@woosh/meep-engine 2.110.8 → 2.110.9

package/src/engine/physics/inverse_kinematics/two_joint_ik.js

@@ -0,0 +1,127 @@
+import Quaternion from "../../../core/geom/Quaternion.js";
+import { v3_angle_between } from "../../../core/geom/vec3/v3_angle_between.js";
+import Vector3 from "../../../core/geom/Vector3.js";
+import { clamp } from "../../../core/math/clamp.js";
+
+/**
+ * Compute interior angle between three points
+ * @param {Vector3} a
+ * @param {Vector3} b
+ * @param {Vector3} c
+ * @returns {number} angle in radians
+ */
+function computeInteriorAngle(a, b, c) {
+    //compute AB delta
+    const d_ab_x = a.x - b.x;
+    const d_ab_y = a.y - b.y;
+    const d_ab_z = a.z - b.z;
+
+    //compute CB delta
+    const d_cb_x = c.x - b.x;
+    const d_cb_y = c.y - b.y;
+    const d_cb_z = c.z - b.z;
+
+    return v3_angle_between(
+        d_ab_x, d_ab_y, d_ab_z,
+        d_cb_x, d_cb_y, d_cb_z,
+    )
+}
+
+const d = new Vector3();
+
+const delta_ca = new Vector3();
+const delta_ta = new Vector3();
+
+const axis0 = new Vector3();
+const axis1 = new Vector3();
+
+const inv_a_gr = new Quaternion();
+const inv_b_gr = new Quaternion();
+
+const r0 = new Quaternion();
+const r1 = new Quaternion();
+const r2 = new Quaternion();
+
+const axis0_la = new Vector3();
+const axis0_lb = new Vector3();
+const axis1_la = new Vector3();
+
+/**
+ * Based on http://theorangeduck.com/page/simple-two-joint
+ * @param {Vector3} a Root bone position
+ * @param {Vector3} b Second bone position
+ * @param {Vector3} c Effector position
+ * @param {Vector3} t Target position
+ * @param {number} eps EPSILON value, small value for rounding error compensation
+ * @param {Quaternion} a_gr Global rotation of root bone
+ * @param {Quaternion} b_gr Global rotation of second bone
+ * @param {Quaternion} a_lr local rotation for root bone, this will be updated as a result
+ * @param {Quaternion} b_lr local rotation for second bone, this will be updated as a result
+ */
+export function two_joint_ik(
+    a, b, c, t, eps,
+    a_gr, b_gr,
+    a_lr, b_lr
+) {
+
+    //Compute lengths of bones
+    const lab = b.distanceTo(a);
+    const lcb = b.distanceTo(c);
+
+    const maximum_extension = lab + lcb - eps;
+
+    //clamp length to the target to maximum extension of the joint
+    const lat = clamp(t.distanceTo(a), eps, maximum_extension);
+
+    //compute current interior angles
+    const ac_ab_0 = computeInteriorAngle(c, a, b);
+    const ba_bc_0 = computeInteriorAngle(a, b, c);
+    const ac_at_0 = computeInteriorAngle(c, a, t);
+
+    // Using the cosine rule to compute desired interior angles
+    const length_at_sqr = lat * lat;
+    const length_cb_sqr = lcb * lcb;
+    const length_ab_sqr = lab * lab;
+
+    const ac_ab_1 = Math.acos(clamp((length_cb_sqr - length_ab_sqr - length_at_sqr) / (-2 * lab * lat), -1, 1));
+    const ba_bc_1 = Math.acos(clamp((length_at_sqr - length_ab_sqr - length_cb_sqr) / (-2 * lab * lcb), -1, 1));
+
+    d.copy(Vector3.back);
+    d.applyQuaternion(b_gr);
+
+    delta_ca.subVectors(c, a);
+    delta_ta.subVectors(t, a);
+
+    axis0.crossVectors(delta_ca, d);
+    axis0.normalize();
+
+    axis1.crossVectors(delta_ca, delta_ta);
+    axis1.normalize();
+
+    inv_a_gr.copyInverse(a_gr);
+    inv_b_gr.copyInverse(b_gr);
+
+    axis0_la.copy(axis0);
+    axis0_la.applyQuaternion(inv_a_gr);
+
+    const angle0 = ac_ab_1 - ac_ab_0;
+
+    r0.fromAxisAngle(axis0_la, angle0);
+
+    const angle1 = ba_bc_1 - ba_bc_0;
+
+    axis0_lb.copy(axis0);
+    axis0_lb.applyQuaternion(inv_b_gr);
+
+    r1.fromAxisAngle(axis0_lb, angle1);
+
+    axis1_la.copy(axis1);
+    axis1_la.applyQuaternion(inv_a_gr);
+
+    r2.fromAxisAngle(axis1_la, ac_at_0);
+
+    r0.multiply(r2);
+
+    a_lr.multiply(r0);
+    b_lr.multiply(r1);
+}

package/src/view/elements/DropDownSelectionView.js

@@ -1,5 +1,5 @@
 import { passThrough } from "../../core/function/passThrough.js";
-import UUID from "../../core/UUID.js";
+import { UUID } from "../../engine/ecs/guid/UUID.js";
 import View from '../View.js';
 
 /**
@@ -56,7 +56,7 @@ class DropDownSelectionView extends View {
 
         const text = this.transfrom(el);
 
-        const id = UUID.generate();
+        const id = UUID.v1().toString();
 
         this.mapping.set(el, id);
 

package/src/view/elements/tiles2d/Tile.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"Tile.d.ts","sourceRoot":"","sources":["../../../../../src/view/elements/tiles2d/Tile.js"],"names":[],"mappings":";AAMA;IA4DI,kFAEC;IAED,0EAMC;IArED;;;;;OAKG;IACH,iDAmBC;IAhBG,iBAAkB;IAClB,aAA2B;IAE3B,sBAAsB;IACtB,qBAAwB;IAExB,YAA6D;IAYjE,uBAGC;IAED,mBAGC;IAED,yBAMC;IAED,qBAOC;IAED,eAGC;CAaJ;iBAzEgB,eAAe"}
+{"version":3,"file":"Tile.d.ts","sourceRoot":"","sources":["../../../../../src/view/elements/tiles2d/Tile.js"],"names":[],"mappings":";AAKA;IA4DI,kFAEC;IAED,0EAMC;IArED;;;;;OAKG;IACH,iDAmBC;IAhBG,iBAAkB;IAClB,aAAgC;IAEhC,sBAAsB;IACtB,qBAAwB;IAExB,YAA6D;IAYjE,uBAGC;IAED,mBAGC;IAED,yBAMC;IAED,qBAOC;IAED,eAGC;CAaJ;iBAzEgB,eAAe"}

package/src/view/elements/tiles2d/Tile.js

@@ -1,6 +1,5 @@
 import Vector2 from "../../../core/geom/Vector2.js";
-
-import UUID from "../../../core/UUID.js";
+import { UUID } from "../../../engine/ecs/guid/UUID.js";
 import dom from "../../DOM.js";
 import View from "../../View.js";
 
@@ -15,7 +14,7 @@ class TileView extends View {
         super();
 
         this.model = model;
-        this.uuid = UUID.generate();
+        this.uuid = UUID.v1().toString();
 
         this.__cellSize = size;
         this.__spacing = spacing;

package/src/core/math/makeSequenceLoop.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"makeSequenceLoop.d.ts","sourceRoot":"","sources":["../../../../src/core/math/makeSequenceLoop.js"],"names":[],"mappings":"AAAA;;;;GAIG;AACH,4DAcC"}

package/src/engine/animation/curve/compute_curve_aabb.d.ts

@@ -1,7 +0,0 @@
-/**
- * Compute bounding box for a given curve. X-axis is time, Y-axis is value.
- * @param {AABB2} out
- * @param {AnimationCurve} curve
- */
-export function compute_curve_aabb(out: AABB2, curve: AnimationCurve): void;
-//# sourceMappingURL=compute_curve_aabb.d.ts.map

package/src/engine/animation/curve/compute_curve_aabb.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"compute_curve_aabb.d.ts","sourceRoot":"","sources":["../../../../../src/engine/animation/curve/compute_curve_aabb.js"],"names":[],"mappings":"AAMA;;;;GAIG;AACH,4EAsCC"}

package/src/engine/ecs/guid/GUID.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"GUID.d.ts","sourceRoot":"","sources":["../../../../../src/engine/ecs/guid/GUID.js"],"names":[],"mappings":"AAuBA;;;GAGG;AACH;IAiGI;;;OAGG;IACH,aAFY,IAAI,CAQf;IA0CD;;;;OAIG;IACH,qBAHW,MAAM,GACL,IAAI,CAQf;IA7JD;;;OAGG;IACH,0BAKC;IAED;;;OAGG;IACH,uBAEC;IAED;;;OAGG;IACH,WAqEC;IAcD;;;;OAIG;IACH,cAFW,MAAM,QAmChB;IAeD;;;OAGG;IACH,YAFa,MAAM,CA2BlB;IAED;;;OAGG;IACH,YAFW,IAAI,QAId;IAED;;;;OAIG;IACH,cAHW,IAAI,GACF,OAAO,CAanB;IAED;;OAEG;IACH,QAFa,MAAM,CAWlB;IAED,iBAEC;IAED,uBAEC;IASL;;;OAGG;IACH,iBAFU,OAAO,CAEI;;CAZpB;;kBAIS,MAAM"}

package/src/engine/ecs/guid/GUID.spec.d.ts

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=GUID.spec.d.ts.map

package/src/engine/ecs/guid/GUID.spec.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"GUID.spec.d.ts","sourceRoot":"","sources":["../../../../../src/engine/ecs/guid/GUID.spec.js"],"names":[],"mappings":""}

package/src/engine/ecs/guid/GUIDSerializationAdapter.d.ts

@@ -1,18 +0,0 @@
-export class GUIDSerializationAdapter extends BinaryClassSerializationAdapter {
-    klass: typeof GUID;
-    /**
-     *
-     * @param buffer
-     * @param {GUID} value
-     */
-    serialize(buffer: any, value: GUID): void;
-    /**
-     *
-     * @param buffer
-     * @param {GUID} value
-     */
-    deserialize(buffer: any, value: GUID): void;
-}
-import { BinaryClassSerializationAdapter } from "../storage/binary/BinaryClassSerializationAdapter.js";
-import { GUID } from "./GUID.js";
-//# sourceMappingURL=GUIDSerializationAdapter.d.ts.map

package/src/engine/ecs/guid/GUIDSerializationAdapter.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"GUIDSerializationAdapter.d.ts","sourceRoot":"","sources":["../../../../../src/engine/ecs/guid/GUIDSerializationAdapter.js"],"names":[],"mappings":"AAGA;IACI,mBAAY;IAGZ;;;;OAIG;IACH,8BAFW,IAAI,QAId;IAED;;;;OAIG;IACH,gCAFW,IAAI,QAId;CACJ;gDAxB+C,sDAAsD;qBACjF,WAAW"}