\n        } else {\r\n            if (this._transformYawPitch) {\r\n                this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\r\n            }\r\n            this.bone.setRotationMatrix(_tmpMat1, Space.WORLD, this.mesh);\r\n            this._slerping = false;\r\n        }\r\n\r\n        this.bone.setScale(boneScaling);\r\n\r\n        this._updateLinkedTransformRotation();\r\n    }\r\n\r\n    private _getAngleDiff(ang1: number, ang2: number): number {\r\n        let angDiff = ang2 - ang1;\r\n        angDiff %= Math.PI * 2;\r\n\r\n        if (angDiff > Math.PI) {\r\n            angDiff -= Math.PI * 2;\r\n        } else if (angDiff < -Math.PI) {\r\n            angDiff += Math.PI * 2;\r\n        }\r\n\r\n        return angDiff;\r\n    }\r\n\r\n    private _getAngleBetween(ang1: number, ang2: number): number {\r\n        ang1 %= 2 * Math.PI;\r\n        ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\r\n\r\n        ang2 %= 2 * Math.PI;\r\n        ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\r\n\r\n        let ab = 0;\r\n\r\n        if (ang1 < ang2) {\r\n            ab = ang2 - ang1;\r\n        } else {\r\n            ab = ang1 - ang2;\r\n        }\r\n\r\n        if (ab > Math.PI) {\r\n            ab = Math.PI * 2 - ab;\r\n        }\r\n\r\n        return ab;\r\n    }\r\n\r\n    private _isAngleBetween(ang: number, ang1: number, ang2: number): boolean {\r\n        ang %= 2 * Math.PI;\r\n        ang = ang < 0 ? ang + 2 * Math.PI : ang;\r\n        ang1 %= 2 * Math.PI;\r\n        ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\r\n        ang2 %= 2 * Math.PI;\r\n        ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\r\n\r\n        if (ang1 < ang2) {\r\n            if (ang > ang1 && ang < ang2) {\r\n                return true;\r\n            }\r\n        } else {\r\n            if (ang > ang2 && ang < ang1) {\r\n                return true;\r\n            }\r\n        }\r\n        return false;\r\n    }\r\n\r\n    private _updateLinkedTransformRotation(): void {\r\n        const bone = this.bone;\r\n        if (bone._linkedTransformNode) {\r\n            if (!bone._linkedTransformNode.rotationQuaternion) {\r\n                bone._linkedTransformNode.rotationQuaternion = new Quaternion();\r\n            }\r\n            bone.getRotationQuaternionToRef(Space.LOCAL, null, bone._linkedTransformNode.rotationQuaternion);\r\n        }\r\n    }\r\n}\r\n"]}
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type { Nullable } from \"../types\";\r\nimport { ArrayTools } from \"../Misc/arrayTools\";\r\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector\";\r\nimport type { TransformNode } from \"../Meshes/transformNode\";\r\nimport type { Bone } from \"./bone\";\r\nimport { Space, Axis } from \"../Maths/math.axis\";\r\n\r\n/**\r\n * Class used to make a bone look toward a point in space\r\n * @see https://doc.babylonjs.com/features/featuresDeepDive/mesh/bonesSkeletons#bonelookcontroller\r\n */\r\nexport class BoneLookController {\r\n    private static _TmpVecs: Vector3[] = ArrayTools.BuildArray(10, Vector3.Zero);\r\n    private static _TmpQuat = Quaternion.Identity();\r\n    private static _TmpMats: Matrix[] = ArrayTools.BuildArray(5, Matrix.Identity);\r\n\r\n    /**\r\n     * The target Vector3 that the bone will look at\r\n     */\r\n    public target: Vector3;\r\n\r\n    /**\r\n     * The TransformNode that the bone is attached to\r\n     * Name kept as mesh for back compatibility\r\n     */\r\n    public mesh: TransformNode;\r\n\r\n    /**\r\n     * The bone that will be looking to the target\r\n     */\r\n    public bone: Bone;\r\n\r\n    /**\r\n     * The up axis of the coordinate system that is used when the bone is rotated\r\n     */\r\n    public upAxis: Vector3 = Vector3.Up();\r\n\r\n    /**\r\n     * The space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD\r\n     */\r\n    public upAxisSpace: Space = Space.LOCAL;\r\n\r\n    /**\r\n     * Used to make an adjustment to the yaw of the bone\r\n     */\r\n    public adjustYaw = 0;\r\n\r\n    /**\r\n     * Used to make an adjustment to the pitch of the bone\r\n     */\r\n    public adjustPitch = 0;\r\n\r\n    /**\r\n     * Used to make an adjustment to the roll of the bone\r\n     */\r\n    public adjustRoll = 0;\r\n\r\n    /**\r\n     * The amount to slerp (spherical linear interpolation) to the target.  Set this to a value between 0 and 1 (a value of 1 disables slerp)\r\n     */\r\n    public slerpAmount = 1;\r\n\r\n    private _minYaw: number;\r\n    private _maxYaw: number;\r\n    private _minPitch: number;\r\n    private _maxPitch: number;\r\n    private _minYawSin: number;\r\n    private _minYawCos: number;\r\n    private _maxYawSin: number;\r\n    private _maxYawCos: number;\r\n    private _midYawConstraint: number;\r\n    private _minPitchTan: number;\r\n    private _maxPitchTan: number;\r\n\r\n    private _boneQuat: Quaternion = Quaternion.Identity();\r\n    private _slerping = false;\r\n    private _transformYawPitch: Matrix;\r\n    private _transformYawPitchInv: Matrix;\r\n    private _firstFrameSkipped = false;\r\n    private _yawRange: number;\r\n    private _fowardAxis: Vector3 = Vector3.Forward();\r\n\r\n    /**\r\n     * Gets or sets the minimum yaw angle that the bone can look to\r\n     */\r\n    get minYaw(): number {\r\n        return this._minYaw;\r\n    }\r\n\r\n    set minYaw(value: number) {\r\n        this._minYaw = value;\r\n        this._minYawSin = Math.sin(value);\r\n        this._minYawCos = Math.cos(value);\r\n        if (this._maxYaw != null) {\r\n            this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\r\n            this._yawRange = this._maxYaw - this._minYaw;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Gets or sets the maximum yaw angle that the bone can look to\r\n     */\r\n    get maxYaw(): number {\r\n        return this._maxYaw;\r\n    }\r\n\r\n    set maxYaw(value: number) {\r\n        this._maxYaw = value;\r\n        this._maxYawSin = Math.sin(value);\r\n        this._maxYawCos = Math.cos(value);\r\n        if (this._minYaw != null) {\r\n            this._midYawConstraint = this._getAngleDiff(this._minYaw, this._maxYaw) * 0.5 + this._minYaw;\r\n            this._yawRange = this._maxYaw - this._minYaw;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Use the absolute value for yaw when checking the min/max constraints\r\n     */\r\n    public useAbsoluteValueForYaw = false;\r\n\r\n    /**\r\n     * Gets or sets the minimum pitch angle that the bone can look to\r\n     */\r\n    get minPitch(): number {\r\n        return this._minPitch;\r\n    }\r\n\r\n    set minPitch(value: number) {\r\n        this._minPitch = value;\r\n        this._minPitchTan = Math.tan(value);\r\n    }\r\n\r\n    /**\r\n     * Gets or sets the maximum pitch angle that the bone can look to\r\n     */\r\n    get maxPitch(): number {\r\n        return this._maxPitch;\r\n    }\r\n\r\n    set maxPitch(value: number) {\r\n        this._maxPitch = value;\r\n        this._maxPitchTan = Math.tan(value);\r\n    }\r\n\r\n    /**\r\n     * Create a BoneLookController\r\n     * @param mesh the TransformNode that the bone belongs to\r\n     * @param bone the bone that will be looking to the target\r\n     * @param target the target Vector3 to look at\r\n     * @param options optional settings:\r\n     * * maxYaw: the maximum angle the bone will yaw to\r\n     * * minYaw: the minimum angle the bone will yaw to\r\n     * * maxPitch: the maximum angle the bone will pitch to\r\n     * * minPitch: the minimum angle the bone will yaw to\r\n     * * slerpAmount: set the between 0 and 1 to make the bone slerp to the target.\r\n     * * upAxis: the up axis of the coordinate system\r\n     * * upAxisSpace: the space that the up axis is in - Space.BONE, Space.LOCAL (default), or Space.WORLD.\r\n     * * yawAxis: set yawAxis if the bone does not yaw on the y axis\r\n     * * pitchAxis: set pitchAxis if the bone does not pitch on the x axis\r\n     * * adjustYaw: used to make an adjustment to the yaw of the bone\r\n     * * adjustPitch: used to make an adjustment to the pitch of the bone\r\n     * * adjustRoll: used to make an adjustment to the roll of the bone\r\n     * @param options.maxYaw\r\n     * @param options.minYaw\r\n     * @param options.maxPitch\r\n     * @param options.minPitch\r\n     * @param options.slerpAmount\r\n     * @param options.upAxis\r\n     * @param options.upAxisSpace\r\n     * @param options.yawAxis\r\n     * @param options.pitchAxis\r\n     * @param options.adjustYaw\r\n     * @param options.adjustPitch\r\n     * @param options.adjustRoll\r\n     **/\r\n    constructor(\r\n        mesh: TransformNode,\r\n        bone: Bone,\r\n        target: Vector3,\r\n        options?: {\r\n            maxYaw?: number;\r\n            minYaw?: number;\r\n            maxPitch?: number;\r\n            minPitch?: number;\r\n            slerpAmount?: number;\r\n            upAxis?: Vector3;\r\n            upAxisSpace?: Space;\r\n            yawAxis?: Vector3;\r\n            pitchAxis?: Vector3;\r\n            adjustYaw?: number;\r\n            adjustPitch?: number;\r\n            adjustRoll?: number;\r\n            useAbsoluteValueForYaw?: boolean;\r\n        }\r\n    ) {\r\n        this.mesh = mesh;\r\n        this.bone = bone;\r\n        this.target = target;\r\n\r\n        if (options) {\r\n            if (options.adjustYaw) {\r\n                this.adjustYaw = options.adjustYaw;\r\n            }\r\n\r\n            if (options.adjustPitch) {\r\n                this.adjustPitch = options.adjustPitch;\r\n            }\r\n\r\n            if (options.adjustRoll) {\r\n                this.adjustRoll = options.adjustRoll;\r\n            }\r\n\r\n            if (options.maxYaw != null) {\r\n                this.maxYaw = options.maxYaw;\r\n            } else {\r\n                this.maxYaw = Math.PI;\r\n            }\r\n\r\n            if (options.minYaw != null) {\r\n                this.minYaw = options.minYaw;\r\n            } else {\r\n                this.minYaw = -Math.PI;\r\n            }\r\n\r\n            if (options.maxPitch != null) {\r\n                this.maxPitch = options.maxPitch;\r\n            } else {\r\n                this.maxPitch = Math.PI;\r\n            }\r\n\r\n            if (options.minPitch != null) {\r\n                this.minPitch = options.minPitch;\r\n            } else {\r\n                this.minPitch = -Math.PI;\r\n            }\r\n\r\n            if (options.slerpAmount != null) {\r\n                this.slerpAmount = options.slerpAmount;\r\n            }\r\n\r\n            if (options.upAxis != null) {\r\n                this.upAxis = options.upAxis;\r\n            }\r\n\r\n            if (options.upAxisSpace != null) {\r\n                this.upAxisSpace = options.upAxisSpace;\r\n            }\r\n\r\n            if (options.yawAxis != null || options.pitchAxis != null) {\r\n                let newYawAxis = Axis.Y;\r\n                let newPitchAxis = Axis.X;\r\n\r\n                if (options.yawAxis != null) {\r\n                    newYawAxis = options.yawAxis.clone();\r\n                    newYawAxis.normalize();\r\n                }\r\n\r\n                if (options.pitchAxis != null) {\r\n                    newPitchAxis = options.pitchAxis.clone();\r\n                    newPitchAxis.normalize();\r\n                }\r\n\r\n                const newRollAxis = Vector3.Cross(newPitchAxis, newYawAxis);\r\n\r\n                this._transformYawPitch = Matrix.Identity();\r\n                Matrix.FromXYZAxesToRef(newPitchAxis, newYawAxis, newRollAxis, this._transformYawPitch);\r\n\r\n                this._transformYawPitchInv = this._transformYawPitch.clone();\r\n                this._transformYawPitch.invert();\r\n            }\r\n\r\n            if (options.useAbsoluteValueForYaw !== undefined) {\r\n                this.useAbsoluteValueForYaw = options.useAbsoluteValueForYaw;\r\n            }\r\n        }\r\n\r\n        if (!bone.getParent() && this.upAxisSpace == Space.BONE) {\r\n            this.upAxisSpace = Space.LOCAL;\r\n        }\r\n    }\r\n\r\n    /**\r\n     * Update the bone to look at the target.  This should be called before the scene is rendered (use scene.registerBeforeRender())\r\n     */\r\n    public update(): void {\r\n        //skip the first frame when slerping so that the TransformNode rotation is correct\r\n        if (this.slerpAmount < 1 && !this._firstFrameSkipped) {\r\n            this._firstFrameSkipped = true;\r\n            return;\r\n        }\r\n\r\n        const bone = this.bone;\r\n        const bonePos = BoneLookController._TmpVecs[0];\r\n        bone.getAbsolutePositionToRef(this.mesh, bonePos);\r\n\r\n        let target = this.target;\r\n        const _tmpMat1 = BoneLookController._TmpMats[0];\r\n        const _tmpMat2 = BoneLookController._TmpMats[1];\r\n\r\n        const mesh = this.mesh;\r\n        const parentBone = bone.getParent();\r\n\r\n        const upAxis = BoneLookController._TmpVecs[1];\r\n        upAxis.copyFrom(this.upAxis);\r\n\r\n        if (this.upAxisSpace == Space.BONE && parentBone) {\r\n            if (this._transformYawPitch) {\r\n                Vector3.TransformCoordinatesToRef(upAxis, this._transformYawPitchInv, upAxis);\r\n            }\r\n            parentBone.getDirectionToRef(upAxis, this.mesh, upAxis);\r\n        } else if (this.upAxisSpace == Space.LOCAL) {\r\n            mesh.getDirectionToRef(upAxis, upAxis);\r\n            if (mesh.scaling.x != 1 || mesh.scaling.y != 1 || mesh.scaling.z != 1) {\r\n                upAxis.normalize();\r\n            }\r\n        }\r\n\r\n        let checkYaw = false;\r\n        let checkPitch = false;\r\n\r\n        if (this._maxYaw != Math.PI || this._minYaw != -Math.PI) {\r\n            checkYaw = true;\r\n        }\r\n        if (this._maxPitch != Math.PI || this._minPitch != -Math.PI) {\r\n            checkPitch = true;\r\n        }\r\n\r\n        if (checkYaw || checkPitch) {\r\n            const spaceMat = BoneLookController._TmpMats[2];\r\n            const spaceMatInv = BoneLookController._TmpMats[3];\r\n\r\n            if (this.upAxisSpace == Space.BONE && upAxis.y == 1 && parentBone) {\r\n                parentBone.getRotationMatrixToRef(Space.WORLD, this.mesh, spaceMat);\r\n            } else if (this.upAxisSpace == Space.LOCAL && upAxis.y == 1 && !parentBone) {\r\n                spaceMat.copyFrom(mesh.getWorldMatrix());\r\n            } else {\r\n                let forwardAxis = BoneLookController._TmpVecs[2];\r\n                forwardAxis.copyFrom(this._fowardAxis);\r\n\r\n                if (this._transformYawPitch) {\r\n                    Vector3.TransformCoordinatesToRef(forwardAxis, this._transformYawPitchInv, forwardAxis);\r\n                }\r\n\r\n                if (parentBone) {\r\n                    parentBone.getDirectionToRef(forwardAxis, this.mesh, forwardAxis);\r\n                } else {\r\n                    mesh.getDirectionToRef(forwardAxis, forwardAxis);\r\n                }\r\n\r\n                const rightAxis = Vector3.Cross(upAxis, forwardAxis);\r\n                rightAxis.normalize();\r\n                forwardAxis = Vector3.Cross(rightAxis, upAxis);\r\n\r\n                Matrix.FromXYZAxesToRef(rightAxis, upAxis, forwardAxis, spaceMat);\r\n            }\r\n\r\n            spaceMat.invertToRef(spaceMatInv);\r\n\r\n            let xzlen: Nullable<number> = null;\r\n\r\n            if (checkPitch) {\r\n                const localTarget = BoneLookController._TmpVecs[3];\r\n                target.subtractToRef(bonePos, localTarget);\r\n                Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\r\n\r\n                xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\r\n                const pitch = Math.atan2(localTarget.y, xzlen);\r\n                let newPitch = pitch;\r\n\r\n                if (pitch > this._maxPitch) {\r\n                    localTarget.y = this._maxPitchTan * xzlen;\r\n                    newPitch = this._maxPitch;\r\n                } else if (pitch < this._minPitch) {\r\n                    localTarget.y = this._minPitchTan * xzlen;\r\n                    newPitch = this._minPitch;\r\n                }\r\n\r\n                if (pitch != newPitch) {\r\n                    Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\r\n                    localTarget.addInPlace(bonePos);\r\n                    target = localTarget;\r\n                }\r\n            }\r\n\r\n            if (checkYaw) {\r\n                const localTarget = BoneLookController._TmpVecs[4];\r\n                target.subtractToRef(bonePos, localTarget);\r\n                Vector3.TransformCoordinatesToRef(localTarget, spaceMatInv, localTarget);\r\n\r\n                const yaw = Math.atan2(localTarget.x, localTarget.z);\r\n                const yawCheck = this.useAbsoluteValueForYaw ? Math.abs(yaw) : yaw;\r\n                let newYaw = yaw;\r\n\r\n                if (yawCheck > this._maxYaw || yawCheck < this._minYaw) {\r\n                    if (xzlen == null) {\r\n                        xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\r\n                    }\r\n\r\n                    if (this._yawRange > Math.PI) {\r\n                        if (this._isAngleBetween(yaw, this._maxYaw, this._midYawConstraint)) {\r\n                            localTarget.z = this._maxYawCos * xzlen;\r\n                            localTarget.x = this._maxYawSin * xzlen;\r\n                            newYaw = this._maxYaw;\r\n                        } else if (this._isAngleBetween(yaw, this._midYawConstraint, this._minYaw)) {\r\n                            localTarget.z = this._minYawCos * xzlen;\r\n                            localTarget.x = this._minYawSin * xzlen;\r\n                            newYaw = this._minYaw;\r\n                        }\r\n                    } else {\r\n                        if (yawCheck > this._maxYaw) {\r\n                            localTarget.z = this._maxYawCos * xzlen;\r\n                            localTarget.x = this._maxYawSin * xzlen;\r\n                            if (yaw < 0 && this.useAbsoluteValueForYaw) {\r\n                                localTarget.x *= -1;\r\n                            }\r\n                            newYaw = this._maxYaw;\r\n                        } else if (yawCheck < this._minYaw) {\r\n                            localTarget.z = this._minYawCos * xzlen;\r\n                            localTarget.x = this._minYawSin * xzlen;\r\n                            if (yaw < 0 && this.useAbsoluteValueForYaw) {\r\n                                localTarget.x *= -1;\r\n                            }\r\n                            newYaw = this._minYaw;\r\n                        }\r\n                    }\r\n                }\r\n\r\n                if (this._slerping && this._yawRange > Math.PI) {\r\n                    //are we going to be crossing into the min/max region?\r\n                    const boneFwd = BoneLookController._TmpVecs[8];\r\n                    boneFwd.copyFrom(Axis.Z);\r\n                    if (this._transformYawPitch) {\r\n                        Vector3.TransformCoordinatesToRef(boneFwd, this._transformYawPitchInv, boneFwd);\r\n                    }\r\n\r\n                    const boneRotMat = BoneLookController._TmpMats[4];\r\n                    this._boneQuat.toRotationMatrix(boneRotMat);\r\n                    this.mesh.getWorldMatrix().multiplyToRef(boneRotMat, boneRotMat);\r\n                    Vector3.TransformCoordinatesToRef(boneFwd, boneRotMat, boneFwd);\r\n                    Vector3.TransformCoordinatesToRef(boneFwd, spaceMatInv, boneFwd);\r\n\r\n                    const boneYaw = Math.atan2(boneFwd.x, boneFwd.z);\r\n                    const angBtwTar = this._getAngleBetween(boneYaw, yaw);\r\n                    const angBtwMidYaw = this._getAngleBetween(boneYaw, this._midYawConstraint);\r\n\r\n                    if (angBtwTar > angBtwMidYaw) {\r\n                        if (xzlen == null) {\r\n                            xzlen = Math.sqrt(localTarget.x * localTarget.x + localTarget.z * localTarget.z);\r\n                        }\r\n\r\n                        const angBtwMax = this._getAngleBetween(boneYaw, this._maxYaw);\r\n                        const angBtwMin = this._getAngleBetween(boneYaw, this._minYaw);\r\n\r\n                        if (angBtwMin < angBtwMax) {\r\n                            newYaw = boneYaw + Math.PI * 0.75;\r\n                            localTarget.z = Math.cos(newYaw) * xzlen;\r\n                            localTarget.x = Math.sin(newYaw) * xzlen;\r\n                        } else {\r\n                            newYaw = boneYaw - Math.PI * 0.75;\r\n                            localTarget.z = Math.cos(newYaw) * xzlen;\r\n                            localTarget.x = Math.sin(newYaw) * xzlen;\r\n                        }\r\n                    }\r\n                }\r\n\r\n                if (yaw != newYaw) {\r\n                    Vector3.TransformCoordinatesToRef(localTarget, spaceMat, localTarget);\r\n                    localTarget.addInPlace(bonePos);\r\n                    target = localTarget;\r\n                }\r\n            }\r\n        }\r\n\r\n        const zaxis = BoneLookController._TmpVecs[5];\r\n        const xaxis = BoneLookController._TmpVecs[6];\r\n        const yaxis = BoneLookController._TmpVecs[7];\r\n        const tmpQuat = BoneLookController._TmpQuat;\r\n        const boneScaling = BoneLookController._TmpVecs[9];\r\n\r\n        target.subtractToRef(bonePos, zaxis);\r\n        zaxis.normalize();\r\n        Vector3.CrossToRef(upAxis, zaxis, xaxis);\r\n        xaxis.normalize();\r\n        Vector3.CrossToRef(zaxis, xaxis, yaxis);\r\n        yaxis.normalize();\r\n        Matrix.FromXYZAxesToRef(xaxis, yaxis, zaxis, _tmpMat1);\r\n\r\n        if (xaxis.x === 0 && xaxis.y === 0 && xaxis.z === 0) {\r\n            return;\r\n        }\r\n\r\n        if (yaxis.x === 0 && yaxis.y === 0 && yaxis.z === 0) {\r\n            return;\r\n        }\r\n\r\n        if (zaxis.x === 0 && zaxis.y === 0 && zaxis.z === 0) {\r\n            return;\r\n        }\r\n\r\n        if (this.adjustYaw || this.adjustPitch || this.adjustRoll) {\r\n            Matrix.RotationYawPitchRollToRef(this.adjustYaw, this.adjustPitch, this.adjustRoll, _tmpMat2);\r\n            _tmpMat2.multiplyToRef(_tmpMat1, _tmpMat1);\r\n        }\r\n\r\n        boneScaling.copyFrom(this.bone.getScale());\r\n\r\n        if (this.slerpAmount < 1) {\r\n            if (!this._slerping) {\r\n                this.bone.getRotationQuaternionToRef(Space.WORLD, this.mesh, this._boneQuat);\r\n            }\r\n            if (this._transformYawPitch) {\r\n                this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\r\n            }\r\n            Quaternion.FromRotationMatrixToRef(_tmpMat1, tmpQuat);\r\n            Quaternion.SlerpToRef(this._boneQuat, tmpQuat, this.slerpAmount, this._boneQuat);\r\n\r\n            this.bone.setRotationQuaternion(this._boneQuat, Space.WORLD, this.mesh);\r\n            this._slerping = true;\r\n        } else {\r\n            if (this._transformYawPitch) {\r\n                this._transformYawPitch.multiplyToRef(_tmpMat1, _tmpMat1);\r\n            }\r\n            this.bone.setRotationMatrix(_tmpMat1, Space.WORLD, this.mesh);\r\n            this._slerping = false;\r\n        }\r\n\r\n        this.bone.setScale(boneScaling);\r\n\r\n        this._updateLinkedTransformRotation();\r\n    }\r\n\r\n    private _getAngleDiff(ang1: number, ang2: number): number {\r\n        let angDiff = ang2 - ang1;\r\n        angDiff %= Math.PI * 2;\r\n\r\n        if (angDiff > Math.PI) {\r\n            angDiff -= Math.PI * 2;\r\n        } else if (angDiff < -Math.PI) {\r\n            angDiff += Math.PI * 2;\r\n        }\r\n\r\n        return angDiff;\r\n    }\r\n\r\n    private _getAngleBetween(ang1: number, ang2: number): number {\r\n        ang1 %= 2 * Math.PI;\r\n        ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\r\n\r\n        ang2 %= 2 * Math.PI;\r\n        ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\r\n\r\n        let ab = 0;\r\n\r\n        if (ang1 < ang2) {\r\n            ab = ang2 - ang1;\r\n        } else {\r\n            ab = ang1 - ang2;\r\n        }\r\n\r\n        if (ab > Math.PI) {\r\n            ab = Math.PI * 2 - ab;\r\n        }\r\n\r\n        return ab;\r\n    }\r\n\r\n    private _isAngleBetween(ang: number, ang1: number, ang2: number): boolean {\r\n        ang %= 2 * Math.PI;\r\n        ang = ang < 0 ? ang + 2 * Math.PI : ang;\r\n        ang1 %= 2 * Math.PI;\r\n        ang1 = ang1 < 0 ? ang1 + 2 * Math.PI : ang1;\r\n        ang2 %= 2 * Math.PI;\r\n        ang2 = ang2 < 0 ? ang2 + 2 * Math.PI : ang2;\r\n\r\n        if (ang1 < ang2) {\r\n            if (ang > ang1 && ang < ang2) {\r\n                return true;\r\n            }\r\n        } else {\r\n            if (ang > ang2 && ang < ang1) {\r\n                return true;\r\n            }\r\n        }\r\n        return false;\r\n    }\r\n\r\n    private _updateLinkedTransformRotation(): void {\r\n        const bone = this.bone;\r\n        if (bone._linkedTransformNode) {\r\n            if (!bone._linkedTransformNode.rotationQuaternion) {\r\n                bone._linkedTransformNode.rotationQuaternion = new Quaternion();\r\n            }\r\n            bone.getRotationQuaternionToRef(Space.LOCAL, null, bone._linkedTransformNode.rotationQuaternion);\r\n        }\r\n    }\r\n}\r\n"]}

package/Buffers/bufferUtils.d.ts

@@ -0,0 +1,13 @@
+import type { DataArray } from "../types";
+/**
+ * Copies the given data array to the given float array.
+ * @param input the input data array
+ * @param size the number of components
+ * @param type the component type
+ * @param byteOffset the byte offset of the data
+ * @param byteStride the byte stride of the data
+ * @param normalized whether the data is normalized
+ * @param totalVertices number of vertices in the buffer to take into account
+ * @param output the output float array
+ */
+export declare function CopyFloatData(input: DataArray, size: number, type: number, byteOffset: number, byteStride: number, normalized: boolean, totalVertices: number, output: Float32Array): void;

package/Buffers/bufferUtils.js

@@ -0,0 +1,42 @@
+import { VertexBuffer } from "./buffer.js";
+/**
+ * Copies the given data array to the given float array.
+ * @param input the input data array
+ * @param size the number of components
+ * @param type the component type
+ * @param byteOffset the byte offset of the data
+ * @param byteStride the byte stride of the data
+ * @param normalized whether the data is normalized
+ * @param totalVertices number of vertices in the buffer to take into account
+ * @param output the output float array
+ */
+export function CopyFloatData(input, size, type, byteOffset, byteStride, normalized, totalVertices, output) {
+    const tightlyPackedByteStride = size * VertexBuffer.GetTypeByteLength(type);
+    const count = totalVertices * size;
+    if (output.length !== count) {
+        throw new Error("Output length is not valid");
+    }
+    if (type !== VertexBuffer.FLOAT || byteStride !== tightlyPackedByteStride) {
+        VertexBuffer.ForEach(input, byteOffset, byteStride, size, type, count, normalized, (value, index) => (output[index] = value));
+        return;
+    }
+    if (input instanceof Array) {
+        const offset = byteOffset / 4;
+        output.set(input, offset);
+    }
+    else if (input instanceof ArrayBuffer) {
+        const floatData = new Float32Array(input, byteOffset, count);
+        output.set(floatData);
+    }
+    else {
+        let offset = input.byteOffset + byteOffset;
+        // Protect against bad data
+        const remainder = offset % 4;
+        if (remainder) {
+            offset = Math.max(0, offset - remainder);
+        }
+        const floatData = new Float32Array(input.buffer, offset, count);
+        output.set(floatData);
+    }
+}
+//# sourceMappingURL=bufferUtils.js.map

package/Buffers/bufferUtils.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"bufferUtils.js","sourceRoot":"","sources":["../../../../dev/core/src/Buffers/bufferUtils.ts"],"names":[],"mappings":"AACA,OAAO,EAAE,YAAY,EAAE,MAAM,UAAU,CAAC;AAExC;;;;;;;;;;GAUG;AACH,MAAM,UAAU,aAAa,CACzB,KAAgB,EAChB,IAAY,EACZ,IAAY,EACZ,UAAkB,EAClB,UAAkB,EAClB,UAAmB,EACnB,aAAqB,EACrB,MAAoB;IAEpB,MAAM,uBAAuB,GAAG,IAAI,GAAG,YAAY,CAAC,iBAAiB,CAAC,IAAI,CAAC,CAAC;IAC5E,MAAM,KAAK,GAAG,aAAa,GAAG,IAAI,CAAC;IAEnC,IAAI,MAAM,CAAC,MAAM,KAAK,KAAK,EAAE;QACzB,MAAM,IAAI,KAAK,CAAC,4BAA4B,CAAC,CAAC;KACjD;IAED,IAAI,IAAI,KAAK,YAAY,CAAC,KAAK,IAAI,UAAU,KAAK,uBAAuB,EAAE;QACvE,YAAY,CAAC,OAAO,CAAC,KAAK,EAAE,UAAU,EAAE,UAAU,EAAE,IAAI,EAAE,IAAI,EAAE,KAAK,EAAE,UAAU,EAAE,CAAC,KAAK,EAAE,KAAK,EAAE,EAAE,CAAC,CAAC,MAAM,CAAC,KAAK,CAAC,GAAG,KAAK,CAAC,CAAC,CAAC;QAC9H,OAAO;KACV;IAED,IAAI,KAAK,YAAY,KAAK,EAAE;QACxB,MAAM,MAAM,GAAG,UAAU,GAAG,CAAC,CAAC;QAC9B,MAAM,CAAC,GAAG,CAAC,KAAK,EAAE,MAAM,CAAC,CAAC;KAC7B;SAAM,IAAI,KAAK,YAAY,WAAW,EAAE;QACrC,MAAM,SAAS,GAAG,IAAI,YAAY,CAAC,KAAK,EAAE,UAAU,EAAE,KAAK,CAAC,CAAC;QAC7D,MAAM,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC;KACzB;SAAM;QACH,IAAI,MAAM,GAAG,KAAK,CAAC,UAAU,GAAG,UAAU,CAAC;QAE3C,2BAA2B;QAC3B,MAAM,SAAS,GAAG,MAAM,GAAG,CAAC,CAAC;QAC7B,IAAI,SAAS,EAAE;YACX,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,MAAM,GAAG,SAAS,CAAC,CAAC;SAC5C;QAED,MAAM,SAAS,GAAG,IAAI,YAAY,CAAC,KAAK,CAAC,MAAM,EAAE,MAAM,EAAE,KAAK,CAAC,CAAC;QAChE,MAAM,CAAC,GAAG,CAAC,SAAS,CAAC,CAAC;KACzB;AACL,CAAC","sourcesContent":["import type { DataArray } from \"../types\";\r\nimport { VertexBuffer } from \"./buffer\";\r\n\r\n/**\r\n * Copies the given data array to the given float array.\r\n * @param input the input data array\r\n * @param size the number of components\r\n * @param type the component type\r\n * @param byteOffset the byte offset of the data\r\n * @param byteStride the byte stride of the data\r\n * @param normalized whether the data is normalized\r\n * @param totalVertices number of vertices in the buffer to take into account\r\n * @param output the output float array\r\n */\r\nexport function CopyFloatData(\r\n    input: DataArray,\r\n    size: number,\r\n    type: number,\r\n    byteOffset: number,\r\n    byteStride: number,\r\n    normalized: boolean,\r\n    totalVertices: number,\r\n    output: Float32Array\r\n): void {\r\n    const tightlyPackedByteStride = size * VertexBuffer.GetTypeByteLength(type);\r\n    const count = totalVertices * size;\r\n\r\n    if (output.length !== count) {\r\n        throw new Error(\"Output length is not valid\");\r\n    }\r\n\r\n    if (type !== VertexBuffer.FLOAT || byteStride !== tightlyPackedByteStride) {\r\n        VertexBuffer.ForEach(input, byteOffset, byteStride, size, type, count, normalized, (value, index) => (output[index] = value));\r\n        return;\r\n    }\r\n\r\n    if (input instanceof Array) {\r\n        const offset = byteOffset / 4;\r\n        output.set(input, offset);\r\n    } else if (input instanceof ArrayBuffer) {\r\n        const floatData = new Float32Array(input, byteOffset, count);\r\n        output.set(floatData);\r\n    } else {\r\n        let offset = input.byteOffset + byteOffset;\r\n\r\n        // Protect against bad data\r\n        const remainder = offset % 4;\r\n        if (remainder) {\r\n            offset = Math.max(0, offset - remainder);\r\n        }\r\n\r\n        const floatData = new Float32Array(input.buffer, offset, count);\r\n        output.set(floatData);\r\n    }\r\n}\r\n"]}

package/Buffers/index.d.ts

@@ -1,4 +1,5 @@
 export * from "./buffer";
+export * from "./bufferUtils";
 export * from "./dataBuffer";
 export * from "./storageBuffer";
 import "./buffer.align";

package/Buffers/index.js

@@ -1,4 +1,5 @@
 export * from "./buffer.js";
+export * from "./bufferUtils.js";
 export * from "./dataBuffer.js";
 export * from "./storageBuffer.js";
 import "./buffer.align.js";

package/Buffers/index.js.map

@@ -1 +1 @@
-{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../dev/core/src/Buffers/index.ts"],"names":[],"mappings":"AAAA,cAAc,UAAU,CAAC;AACzB,cAAc,cAAc,CAAC;AAC7B,cAAc,iBAAiB,CAAC;AAChC,OAAO,gBAAgB,CAAC","sourcesContent":["export * from \"./buffer\";\r\nexport * from \"./dataBuffer\";\r\nexport * from \"./storageBuffer\";\r\nimport \"./buffer.align\";\r\n"]}
+{"version":3,"file":"index.js","sourceRoot":"","sources":["../../../../dev/core/src/Buffers/index.ts"],"names":[],"mappings":"AAAA,cAAc,UAAU,CAAC;AACzB,cAAc,eAAe,CAAC;AAC9B,cAAc,cAAc,CAAC;AAC7B,cAAc,iBAAiB,CAAC;AAChC,OAAO,gBAAgB,CAAC","sourcesContent":["export * from \"./buffer\";\r\nexport * from \"./bufferUtils\";\r\nexport * from \"./dataBuffer\";\r\nexport * from \"./storageBuffer\";\r\nimport \"./buffer.align\";\r\n"]}

package/Cameras/Inputs/freeCameraMouseWheelInput.js

@@ -3,7 +3,6 @@ import { serialize } from "../../Misc/decorators.js";
 import { CameraInputTypes } from "../../Cameras/cameraInputsManager.js";
 import { BaseCameraMouseWheelInput } from "../../Cameras/Inputs/BaseCameraMouseWheelInput.js";
 import { Matrix, Vector3 } from "../../Maths/math.vector.js";
-import { Coordinate } from "../../Maths/math.axis.js";
 // eslint-disable-next-line @typescript-eslint/naming-convention
 var _CameraProperty;
 (function (_CameraProperty) {
@@ -25,9 +24,9 @@ export class FreeCameraMouseWheelInput extends BaseCameraMouseWheelInput {
          * These are set to the desired default behaviour.
          */
         this._wheelXAction = _CameraProperty.MoveRelative;
-        this._wheelXActionCoordinate = Coordinate.X;
+        this._wheelXActionCoordinate = 0 /* Coordinate.X */;
         this._wheelYAction = _CameraProperty.MoveRelative;
-        this._wheelYActionCoordinate = Coordinate.Z;
+        this._wheelYActionCoordinate = 2 /* Coordinate.Z */;
         this._wheelZAction = null;
         this._wheelZActionCoordinate = null;
     }
@@ -328,13 +327,13 @@ export class FreeCameraMouseWheelInput extends BaseCameraMouseWheelInput {
                 break;
         }
         switch (coordinate) {
-            case Coordinate.X:
+            case 0 /* Coordinate.X */:
                 action.set(value, 0, 0);
                 break;
-            case Coordinate.Y:
+            case 1 /* Coordinate.Y */:
                 action.set(0, value, 0);
                 break;
-            case Coordinate.Z:
+            case 2 /* Coordinate.Z */:
                 action.set(0, 0, value);
                 break;
         }