@babylonjs/core 9.10.1 → 9.12.0

package/Behaviors/Meshes/surfaceMagnetismBehavior.js.map

@@ -1 +1 @@
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{ type PickingInfo } from \"../../Collisions/pickingInfo\";\r\nimport { type PointerInfo, PointerEventTypes } from \"../../Events/pointerEvents\";\r\nimport { Quaternion, TmpVectors, Vector3 } from \"../../Maths/math.vector\";\r\nimport { type AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { type Mesh } from \"../../Meshes/mesh\";\r\nimport { type Observer } from \"../../Misc/observable\";\r\nimport { type Scene } from \"../../scene\";\r\nimport { type Nullable } from \"../../types\";\r\nimport { type Behavior } from \"../behavior\";\r\n\r\n/**\r\n * A behavior that allows a transform node to stick to a surface position/orientation\r\n * @since 5.0.0\r\n */\r\nexport class SurfaceMagnetismBehavior implements Behavior<Mesh> {\r\n    private _scene: Scene;\r\n    private _attachedMesh: Nullable<Mesh> = null;\r\n    private _attachPointLocalOffset: Vector3 = new Vector3();\r\n    private _pointerObserver: Nullable<Observer<PointerInfo>>;\r\n    private _workingPosition: Vector3 = new Vector3();\r\n    private _workingQuaternion: Quaternion = new Quaternion();\r\n    private _lastTick: number = -1;\r\n    private _onBeforeRender: Nullable<Observer<Scene>>;\r\n    private _hit = false;\r\n\r\n    /**\r\n     * Distance offset from the hit point to place the target at, along the hit normal.\r\n     */\r\n    public hitNormalOffset: number = 0.05;\r\n\r\n    /**\r\n     * Name of the behavior\r\n     */\r\n    public get name(): string {\r\n        return \"SurfaceMagnetism\";\r\n    }\r\n\r\n    /**\r\n     * Spatial mapping meshes to collide with\r\n     */\r\n    public meshes: AbstractMesh[] = [];\r\n\r\n    /**\r\n     * Function called when the behavior needs to be initialized (after attaching it to a target)\r\n     */\r\n    public init(): void {}\r\n\r\n    /**\r\n     * Set to false if the node should strictly follow the camera without any interpolation time\r\n     */\r\n    public interpolatePose = true;\r\n\r\n    /**\r\n     * Rate of interpolation of position and rotation of the attached node.\r\n     * Higher values will give a slower interpolation.\r\n     */\r\n    public lerpTime = 250;\r\n\r\n    /**\r\n     * If true, pitch and roll are omitted.\r\n     */\r\n    public keepOrientationVertical = true;\r\n\r\n    /**\r\n     * Is this behavior reacting to pointer events\r\n     */\r\n    public enabled = true;\r\n\r\n    /**\r\n     * Maximum distance for the node to stick to the surface\r\n     */\r\n    public maxStickingDistance = 0.8;\r\n\r\n    /**\r\n     * Attached node of this behavior\r\n     */\r\n    public get attachedNode(): Nullable<Mesh> {\r\n        return this._attachedMesh;\r\n    }\r\n\r\n    /**\r\n     * Attaches the behavior to a transform node\r\n     * @param target defines the target where the behavior is attached to\r\n     * @param scene the scene\r\n     */\r\n    public attach(target: Mesh, scene?: Scene): void {\r\n        this._attachedMesh = target;\r\n        this._scene = scene || target.getScene();\r\n        if (!this._attachedMesh.rotationQuaternion) {\r\n            this._attachedMesh.rotationQuaternion = Quaternion.RotationYawPitchRoll(this._attachedMesh.rotation.y, this._attachedMesh.rotation.x, this._attachedMesh.rotation.z);\r\n        }\r\n        this.updateAttachPoint();\r\n\r\n        this._workingPosition.copyFrom(this._attachedMesh.position);\r\n        this._workingQuaternion.copyFrom(this._attachedMesh.rotationQuaternion);\r\n        this._addObservables();\r\n    }\r\n\r\n    /**\r\n     * Detaches the behavior\r\n     */\r\n    public detach(): void {\r\n        this._attachedMesh = null;\r\n        this._removeObservables();\r\n    }\r\n\r\n    private _getTargetPose(pickingInfo: PickingInfo): Nullable<{ position: Vector3; quaternion: Quaternion }> {\r\n        if (!this._attachedMesh) {\r\n            return null;\r\n        }\r\n\r\n        if (pickingInfo && pickingInfo.hit) {\r\n            const pickedNormal = pickingInfo.getNormal(true, true);\r\n            const pickedPoint = pickingInfo.pickedPoint;\r\n\r\n            if (!pickedNormal || !pickedPoint) {\r\n                return null;\r\n            }\r\n            pickedNormal.normalize();\r\n\r\n            const worldTarget = TmpVectors.Vector3[0];\r\n            worldTarget.copyFrom(pickedNormal);\r\n            worldTarget.scaleInPlace(this.hitNormalOffset);\r\n            worldTarget.addInPlace(pickedPoint);\r\n\r\n            if (this._attachedMesh.parent) {\r\n                TmpVectors.Matrix[0].copyFrom(this._attachedMesh.parent.getWorldMatrix()).invert();\r\n                Vector3.TransformNormalToRef(worldTarget, TmpVectors.Matrix[0], worldTarget);\r\n            }\r\n\r\n            return {\r\n                position: worldTarget,\r\n                quaternion: Quaternion.RotationYawPitchRoll(\r\n                    -Math.atan2(pickedNormal.x, -pickedNormal.z),\r\n                    this.keepOrientationVertical ? 0 : Math.atan2(pickedNormal.y, Math.sqrt(pickedNormal.z * pickedNormal.z + pickedNormal.x * pickedNormal.x)),\r\n                    0\r\n                ),\r\n            };\r\n        }\r\n\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Updates the attach point with the current geometry extents of the attached mesh\r\n     */\r\n    public updateAttachPoint() {\r\n        this._getAttachPointOffsetToRef(this._attachPointLocalOffset);\r\n    }\r\n\r\n    /**\r\n     * Finds the intersection point of the given ray onto the meshes and updates the target.\r\n     * Transformation will be interpolated according to `interpolatePose` and `lerpTime` properties.\r\n     * If no mesh of `meshes` are hit, this does nothing.\r\n     * @param pickInfo The input pickingInfo that will be used to intersect the meshes\r\n     * @returns a boolean indicating if we found a hit to stick to\r\n     */\r\n    public findAndUpdateTarget(pickInfo: PickingInfo): boolean {\r\n        this._hit = false;\r\n        if (!pickInfo.ray) {\r\n            return false;\r\n        }\r\n\r\n        const subPicking = pickInfo.ray.intersectsMeshes(this.meshes)[0];\r\n\r\n        if (this._attachedMesh && subPicking && subPicking.hit && subPicking.pickedMesh) {\r\n            const pose = this._getTargetPose(subPicking);\r\n            if (pose && Vector3.Distance(this._attachedMesh.position, pose.position) < this.maxStickingDistance) {\r\n                this._workingPosition.copyFrom(pose.position);\r\n                this._workingQuaternion.copyFrom(pose.quaternion);\r\n                this._hit = true;\r\n            }\r\n        }\r\n\r\n        return this._hit;\r\n    }\r\n\r\n    private _getAttachPointOffsetToRef(ref: Vector3) {\r\n        if (!this._attachedMesh) {\r\n            ref.setAll(0);\r\n            return;\r\n        }\r\n\r\n        const storedQuat = TmpVectors.Quaternion[0];\r\n        storedQuat.copyFrom(this._attachedMesh.rotationQuaternion!);\r\n        this._attachedMesh.rotationQuaternion!.copyFromFloats(0, 0, 0, 1);\r\n        this._attachedMesh.computeWorldMatrix();\r\n        const boundingMinMax = this._attachedMesh.getHierarchyBoundingVectors();\r\n        const center = TmpVectors.Vector3[0];\r\n        boundingMinMax.max.addToRef(boundingMinMax.min, center);\r\n        center.scaleInPlace(0.5);\r\n        center.z = boundingMinMax.max.z;\r\n        // We max the z coordinate because we want the attach point to be on the back of the mesh\r\n        const invWorld = TmpVectors.Matrix[0];\r\n        this._attachedMesh.getWorldMatrix().invertToRef(invWorld);\r\n        Vector3.TransformCoordinatesToRef(center, invWorld, ref);\r\n        this._attachedMesh.rotationQuaternion!.copyFrom(storedQuat);\r\n    }\r\n\r\n    private _updateTransformToGoal(elapsed: number) {\r\n        if (!this._attachedMesh || !this._hit) {\r\n            return;\r\n        }\r\n\r\n        const oldParent = this._attachedMesh.parent;\r\n        this._attachedMesh.setParent(null);\r\n\r\n        const worldOffset = TmpVectors.Vector3[0];\r\n        Vector3.TransformNormalToRef(this._attachPointLocalOffset, this._attachedMesh.getWorldMatrix(), worldOffset);\r\n\r\n        if (!this.interpolatePose) {\r\n            this._attachedMesh.position.copyFrom(this._workingPosition).subtractInPlace(worldOffset);\r\n            this._attachedMesh.rotationQuaternion!.copyFrom(this._workingQuaternion);\r\n            return;\r\n        }\r\n\r\n        // position\r\n        const interpolatedPosition = new Vector3();\r\n        Vector3.SmoothToRef(this._attachedMesh.position, this._workingPosition, elapsed, this.lerpTime, interpolatedPosition);\r\n        this._attachedMesh.position.copyFrom(interpolatedPosition);\r\n\r\n        // rotation\r\n        const currentRotation = new Quaternion();\r\n        currentRotation.copyFrom(this._attachedMesh.rotationQuaternion!);\r\n        Quaternion.SmoothToRef(currentRotation, this._workingQuaternion, elapsed, this.lerpTime, this._attachedMesh.rotationQuaternion!);\r\n\r\n        this._attachedMesh.setParent(oldParent);\r\n    }\r\n\r\n    private _addObservables() {\r\n        this._pointerObserver = this._scene.onPointerObservable.add((pointerInfo) => {\r\n            if (this.enabled && pointerInfo.type == PointerEventTypes.POINTERMOVE && pointerInfo.pickInfo) {\r\n                this.findAndUpdateTarget(pointerInfo.pickInfo);\r\n            }\r\n        });\r\n\r\n        this._lastTick = Date.now();\r\n        this._onBeforeRender = this._scene.onBeforeRenderObservable.add(() => {\r\n            const tick = Date.now();\r\n            this._updateTransformToGoal(tick - this._lastTick);\r\n            this._lastTick = tick;\r\n        });\r\n    }\r\n\r\n    private _removeObservables() {\r\n        this._scene.onPointerObservable.remove(this._pointerObserver);\r\n        this._scene.onBeforeRenderObservable.remove(this._onBeforeRender);\r\n        this._pointerObserver = null;\r\n        this._onBeforeRender = null;\r\n    }\r\n}\r\n"]}
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{ type PickingInfo } from \"../../Collisions/pickingInfo\";\r\nimport { type PointerInfo, PointerEventTypes } from \"../../Events/pointerEvents\";\r\nimport { Quaternion, TmpVectors, Vector3 } from \"../../Maths/math.vector.pure\";\r\nimport { type AbstractMesh } from \"../../Meshes/abstractMesh\";\r\nimport { type Mesh } from \"../../Meshes/mesh\";\r\nimport { type Observer } from \"../../Misc/observable\";\r\nimport { type Scene } from \"../../scene\";\r\nimport { type Nullable } from \"../../types\";\r\nimport { type Behavior } from \"../behavior\";\r\n\r\n/**\r\n * A behavior that allows a transform node to stick to a surface position/orientation\r\n * @since 5.0.0\r\n */\r\nexport class SurfaceMagnetismBehavior implements Behavior<Mesh> {\r\n    private _scene: Scene;\r\n    private _attachedMesh: Nullable<Mesh> = null;\r\n    private _attachPointLocalOffset: Vector3 = new Vector3();\r\n    private _pointerObserver: Nullable<Observer<PointerInfo>>;\r\n    private _workingPosition: Vector3 = new Vector3();\r\n    private _workingQuaternion: Quaternion = new Quaternion();\r\n    private _lastTick: number = -1;\r\n    private _onBeforeRender: Nullable<Observer<Scene>>;\r\n    private _hit = false;\r\n\r\n    /**\r\n     * Distance offset from the hit point to place the target at, along the hit normal.\r\n     */\r\n    public hitNormalOffset: number = 0.05;\r\n\r\n    /**\r\n     * Name of the behavior\r\n     */\r\n    public get name(): string {\r\n        return \"SurfaceMagnetism\";\r\n    }\r\n\r\n    /**\r\n     * Spatial mapping meshes to collide with\r\n     */\r\n    public meshes: AbstractMesh[] = [];\r\n\r\n    /**\r\n     * Function called when the behavior needs to be initialized (after attaching it to a target)\r\n     */\r\n    public init(): void {}\r\n\r\n    /**\r\n     * Set to false if the node should strictly follow the camera without any interpolation time\r\n     */\r\n    public interpolatePose = true;\r\n\r\n    /**\r\n     * Rate of interpolation of position and rotation of the attached node.\r\n     * Higher values will give a slower interpolation.\r\n     */\r\n    public lerpTime = 250;\r\n\r\n    /**\r\n     * If true, pitch and roll are omitted.\r\n     */\r\n    public keepOrientationVertical = true;\r\n\r\n    /**\r\n     * Is this behavior reacting to pointer events\r\n     */\r\n    public enabled = true;\r\n\r\n    /**\r\n     * Maximum distance for the node to stick to the surface\r\n     */\r\n    public maxStickingDistance = 0.8;\r\n\r\n    /**\r\n     * Attached node of this behavior\r\n     */\r\n    public get attachedNode(): Nullable<Mesh> {\r\n        return this._attachedMesh;\r\n    }\r\n\r\n    /**\r\n     * Attaches the behavior to a transform node\r\n     * @param target defines the target where the behavior is attached to\r\n     * @param scene the scene\r\n     */\r\n    public attach(target: Mesh, scene?: Scene): void {\r\n        this._attachedMesh = target;\r\n        this._scene = scene || target.getScene();\r\n        if (!this._attachedMesh.rotationQuaternion) {\r\n            this._attachedMesh.rotationQuaternion = Quaternion.RotationYawPitchRoll(this._attachedMesh.rotation.y, this._attachedMesh.rotation.x, this._attachedMesh.rotation.z);\r\n        }\r\n        this.updateAttachPoint();\r\n\r\n        this._workingPosition.copyFrom(this._attachedMesh.position);\r\n        this._workingQuaternion.copyFrom(this._attachedMesh.rotationQuaternion);\r\n        this._addObservables();\r\n    }\r\n\r\n    /**\r\n     * Detaches the behavior\r\n     */\r\n    public detach(): void {\r\n        this._attachedMesh = null;\r\n        this._removeObservables();\r\n    }\r\n\r\n    private _getTargetPose(pickingInfo: PickingInfo): Nullable<{ position: Vector3; quaternion: Quaternion }> {\r\n        if (!this._attachedMesh) {\r\n            return null;\r\n        }\r\n\r\n        if (pickingInfo && pickingInfo.hit) {\r\n            const pickedNormal = pickingInfo.getNormal(true, true);\r\n            const pickedPoint = pickingInfo.pickedPoint;\r\n\r\n            if (!pickedNormal || !pickedPoint) {\r\n                return null;\r\n            }\r\n            pickedNormal.normalize();\r\n\r\n            const worldTarget = TmpVectors.Vector3[0];\r\n            worldTarget.copyFrom(pickedNormal);\r\n            worldTarget.scaleInPlace(this.hitNormalOffset);\r\n            worldTarget.addInPlace(pickedPoint);\r\n\r\n            if (this._attachedMesh.parent) {\r\n                TmpVectors.Matrix[0].copyFrom(this._attachedMesh.parent.getWorldMatrix()).invert();\r\n                Vector3.TransformNormalToRef(worldTarget, TmpVectors.Matrix[0], worldTarget);\r\n            }\r\n\r\n            return {\r\n                position: worldTarget,\r\n                quaternion: Quaternion.RotationYawPitchRoll(\r\n                    -Math.atan2(pickedNormal.x, -pickedNormal.z),\r\n                    this.keepOrientationVertical ? 0 : Math.atan2(pickedNormal.y, Math.sqrt(pickedNormal.z * pickedNormal.z + pickedNormal.x * pickedNormal.x)),\r\n                    0\r\n                ),\r\n            };\r\n        }\r\n\r\n        return null;\r\n    }\r\n\r\n    /**\r\n     * Updates the attach point with the current geometry extents of the attached mesh\r\n     */\r\n    public updateAttachPoint() {\r\n        this._getAttachPointOffsetToRef(this._attachPointLocalOffset);\r\n    }\r\n\r\n    /**\r\n     * Finds the intersection point of the given ray onto the meshes and updates the target.\r\n     * Transformation will be interpolated according to `interpolatePose` and `lerpTime` properties.\r\n     * If no mesh of `meshes` are hit, this does nothing.\r\n     * @param pickInfo The input pickingInfo that will be used to intersect the meshes\r\n     * @returns a boolean indicating if we found a hit to stick to\r\n     */\r\n    public findAndUpdateTarget(pickInfo: PickingInfo): boolean {\r\n        this._hit = false;\r\n        if (!pickInfo.ray) {\r\n            return false;\r\n        }\r\n\r\n        const subPicking = pickInfo.ray.intersectsMeshes(this.meshes)[0];\r\n\r\n        if (this._attachedMesh && subPicking && subPicking.hit && subPicking.pickedMesh) {\r\n            const pose = this._getTargetPose(subPicking);\r\n            if (pose && Vector3.Distance(this._attachedMesh.position, pose.position) < this.maxStickingDistance) {\r\n                this._workingPosition.copyFrom(pose.position);\r\n                this._workingQuaternion.copyFrom(pose.quaternion);\r\n                this._hit = true;\r\n            }\r\n        }\r\n\r\n        return this._hit;\r\n    }\r\n\r\n    private _getAttachPointOffsetToRef(ref: Vector3) {\r\n        if (!this._attachedMesh) {\r\n            ref.setAll(0);\r\n            return;\r\n        }\r\n\r\n        const storedQuat = TmpVectors.Quaternion[0];\r\n        storedQuat.copyFrom(this._attachedMesh.rotationQuaternion!);\r\n        this._attachedMesh.rotationQuaternion!.copyFromFloats(0, 0, 0, 1);\r\n        this._attachedMesh.computeWorldMatrix();\r\n        const boundingMinMax = this._attachedMesh.getHierarchyBoundingVectors();\r\n        const center = TmpVectors.Vector3[0];\r\n        boundingMinMax.max.addToRef(boundingMinMax.min, center);\r\n        center.scaleInPlace(0.5);\r\n        center.z = boundingMinMax.max.z;\r\n        // We max the z coordinate because we want the attach point to be on the back of the mesh\r\n        const invWorld = TmpVectors.Matrix[0];\r\n        this._attachedMesh.getWorldMatrix().invertToRef(invWorld);\r\n        Vector3.TransformCoordinatesToRef(center, invWorld, ref);\r\n        this._attachedMesh.rotationQuaternion!.copyFrom(storedQuat);\r\n    }\r\n\r\n    private _updateTransformToGoal(elapsed: number) {\r\n        if (!this._attachedMesh || !this._hit) {\r\n            return;\r\n        }\r\n\r\n        const oldParent = this._attachedMesh.parent;\r\n        this._attachedMesh.setParent(null);\r\n\r\n        const worldOffset = TmpVectors.Vector3[0];\r\n        Vector3.TransformNormalToRef(this._attachPointLocalOffset, this._attachedMesh.getWorldMatrix(), worldOffset);\r\n\r\n        if (!this.interpolatePose) {\r\n            this._attachedMesh.position.copyFrom(this._workingPosition).subtractInPlace(worldOffset);\r\n            this._attachedMesh.rotationQuaternion!.copyFrom(this._workingQuaternion);\r\n            return;\r\n        }\r\n\r\n        // position\r\n        const interpolatedPosition = new Vector3();\r\n        Vector3.SmoothToRef(this._attachedMesh.position, this._workingPosition, elapsed, this.lerpTime, interpolatedPosition);\r\n        this._attachedMesh.position.copyFrom(interpolatedPosition);\r\n\r\n        // rotation\r\n        const currentRotation = new Quaternion();\r\n        currentRotation.copyFrom(this._attachedMesh.rotationQuaternion!);\r\n        Quaternion.SmoothToRef(currentRotation, this._workingQuaternion, elapsed, this.lerpTime, this._attachedMesh.rotationQuaternion!);\r\n\r\n        this._attachedMesh.setParent(oldParent);\r\n    }\r\n\r\n    private _addObservables() {\r\n        this._pointerObserver = this._scene.onPointerObservable.add((pointerInfo) => {\r\n            if (this.enabled && pointerInfo.type == PointerEventTypes.POINTERMOVE && pointerInfo.pickInfo) {\r\n                this.findAndUpdateTarget(pointerInfo.pickInfo);\r\n            }\r\n        });\r\n\r\n        this._lastTick = Date.now();\r\n        this._onBeforeRender = this._scene.onBeforeRenderObservable.add(() => {\r\n            const tick = Date.now();\r\n            this._updateTransformToGoal(tick - this._lastTick);\r\n            this._lastTick = tick;\r\n        });\r\n    }\r\n\r\n    private _removeObservables() {\r\n        this._scene.onPointerObservable.remove(this._pointerObserver);\r\n        this._scene.onBeforeRenderObservable.remove(this._onBeforeRender);\r\n        this._pointerObserver = null;\r\n        this._onBeforeRender = null;\r\n    }\r\n}\r\n"]}

package/Bones/boneIKController.d.ts

@@ -1,5 +1,5 @@
 import { type Bone } from "./bone.js";
-import { Vector3 } from "../Maths/math.vector.js";
+import { Vector3 } from "../Maths/math.vector.pure.js";
 import { type TransformNode } from "../Meshes/transformNode.js";
 import { type Nullable } from "../types.js";
 /**

package/Bones/boneIKController.js

@@ -1,4 +1,4 @@
-import { Vector3, Quaternion, Matrix } from "../Maths/math.vector.js";
+import { Vector3, Quaternion, Matrix } from "../Maths/math.vector.pure.js";
 import { Logger } from "../Misc/logger.js";
 /**
  * Class used to apply inverse kinematics to bones

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.pure\";\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.d.ts

@@ -1,4 +1,4 @@
-import { Vector3 } from "../Maths/math.vector.js";
+import { Vector3 } from "../Maths/math.vector.pure.js";
 import { type TransformNode } from "../Meshes/transformNode.js";
 import { type Bone } from "./bone.js";
 import { Space } from "../Maths/math.axis.js";

package/Bones/boneLookController.js

@@ -1,5 +1,5 @@
 import { BuildArray } from "../Misc/arrayTools.js";
-import { Vector3, Quaternion, Matrix } from "../Maths/math.vector.js";
+import { Vector3, Quaternion, Matrix } from "../Maths/math.vector.pure.js";
 import { Axis } from "../Maths/math.axis.js";
 /**
  * Class used to make a bone look toward a point in space

package/Bones/boneLookController.js.map

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{ type Nullable } from \"../types\";\r\nimport { BuildArray } 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[] = BuildArray(10, Vector3.Zero);\r\n    private static _TmpQuat = Quaternion.Identity();\r\n    private static _TmpMats: Matrix[] = 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: number;\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 { BuildArray } from \"../Misc/arrayTools\";\r\nimport { Vector3, Quaternion, Matrix } from \"../Maths/math.vector.pure\";\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[] = BuildArray(10, Vector3.Zero);\r\n    private static _TmpQuat = Quaternion.Identity();\r\n    private static _TmpMats: Matrix[] = 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: number;\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/Bones/skeleton.d.ts

@@ -1,13 +1,13 @@
 import { Bone } from "./bone.js";
 import { Observable } from "../Misc/observable.js";
-import { Vector3, Matrix } from "../Maths/math.vector.js";
+import { Vector3, Matrix } from "../Maths/math.vector.pure.js";
 import { type Scene } from "../scene.js";
 import { type Nullable } from "../types.js";
 import { type AbstractMesh } from "../Meshes/abstractMesh.js";
 import { RawTexture } from "../Materials/Textures/rawTexture.js";
 import { type Animatable } from "../Animations/animatable.core.js";
 import { type AnimationPropertiesOverride } from "../Animations/animationPropertiesOverride.js";
-import { Animation } from "../Animations/animation.js";
+import { type Animation } from "../Animations/animation.pure.js";
 import { AnimationRange } from "../Animations/animationRange.js";
 import { type IInspectable } from "../Misc/iInspectable.js";
 import { type IAnimatable } from "../Animations/animatable.interface.js";

package/Bones/skeleton.functions.d.ts

@@ -1,6 +1,6 @@
 import { type Scene } from "../scene.js";
 import { type TransformNode } from "../Meshes/transformNode.js";
-import { Mesh } from "../Meshes/mesh.js";
+import { Mesh } from "../Meshes/mesh.pure.js";
 import { Skeleton } from "./skeleton.js";
 /**
  * Creates a skeleton from a hierarchy of transform nodes by converting each node into a bone.

package/Bones/skeleton.functions.js

@@ -1,8 +1,8 @@
 import { Bone } from "./bone.js";
-import { Matrix } from "../Maths/math.vector.js";
-import { Mesh } from "../Meshes/mesh.js";
+import { Matrix } from "../Maths/math.vector.pure.js";
+import { Mesh } from "../Meshes/mesh.pure.js";
 import { MeshBuilder } from "../Meshes/meshBuilder.js";
-import { VertexBuffer } from "../Buffers/buffer.js";
+import { VertexBuffer } from "../Buffers/buffer.pure.js";
 import { Skeleton } from "./skeleton.js";
 /**
  * Creates a skeleton from a hierarchy of transform nodes by converting each node into a bone.

package/Bones/skeleton.functions.js.map

@@ -1 +1 @@
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name: The name for the created skeleton (defaults to rootNode.name + \"_skeleton\")\r\n *    - boneMeshSize: The diameter of the sphere mesh created for each bone (defaults to 1, only used if createMesh is true)\r\n *    - createMesh: If true, creates a mesh with spheres at each bone location for visualization purposes.\r\n *       The mesh will be parented to the rootNode's parent and returned through options.mesh\r\n *    - mesh: An existing mesh to attach the skeleton to. If provided, the skeleton will be assigned to this mesh\r\n * @returns A new skeleton with bones corresponding to the transform node hierarchy\r\n * @remarks\r\n * - Only transform nodes with a rotationQuaternion property will be converted into bones\r\n */\r\nexport function CreateSkeletonFromTransformNodeHierarchy(\r\n    rootNode: TransformNode,\r\n    scene: Scene,\r\n    options?: { name?: string; boneMeshSize?: number; createMesh?: boolean; mesh?: Mesh }\r\n): Skeleton {\r\n    const name = options?.name || rootNode.name + \"_skeleton\";\r\n    const skeleton = new Skeleton(name, name, scene);\r\n\r\n    const nodes = rootNode.getChildTransformNodes(false);\r\n\r\n    nodes.unshift(rootNode);\r\n\r\n    let mesh = options?.mesh || null;\r\n    if (options?.createMesh) {\r\n        mesh = new Mesh(`${name}_mesh`, scene);\r\n        mesh.parent = rootNode.parent;\r\n        mesh.skeleton = skeleton;\r\n\r\n        options.mesh = mesh;\r\n    } else if (mesh) {\r\n        mesh.skeleton = skeleton;\r\n    }\r\n\r\n    const positions: number[] = [];\r\n    const indices: number[] = [];\r\n    const normals: number[] = [];\r\n    const boneIndices: number[] = [];\r\n    const boneWeights: number[] = [];\r\n\r\n    const boneMesh = options?.createMesh ? MeshBuilder.CreateSphere(\"dummy\", { diameter: options?.boneMeshSize || 1, segments: 8 }, scene) : null;\r\n\r\n    const boneMeshNumVertices = boneMesh?.getTotalVertices() || 0;\r\n    const boneMeshPositions = boneMesh?.getVerticesData(VertexBuffer.PositionKind);\r\n    const boneMeshIndices = boneMesh?.getIndices();\r\n    const boneMeshNormals = boneMesh?.getVerticesData(VertexBuffer.NormalKind);\r\n\r\n    const mapNameToBone: { [name: string]: Bone } = {};\r\n\r\n    for (const node of nodes) {\r\n        if (!node.rotationQuaternion || node.getClassName() !== \"TransformNode\") {\r\n            continue;\r\n        }\r\n\r\n        const currentVertexIndex = positions.length / 3;\r\n\r\n        if (boneMeshPositions) {\r\n            for (let i = 0; i < boneMeshPositions.length; ++i) {\r\n                positions.push(boneMeshPositions[i]);\r\n            }\r\n        }\r\n        if (boneMeshNormals) {\r\n            for (let i = 0; i < boneMeshNormals.length; ++i) {\r\n                normals.push(boneMeshNormals[i]);\r\n            }\r\n        }\r\n\r\n        const boneIndex = skeleton.bones.length;\r\n\r\n        if (boneMesh) {\r\n            for (let i = 0; i < boneMeshNumVertices; ++i) {\r\n                boneIndices.push(boneIndex, -1, -1, -1);\r\n                boneWeights.push(1, 0, 0, 0);\r\n            }\r\n        }\r\n\r\n        if (boneMeshIndices) {\r\n            for (let i = 0; i < boneMeshIndices.length; ++i) {\r\n                indices.push(currentVertexIndex + boneMeshIndices[i]);\r\n            }\r\n        }\r\n\r\n        const bone = new Bone(\r\n            node.name,\r\n            skeleton,\r\n            node.parent ? mapNameToBone[node.parent.name] : null,\r\n            Matrix.Compose(node.scaling, node.rotationQuaternion, node.position), // local matrix\r\n            undefined,\r\n            Matrix.Identity() // bind matrix\r\n        );\r\n\r\n        bone.linkTransformNode(node);\r\n\r\n        mapNameToBone[node.name] = bone;\r\n    }\r\n\r\n    mesh?.setVerticesData(VertexBuffer.PositionKind, positions);\r\n    mesh?.setVerticesData(VertexBuffer.NormalKind, normals);\r\n    mesh?.setVerticesData(VertexBuffer.MatricesIndicesKind, boneIndices);\r\n    mesh?.setVerticesData(VertexBuffer.MatricesWeightsKind, boneWeights);\r\n    mesh?.setIndices(indices);\r\n\r\n    mesh?.refreshBoundingInfo(true, false);\r\n\r\n    boneMesh?.dispose();\r\n\r\n    return skeleton;\r\n}\r\n"]}
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name: The name for the created skeleton (defaults to rootNode.name + \"_skeleton\")\r\n *    - boneMeshSize: The diameter of the sphere mesh created for each bone (defaults to 1, only used if createMesh is true)\r\n *    - createMesh: If true, creates a mesh with spheres at each bone location for visualization purposes.\r\n *       The mesh will be parented to the rootNode's parent and returned through options.mesh\r\n *    - mesh: An existing mesh to attach the skeleton to. If provided, the skeleton will be assigned to this mesh\r\n * @returns A new skeleton with bones corresponding to the transform node hierarchy\r\n * @remarks\r\n * - Only transform nodes with a rotationQuaternion property will be converted into bones\r\n */\r\nexport function CreateSkeletonFromTransformNodeHierarchy(\r\n    rootNode: TransformNode,\r\n    scene: Scene,\r\n    options?: { name?: string; boneMeshSize?: number; createMesh?: boolean; mesh?: Mesh }\r\n): Skeleton {\r\n    const name = options?.name || rootNode.name + \"_skeleton\";\r\n    const skeleton = new Skeleton(name, name, scene);\r\n\r\n    const nodes = rootNode.getChildTransformNodes(false);\r\n\r\n    nodes.unshift(rootNode);\r\n\r\n    let mesh = options?.mesh || null;\r\n    if (options?.createMesh) {\r\n        mesh = new Mesh(`${name}_mesh`, scene);\r\n        mesh.parent = rootNode.parent;\r\n        mesh.skeleton = skeleton;\r\n\r\n        options.mesh = mesh;\r\n    } else if (mesh) {\r\n        mesh.skeleton = skeleton;\r\n    }\r\n\r\n    const positions: number[] = [];\r\n    const indices: number[] = [];\r\n    const normals: number[] = [];\r\n    const boneIndices: number[] = [];\r\n    const boneWeights: number[] = [];\r\n\r\n    const boneMesh = options?.createMesh ? MeshBuilder.CreateSphere(\"dummy\", { diameter: options?.boneMeshSize || 1, segments: 8 }, scene) : null;\r\n\r\n    const boneMeshNumVertices = boneMesh?.getTotalVertices() || 0;\r\n    const boneMeshPositions = boneMesh?.getVerticesData(VertexBuffer.PositionKind);\r\n    const boneMeshIndices = boneMesh?.getIndices();\r\n    const boneMeshNormals = boneMesh?.getVerticesData(VertexBuffer.NormalKind);\r\n\r\n    const mapNameToBone: { [name: string]: Bone } = {};\r\n\r\n    for (const node of nodes) {\r\n        if (!node.rotationQuaternion || node.getClassName() !== \"TransformNode\") {\r\n            continue;\r\n        }\r\n\r\n        const currentVertexIndex = positions.length / 3;\r\n\r\n        if (boneMeshPositions) {\r\n            for (let i = 0; i < boneMeshPositions.length; ++i) {\r\n                positions.push(boneMeshPositions[i]);\r\n            }\r\n        }\r\n        if (boneMeshNormals) {\r\n            for (let i = 0; i < boneMeshNormals.length; ++i) {\r\n                normals.push(boneMeshNormals[i]);\r\n            }\r\n        }\r\n\r\n        const boneIndex = skeleton.bones.length;\r\n\r\n        if (boneMesh) {\r\n            for (let i = 0; i < boneMeshNumVertices; ++i) {\r\n                boneIndices.push(boneIndex, -1, -1, -1);\r\n                boneWeights.push(1, 0, 0, 0);\r\n            }\r\n        }\r\n\r\n        if (boneMeshIndices) {\r\n            for (let i = 0; i < boneMeshIndices.length; ++i) {\r\n                indices.push(currentVertexIndex + boneMeshIndices[i]);\r\n            }\r\n        }\r\n\r\n        const bone = new Bone(\r\n            node.name,\r\n            skeleton,\r\n            node.parent ? mapNameToBone[node.parent.name] : null,\r\n            Matrix.Compose(node.scaling, node.rotationQuaternion, node.position), // local matrix\r\n            undefined,\r\n            Matrix.Identity() // bind matrix\r\n        );\r\n\r\n        bone.linkTransformNode(node);\r\n\r\n        mapNameToBone[node.name] = bone;\r\n    }\r\n\r\n    mesh?.setVerticesData(VertexBuffer.PositionKind, positions);\r\n    mesh?.setVerticesData(VertexBuffer.NormalKind, normals);\r\n    mesh?.setVerticesData(VertexBuffer.MatricesIndicesKind, boneIndices);\r\n    mesh?.setVerticesData(VertexBuffer.MatricesWeightsKind, boneWeights);\r\n    mesh?.setIndices(indices);\r\n\r\n    mesh?.refreshBoundingInfo(true, false);\r\n\r\n    boneMesh?.dispose();\r\n\r\n    return skeleton;\r\n}\r\n"]}

package/Bones/skeleton.js

@@ -1,9 +1,8 @@
 import { Bone } from "./bone.js";
 import { Observable } from "../Misc/observable.js";
-import { Vector3, Matrix, TmpVectors } from "../Maths/math.vector.js";
+import { Vector3, Matrix, TmpVectors } from "../Maths/math.vector.pure.js";
 import { RawTexture } from "../Materials/Textures/rawTexture.js";
-import { Animation } from "../Animations/animation.js";
-import { AnimationMakeAnimationAdditive } from "../Animations/animation.pure.js";
+import { AnimationMakeAnimationAdditive, AnimationParse } from "../Animations/animation.pure.js";
 import { AnimationRange } from "../Animations/animationRange.js";
 import { EngineStore } from "../Engines/engineStore.js";
 
@@ -729,7 +728,7 @@ export class Skeleton {
                 bone.metadata = parsedBone.metadata;
             }
             if (parsedBone.animation) {
-                bone.animations.push(Animation.Parse(parsedBone.animation));
+                bone.animations.push(AnimationParse(parsedBone.animation));
             }
             if (parsedBone.linkedTransformNodeId !== undefined && parsedBone.linkedTransformNodeId !== null) {
                 skeleton._hasWaitingData = true;