mujoco-react 6.0.1 → 7.0.0

package/src/components/IkController.tsx

@@ -1,262 +0,0 @@
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * IkController — composable IK controller plugin.
- * Extracts all IK logic from MujocoSimProvider into an opt-in component.
- */
-
-import { useCallback, useEffect, useMemo, useRef } from 'react';
-import { useFrame } from '@react-three/fiber';
-import * as THREE from 'three';
-import { createController } from '../core/createController';
-import { IkContext, type IkContextValue } from '../core/IkContext';
-import { useMujoco, useBeforePhysicsStep } from '../core/MujocoSimProvider';
-import { GenericIK } from '../core/GenericIK';
-import { findSiteByName } from '../core/SceneLoader';
-import type { IkConfig, IKSolveFn, MujocoData } from '../types';
-
-// Preallocated temp for syncGizmoToSite
-const _syncMat4 = new THREE.Matrix4();
-
-function syncGizmoToSite(data: MujocoData, siteId: number, target: THREE.Group) {
-  if (siteId === -1) return;
-  const sitePos = data.site_xpos.subarray(siteId * 3, siteId * 3 + 3);
-  const siteMat = data.site_xmat.subarray(siteId * 9, siteId * 9 + 9);
-  target.position.set(sitePos[0], sitePos[1], sitePos[2]);
-  _syncMat4.set(
-    siteMat[0], siteMat[1], siteMat[2], 0,
-    siteMat[3], siteMat[4], siteMat[5], 0,
-    siteMat[6], siteMat[7], siteMat[8], 0,
-    0, 0, 0, 1,
-  );
-  target.quaternion.setFromRotationMatrix(_syncMat4);
-}
-
-function IkControllerImpl({
-  config,
-  children,
-}: {
-  config: IkConfig;
-  children?: React.ReactNode;
-}) {
-  const { mjModelRef, mjDataRef, mujocoRef, configRef, resetCallbacks, status } =
-    useMujoco();
-
-  // All IK state lives here, NOT in the provider
-  const ikEnabledRef = useRef(false);
-  const ikCalculatingRef = useRef(false);
-  const ikTargetRef = useRef<THREE.Group>(new THREE.Group());
-  const siteIdRef = useRef(-1);
-  const genericIkRef = useRef<GenericIK>(new GenericIK(mujocoRef.current));
-  const firstIkEnableRef = useRef(true);
-
-  const needsInitialSync = useRef(true);
-
-  const gizmoAnimRef = useRef({
-    active: false,
-    startPos: new THREE.Vector3(),
-    endPos: new THREE.Vector3(),
-    startRot: new THREE.Quaternion(),
-    endRot: new THREE.Quaternion(),
-    startTime: 0,
-    duration: 1000,
-  });
-
-  // Resolve site ID when model loads or config changes
-  useEffect(() => {
-    const model = mjModelRef.current;
-    if (!model || status !== 'ready') {
-      siteIdRef.current = -1;
-      return;
-    }
-    siteIdRef.current = findSiteByName(model, config.siteName);
-    const data = mjDataRef.current;
-    if (data && ikTargetRef.current) {
-      syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-    }
-  }, [config.siteName, status, mjModelRef, mjDataRef]);
-
-  // IK solve function — use custom solver if provided, otherwise built-in GenericIK
-  const ikSolveFn = useCallback(
-    (pos: THREE.Vector3, quat: THREE.Quaternion, currentQ: number[]): number[] | null => {
-      if (config.ikSolveFn) return config.ikSolveFn(pos, quat, currentQ);
-      const model = mjModelRef.current;
-      const data = mjDataRef.current;
-      if (!model || !data || siteIdRef.current === -1) return null;
-      return genericIkRef.current.solve(
-        model,
-        data,
-        siteIdRef.current,
-        config.numJoints,
-        pos,
-        quat,
-        currentQ,
-        {
-          damping: config.damping,
-          maxIterations: config.maxIterations,
-        },
-      );
-    },
-    [config.ikSolveFn, config.numJoints, config.damping, config.maxIterations, mjModelRef, mjDataRef],
-  );
-  const ikSolveFnRef = useRef<IKSolveFn>(ikSolveFn);
-  ikSolveFnRef.current = ikSolveFn;
-
-  // Gizmo animation + one-time initial sync in useFrame
-  useFrame(() => {
-    // Ensure the gizmo is positioned at the site after the first physics step
-    if (needsInitialSync.current && siteIdRef.current !== -1) {
-      const data = mjDataRef.current;
-      if (data && ikTargetRef.current) {
-        syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-        needsInitialSync.current = false;
-      }
-    }
-
-    const ga = gizmoAnimRef.current;
-    const target = ikTargetRef.current;
-    if (!ga.active || !target) return;
-
-    const now = performance.now();
-    const elapsed = now - ga.startTime;
-    const t = Math.min(elapsed / ga.duration, 1.0);
-    const ease = 1 - Math.pow(1 - t, 3);
-    target.position.lerpVectors(ga.startPos, ga.endPos, ease);
-    target.quaternion.slerpQuaternions(ga.startRot, ga.endRot, ease);
-    if (t >= 1.0) ga.active = false;
-  });
-
-  // IK solve in physics loop
-  useBeforePhysicsStep((model, data) => {
-    if (!ikEnabledRef.current) {
-      ikCalculatingRef.current = false;
-      return;
-    }
-    const target = ikTargetRef.current;
-    if (!target) return;
-
-    ikCalculatingRef.current = true;
-    const numJoints = config.numJoints;
-    const currentQ: number[] = [];
-    for (let i = 0; i < numJoints; i++) currentQ.push(data.qpos[i]);
-    const solution = ikSolveFnRef.current(target.position, target.quaternion, currentQ);
-    if (solution) {
-      for (let i = 0; i < numJoints; i++) data.ctrl[i] = solution[i];
-    }
-  });
-
-  // Reset callback — sync gizmo and reset IK state
-  useEffect(() => {
-    const cb = () => {
-      const data = mjDataRef.current;
-      if (data && ikTargetRef.current) {
-        syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-      }
-      gizmoAnimRef.current.active = false;
-      firstIkEnableRef.current = true;
-      ikEnabledRef.current = false;
-      needsInitialSync.current = true;
-    };
-    resetCallbacks.current.add(cb);
-    return () => {
-      resetCallbacks.current.delete(cb);
-    };
-  }, [resetCallbacks, mjDataRef]);
-
-  // --- API methods ---
-
-  const setIkEnabled = useCallback(
-    (enabled: boolean) => {
-      ikEnabledRef.current = enabled;
-      const data = mjDataRef.current;
-      if (enabled && data && !gizmoAnimRef.current.active && ikTargetRef.current) {
-        syncGizmoToSite(data, siteIdRef.current, ikTargetRef.current);
-        firstIkEnableRef.current = false;
-      }
-    },
-    [mjDataRef],
-  );
-
-  const syncTargetToSiteApi = useCallback(() => {
-    const data = mjDataRef.current;
-    const target = ikTargetRef.current;
-    if (data && target) syncGizmoToSite(data, siteIdRef.current, target);
-  }, [mjDataRef]);
-
-  const solveIK = useCallback(
-    (pos: THREE.Vector3, quat: THREE.Quaternion, currentQ: number[]): number[] | null => {
-      return ikSolveFnRef.current(pos, quat, currentQ);
-    },
-    [],
-  );
-
-  const moveTarget = useCallback(
-    (pos: THREE.Vector3, duration = 0) => {
-      if (!ikEnabledRef.current) setIkEnabled(true);
-      const target = ikTargetRef.current;
-      if (!target) return;
-
-      const targetPos = pos.clone();
-      const targetRot = new THREE.Quaternion().setFromEuler(
-        new THREE.Euler(Math.PI, 0, 0),
-      );
-
-      if (duration > 0) {
-        const ga = gizmoAnimRef.current;
-        ga.active = true;
-        ga.startPos.copy(target.position);
-        ga.endPos.copy(targetPos);
-        ga.startRot.copy(target.quaternion);
-        ga.endRot.copy(targetRot);
-        ga.startTime = performance.now();
-        ga.duration = duration;
-      } else {
-        gizmoAnimRef.current.active = false;
-        target.position.copy(targetPos);
-        target.quaternion.copy(targetRot);
-      }
-    },
-    [setIkEnabled],
-  );
-
-  const getGizmoStats = useCallback(
-    (): { pos: THREE.Vector3; rot: THREE.Euler } | null => {
-      const target = ikTargetRef.current;
-      if (!ikCalculatingRef.current || !target) return null;
-      return {
-        pos: target.position.clone(),
-        rot: new THREE.Euler().setFromQuaternion(target.quaternion),
-      };
-    },
-    [],
-  );
-
-  const contextValue = useMemo<IkContextValue>(
-    () => ({
-      ikEnabledRef,
-      ikCalculatingRef,
-      ikTargetRef,
-      siteIdRef,
-      setIkEnabled,
-      moveTarget,
-      syncTargetToSite: syncTargetToSiteApi,
-      solveIK,
-      getGizmoStats,
-    }),
-    [setIkEnabled, moveTarget, syncTargetToSiteApi, solveIK, getGizmoStats],
-  );
-
-  return <IkContext.Provider value={contextValue}>{children}</IkContext.Provider>;
-}
-
-export const IkController = createController<IkConfig>(
-  {
-    name: 'IkController',
-    defaultConfig: {
-      damping: 0.01,
-      maxIterations: 50,
-    },
-  },
-  IkControllerImpl,
-);

package/src/core/IkContext.tsx

@@ -1,40 +0,0 @@
-/**
- * @license
- * SPDX-License-Identifier: Apache-2.0
- *
- * IkContext — React context for the IK controller plugin.
- */
-
-import { createContext, useContext } from 'react';
-import * as THREE from 'three';
-
-export interface IkContextValue {
-  ikEnabledRef: React.RefObject<boolean>;
-  ikCalculatingRef: React.RefObject<boolean>;
-  ikTargetRef: React.RefObject<THREE.Group>;
-  siteIdRef: React.RefObject<number>;
-  setIkEnabled(enabled: boolean): void;
-  moveTarget(pos: THREE.Vector3, duration?: number): void;
-  syncTargetToSite(): void;
-  solveIK(pos: THREE.Vector3, quat: THREE.Quaternion, currentQ: number[]): number[] | null;
-  getGizmoStats(): { pos: THREE.Vector3; rot: THREE.Euler } | null;
-}
-
-export const IkContext = createContext<IkContextValue | null>(null);
-
-/**
- * Access the IK controller context.
- *
- * - `useIk()` — throws if no `<IkController>` ancestor (use inside `<IkController>`)
- * - `useIk({ optional: true })` — returns `null` if no ancestor (use in components
- *   that optionally interact with IK, e.g. keyboard controllers that disable IK)
- */
-export function useIk(): IkContextValue;
-export function useIk(options: { optional: true }): IkContextValue | null;
-export function useIk(options?: { optional?: boolean }): IkContextValue | null {
-  const ctx = useContext(IkContext);
-  if (!ctx && !options?.optional) {
-    throw new Error('useIk() must be used inside an <IkController>');
-  }
-  return ctx;
-}